/*********************************************************************************************************************
Copyright (c) 2020 RoboSense
All rights reserved

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license, do not download, install, copy or use the software.

License Agreement
For RoboSense LiDAR SDK Library
(3-clause BSD License)

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other contributors may be used
to endorse or promote products derived from this software without specific prior written permission.

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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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*********************************************************************************************************************/

#pragma once

namespace robosense
{
namespace lidar
{

class AzimuthSection
{
public:
  AzimuthSection(int32_t start, int32_t end)
  {
    start_ = start % 36000;
    end_ = (end <= 36000) ? end : (end % 36000);
    cross_zero_ = (start_ > end_);

    full_round_ = ((start_ == 0) && (end_ == 36000));
  }

  bool in(int32_t angle)
  {
    if (full_round_)
      return true;

    if (cross_zero_)
    {
      return (angle >= start_) || (angle < end_);
    }
    else
    {
      return (angle >= start_) && (angle < end_);
    }
  }

#ifndef UNIT_TEST
private:
#endif
  int32_t start_;
  int32_t end_;
  bool cross_zero_;
  bool full_round_;
};

class DistanceSection
{
public:
  DistanceSection (float min, float max, float usr_min, float usr_max)
    : min_((usr_min > min) ? usr_min : min), max_((usr_max < max) ? usr_max : max)
  {
  }

  bool in(float distance)
  {
    return ((min_ <= distance) && (distance <= max_));
  }

#ifndef UNIT_TEST
private:
#endif

  float min_;
  float max_;
};

}  // namespace lidar
}  // namespace robosense
