CscLidar2DEngineSimulated.h

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#include "CscCommon.h"
#include "Lidar/CscLidarEngine.h"
#include "Simulator/CscEnvironmentSimulator.h"
 
#include <thread>
#include <chrono>
using std::chrono::steady_clock;
namespace chrono = std::chrono;
namespace conscience_core::lidar {
 
class CscLidar2DEngineSimulated : public CscLidarEngine {
public:
    CscLidar2DEngineSimulated(const string &entitySerialNumber, CscEnvironmentSimulator &globalEnvironmentSimulator, double maxDistance = 5000, unsigned int numberOfValues = 720);
    void startEngine() override;
    void stopEngine() override;
    ~CscLidar2DEngineSimulated() override;
 
    void keepValues();
 
private:
    CscEnvironmentSimulator &globalEnvironmentSimulator;
    const string entitySerialNumber;
    bool threadRunning = false;
    bool keepValuesEnabled = false;
    thread *updateValuesThread;
    void updateValues();
    void initThread();
    void updateLidarValuesThreadActionLoop();
    unsigned int numberOfValues;
    const double maxDistance;
 
    optional<CscPoint3d> lastRobotPosition = {};
    optional<double> lastRobotYaw = {};
    optional<steady_clock::time_point> odometryLastTime = {};
};
 
}