From f456464f6ccf232f0d85718f2c7181701ea72717 Mon Sep 17 00:00:00 2001
From: Erki <erki@skullnet.me>
Date: Tue, 22 Jun 2021 16:21:29 +0300
Subject: [PATCH] Peripherals: make IrSensors return a struct. std::pair isn't
 trivially copyable, it seems. Which is weird.

---
 Peripherals/Inc/peripherals_ir_sensors.hpp | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/Peripherals/Inc/peripherals_ir_sensors.hpp b/Peripherals/Inc/peripherals_ir_sensors.hpp
index 46399f6..e6c135d 100644
--- a/Peripherals/Inc/peripherals_ir_sensors.hpp
+++ b/Peripherals/Inc/peripherals_ir_sensors.hpp
@@ -17,6 +17,15 @@
 namespace Peripherals
 {
 
+struct IrSensorsReading
+{
+  /// Distance as read by the sensor.
+  float distance;
+
+  /// @c true if the @c distance is < the wall threshold.
+  bool sees_object;
+};
+
 template<typename G, std::size_t N, std::size_t Average>
 class IrSensors
 {
@@ -61,16 +70,16 @@ public:
     }
   }
 
-  std::array<std::pair<float, bool>, N> getDistanceData()
+  std::array<IrSensorsReading, N> getDistanceData()
   {
-    std::array<std::pair<float, bool>, N> data;
+    std::array<IrSensorsReading, N> data;
 
     for (std::size_t i = 0; i < N; i++)
     {
       const float interim = averages_[i] - offsets_[i];
 
-      data[i].first = multipliers_[i] * std::pow(interim, exponents_[i]);
-      data[i].second = data[i].first < wall_thresholds_[i];
+      data[i].distance = multipliers_[i] * std::pow(interim, exponents_[i]);
+      data[i].sees_object = data[i].distance < wall_thresholds_[i];
     }
 
     return data;