DistanceEncoder.h

#pragma once
#include "DLLInfo.h"
#include <NDEVR/Device.h>
namespace NDEVR
{
    class PositionSensor;
    class DesignObjectLookup;
    class Battery;
    class Motor;
    class TemperatureSensor;
    struct DeploymentInfo
    {
        DesignObjectLookup* manager = nullptr;        
        PositionSensor* sensor = nullptr;             
        fltp08 deployment_segment_length = 1.0;       
        bool active = false;                          
    };
    
    class HARDWARE_API DistanceEncoder : public Device
    {
    public:
        DistanceEncoder(const Model& model, LogPtr log = LogPtr(), QObject* parent = nullptr);
        virtual void setRawLengthEpsilon(fltp08 epsilon) { m_raw_length_epsilon = epsilon; }
        virtual void clearDeploymentInfo();
        virtual void setSpeed(fltp08 speed) { m_speed = speed; }
        virtual void setDistanceBounds(const Bounds<1, fltp08>& bounds) { m_bounds = bounds; }
        virtual void setRawLength(fltp08 length);
        virtual void setDeploymentInfo(const DeploymentInfo& info);
        virtual void startNewDeployment();
        virtual void updateModel();
        virtual fltp08 rawLength() const { return m_raw_length; };
        virtual fltp08 scale() const { return m_scale; };
        virtual fltp08 reference() const { return m_reference; }
        virtual fltp08 length() const;
        virtual fltp08 lengthToReference() const;
        virtual void zeroRaw();
        fltp08 preferredSegmentLength() const;
        virtual void calibrateToLength(fltp08 length);
        virtual void setScale(fltp08 scale);
        virtual void setOffset(fltp08 offset);
        virtual void setReference(fltp08 offset);
        virtual void clearReference();
        virtual void setLocation(const Vertex<3, fltp08>& location);
        virtual void setCanDeleteReadings(bool can_delete) { m_delete_encoder_readings = can_delete; }
        virtual Battery* battery() const { return m_battery; }
        virtual void setBattery(Battery* battery) { m_battery = battery; }
        virtual void setNewDeploymentOffset(fltp08 offset) { m_new_deployment_offset = offset; }
        virtual TemperatureSensor* temperatureSensor() const { return m_temperature_sensor; }
        virtual void setTemperatureSensor(TemperatureSensor* sensor) { m_temperature_sensor = sensor; }
        virtual bool isInUse() const { return m_is_in_use; }
        virtual void setInUse(bool is_in_use);
        virtual bool isConnected() const { return true; }
    public:
        static DistanceEncoder* PrimaryDistanceEncoder();
        static void SetPrimaryDistanceEncoderCallback(const std::function<DistanceEncoder*()>& encoder);
    protected:
        static std::function<DistanceEncoder*()> s_get_distance_encoder; 
    protected:
        Bounds<1, fltp08> m_bounds;                     
        DeploymentInfo m_deployment_info;                
        fltp08 m_raw_length = 0.0;                      
        fltp08 m_raw_offset = 0.0;                      
        fltp08 m_offset = 0.0;                          
        fltp08 m_scale = 1.0;                           
        fltp08 m_speed = 0.0;                           
        fltp08 m_reference = Constant<fltp08>::Invalid; 
        fltp08 m_new_deployment_offset = 0.0;           
        fltp08 m_raw_length_epsilon = 0.01;             
        Battery* m_battery = nullptr;                   
        TemperatureSensor* m_temperature_sensor = nullptr; 
        bool m_delete_encoder_readings = false;         
        bool m_is_in_use = true;                        
    };
}