class_name SonarCaptureRequest
extends RefCounted

var scan_id: StringName
var session_id: StringName
var sensor_transform: Transform3D
var minimum_range_m: float
var maximum_range_m: float
var horizontal_opening_radians: float
var vertical_opening_radians: float
var columns: int
var rows: int


func _init(
	p_scan_id: StringName,
	p_session_id: StringName,
	p_sensor_transform: Transform3D,
	p_minimum_range_m: float,
	p_maximum_range_m: float,
	p_horizontal_opening_radians: float,
	p_vertical_opening_radians: float,
	p_columns: int,
	p_rows: int
) -> void:
	scan_id = p_scan_id
	session_id = p_session_id
	sensor_transform = p_sensor_transform
	minimum_range_m = p_minimum_range_m
	maximum_range_m = p_maximum_range_m
	horizontal_opening_radians = p_horizontal_opening_radians
	vertical_opening_radians = p_vertical_opening_radians
	columns = p_columns
	rows = p_rows


func validation_error() -> String:
	if scan_id.is_empty() or session_id.is_empty():
		return "sonar capture identifiers must not be empty"
	if minimum_range_m < 0.0 or maximum_range_m <= minimum_range_m:
		return "sonar capture range is invalid"
	if horizontal_opening_radians <= 0.0 or horizontal_opening_radians >= PI:
		return "sonar capture horizontal opening is invalid"
	if vertical_opening_radians <= 0.0 or vertical_opening_radians >= PI:
		return "sonar capture vertical opening is invalid"
	if columns < 2 or rows < 2:
		return "sonar capture dimensions must be at least 2 by 2"
	return ""