RealSenseClient.h

#pragma once
#include "DLLInfo.h"
#include "RealSenseInterface/Headers/RealSenseServer.h"
#include "Base/Headers/QueueBuffer.hpp"
namespace NDEVR
{
    
    class RealSenseServerConnection : public Connection
    {
    public:
        RealSenseServerConnection(const UUID& id);
        UUID id;    
    };

    struct OverrideMatrixValue
    {
        Time time;          
        Matrix<fltp08> mat; 
    };
    typedef QueueBuffer<OverrideMatrixValue, BufferAllocator<OverrideMatrixValue, AlignmentDeterminator<OverrideMatrixValue>::Size(), true>> OverrideMatrixBuffer;
    class REALSENSE_INTERFACE_API RealSenseClient
    {
        class WorkerThread : public QThread
        {
        public:
            WorkerThread(RealSenseClient* client);
            void run() override;
            RealSenseClient* m_client;  
        };
        RealSenseClient();
    public:
        static RealSenseClient* Default();
        void setLookup(const StringView& server, DesignObjectLookup* lookup);
        void init();
        void initConnections();
        bool collectData();
        void sendMessage(const StringView& message);
        void startClient();
        Buffer<QPointer<Connection>> connections();
        void setOverrideMatrix(const UUID& id, const Matrix<fltp08>& mat, Time matrix_time);
        const Dictionary<UUID, RealSenseScanner*>& connectedScanners() const;
        void sendConnectIfNeeded();
        void processCommandReturn(const String& s);
        void sendPing();
        bool openPorts();
        Matrix<fltp08> cameraMatrix(UUID id, Time time, const Matrix<fltp08>& fallback);
    protected:
        DesignObjectLookup* m_lookup = nullptr;         
        Connection* m_rx_connection = nullptr;          
        Connection* m_tx_connection = nullptr;          
        RasterPacketInfo m_packet_info;                 
        Dictionary<UUID, OverrideMatrixBuffer> m_override_matrices; 
        Dictionary<UUID, RealSenseScanner*> m_connected_scanners;   
        String m_rx_buffer;                             
        WorkerThread* m_thread;                         
        String m_server_connection;                     
        Time m_last_connection_attempt = Time(0);       
        Time m_ping_send = Constant<Time>::Invalid;     
        TimeSpan m_ping_offset = Constant<TimeSpan>::Invalid;   
        uint04 m_rx_buffer_offset = 0;                  
    };
}