//! Distance sensor observations.

use kaptan_time::Timestamp;

/// Coherent range observation in the sensor frame.
///
/// The timestamp is captured when the measurement is requested. Distance is
/// expressed in millimetres so rangefinders with centimetre resolution can be
/// published without floating-point conversion.
#[derive(Clone, Copy, Debug, Eq, PartialEq)]
pub struct RangeSnapshot {
    /// Monotonic timestamp captured when the acquisition was requested.
    pub timestamp: Timestamp,
    /// Measured distance in millimetres.
    pub distance_millimetres: u32,
}

impl RangeSnapshot {
    /// Creates one accepted range observation.
    pub const fn new(timestamp: Timestamp, distance_millimetres: u32) -> Self {
        Self {
            timestamp,
            distance_millimetres,
        }
    }
}