voyant_point_data_wrapper.hpp

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// Copyright (c) 2024-2025 Voyant Photonics, Inc.
// All rights reserved.
 
#pragma once
#include "../capnp_wrapper.h"
#include "point.capnp.h"
#include <capnp/message.h>
#include <capnp/serialize.h>
 
class PointDataWrapper : public CapnpWrapper<PointData>
{
private:
  int32_t timestamp_nanosecs_ = 0; 
  uint32_t point_index_ = 0;       
  float x_ = 0.0f;                 
  float y_ = 0.0f;                 
  float z_ = 0.0f;                 
  float radial_vel_ = 0.0f;        
  float snr_linear_ = 0.0f;        
  float calibrated_reflectance_ = 0.0f;          
  float noise_mean_estimate_ = 0.0f;             
  float min_ramp_snr_ = 0.0f;                    
  DropReason drop_reason_ = DropReason::UNKNOWN; 
 
public:
  ~PointDataWrapper() override;
 
  void fromProto(PointData::Reader reader) override;
 
  void toProto(PointData::Builder &builder) const override;
 
  void debugString(std::ostream &os) const override;
 
  // Getters and setters
  int32_t timestamp_nanosecs() const { return timestamp_nanosecs_; }
 
  void set_timestamp_nanosecs(int32_t value) { timestamp_nanosecs_ = value; }
 
  uint32_t point_index() const { return point_index_; }
 
  void set_point_index(uint32_t value) { point_index_ = value; }
 
  float x() const { return x_; }
 
  void set_x(float value) { x_ = value; }
 
  float y() const { return y_; }
 
  void set_y(float value) { y_ = value; }
 
  float z() const { return z_; }
 
  void set_z(float value) { z_ = value; }
 
  float radial_vel() const { return radial_vel_; }
 
  void set_radial_vel(float value) { radial_vel_ = value; }
 
  float snr_linear() const { return snr_linear_; }
 
  void set_snr_linear(float value) { snr_linear_ = value; }
 
  float calibrated_reflectance() const { return calibrated_reflectance_; }
 
  void set_calibrated_reflectance(float value) { calibrated_reflectance_ = value; }
 
  float noise_mean_estimate() const { return noise_mean_estimate_; }
 
  void set_noise_mean_estimate(float value) { noise_mean_estimate_ = value; }
 
  float min_ramp_snr() const { return min_ramp_snr_; }
 
  void set_min_ramp_snr(float value) { min_ramp_snr_ = value; }
 
  DropReason drop_reason() const { return drop_reason_; }
 
  void set_drop_reason(DropReason value) { drop_reason_ = value; }
 
  bool is_valid() const { return drop_reason_ == DropReason::SUCCESS; }
 
  void set_point_index_components(uint16_t azimuth, uint16_t elevation);
 
  uint16_t azimuth_index() const;
 
  uint16_t elevation_index() const;
 
  float range() const;
};