'''
BreezySLAM: Simple, efficient SLAM in Python

sensors.py: SLAM sensors (currently just Laser)

Copyright (C) 2014 Simon D. Levy

This code is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as 
published by the Free Software Foundation, either version 3 of the 
License, or (at your option) any later version.

This code is distributed in the hope that it will be useful,     
but WITHOUT ANY WARRANTY without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU Lesser General Public License 
along with this code.  If not, see <http:#www.gnu.org/licenses/>.
'''

class Laser(object):
    '''
    A class representing the specifications of a scanning laser rangefinder (Lidar).
    '''
    def __init__(self, scan_size, scan_rate_hz, detection_angle_degrees, distance_no_detection_mm, detection_margin=0, offset_mm=0):
        
        self.scan_size = scan_size
        self.scan_rate_hz = scan_rate_hz
        self.detection_angle_degrees = detection_angle_degrees
        self.distance_no_detection_mm = distance_no_detection_mm
        self.detection_margin = detection_margin
        self.offset_mm = offset_mm
        
    def __str__(self):
        
        return  'scan_size=%d | scan_rate=%3.3f hz | detection_angle=%3.3f deg | distance_no_detection=%7.4f mm | detection_margin=%d | offset=%4.4f m' % \
        (self.scan_size,  self.scan_rate_hz,  self.detection_angle_degrees, self.distance_no_detection_mm,  self.detection_margin, self.offset_mm)
        
    def __repr__(self):
        
        return str(self)
        
class VelodynePuck(Laser):
    '''
    A class for the Velodyne Puck
    '''
    def __init__(self, detectionMargin = 0, offsetMillimeters = 0):
        Laser.__init__(self, 1440, 12.5, 360, 100000, detectionMargin, offsetMillimeters)

class URG04LX(Laser):
    '''
    A class for the Hokuyo URG-04LX
    '''
    def __init__(self, detectionMargin = 0, offsetMillimeters = 0):
        
        Laser.__init__(self, 667, 10, 240, 4000, detectionMargin, offsetMillimeters)

class XVLidar(Laser):
    '''
    A class for the GetSurreal XVLidar
    '''
    def __init__(self, detectionMargin = 0, offsetMillimeters = 0):
        
        Laser.__init__(self, 360, 5.5, 360, 6000, detectionMargin, offsetMillimeters)

class RPLidarA1(Laser):
    '''
    A class for the SLAMTEC RPLidar A1
    '''
    def __init__(self, detectionMargin = 0, offsetMillimeters = 0):
        
        Laser.__init__(self, 360, 5.5, 360, 12000, detectionMargin, offsetMillimeters)

