CscLidar3DEngineSimulated.h

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//
// Created by Louis Grignon on 19/05/2026.
//
#pragma once
 
#include "CscCommon.h"
#include "Lidar/CscLidarEngine.h"
#include "Simulator/CscEnvironmentSimulator.h"
 
#include <atomic>
#include <chrono>
#include <thread>
#include <random>
 
using std::chrono::steady_clock;
namespace chrono = std::chrono;
 
namespace conscience_core::lidar {
 
class CscLidar3DEngineSimulated : public CscLidarEngine {
public:
    CscLidar3DEngineSimulated(
        const string &entitySerialNumber,
        CscEnvironmentSimulator &globalEnvironmentSimulator,
        double maxDistance = 5000.0,
        unsigned int horizontalSamples = 720,
        unsigned int verticalSamples = 64,
        double horizontalFovDeg = 360.0,
        double verticalFovDeg = 200.0,
        int periodMillis = 175,
        double fuzzinessDeg = 10.0);
 
    ~CscLidar3DEngineSimulated() override;
 
    void startEngine() override;
    void stopEngine() override;
 
    void keepValues();
 
private:
    CscEnvironmentSimulator &globalEnvironmentSimulator;
    const string entitySerialNumber;
 
    std::atomic_bool threadRunning{false};
    bool keepValuesEnabled = false;
 
    std::thread *updateValuesThread = nullptr;
 
    const double maxDistance;
    const unsigned int horizontalSamples;
    const unsigned int verticalSamples;
    const double horizontalFovDeg;
    const double verticalFovDeg;
    const int periodMillis;
 
    std::optional<CscPoint3d> lastRobotPosition = {};
    std::optional<double> lastRobotYaw = {};
    std::optional<steady_clock::time_point> odometryLastTime = {};
 
    const double fuzzinessDeg;
 
    std::mt19937 randomGenerator;
    std::uniform_real_distribution<double> fuzzinessDistribution;
 
    void initThread();
    void updateValues();
    void updateLidarValuesThreadActionLoop();
 
    static CscPoint3d worldPointToRobotLocal(
        const CscPoint3d &worldPoint,
        const CscPoint3d &entityPosition,
        const CscQuaternion &entityQuaternion);
};
 
}