RealSenseScanner.h

#pragma once
#include "DLLInfo.h"
#include "RealSenseIOSettings.h"
#include "RasterPointScanner/Headers/RasterFrame.h"
#include "RasterPointScanner/Headers/RasterScanner.h"
#include "PointScanner/Headers/Scanner3D.h"
#include "BlockModel/Headers/SegmentedBlockModel.h"
#include "Design/Headers/PolarPointFilter.h"
#include "Design/Headers/Camera.h"
#include "Base/Headers/Time.h"
#include "Base/Headers/Pointer.hpp"
#include "Base/Headers/Thread.h"
#include "Base/Headers/INIInterface.h"
#include <QObject>
#include <librealsense2/rs.hpp>
class ScannerDriver;
namespace rs2
{
    class device;
    class video_stream_profile;
}
namespace NDEVR
{
    struct FileRequest;
    class OrbSLAM;
    class SLAMEngine;
    class DesignObjectLookup;
    class Log;
    class RealSenseMotor;
    class RealSenseScannerConnection;
    class Battery;
    template<class t_type, class t_smooth_type>
    class PointSmootherBlockFilter;
    class RealSenseOrientationSensor;
    class RealSenseRangeSensor;
    class RealSensePositionSensor;
    template<class t_type>
    class SegmentedBlockModel;
    class ColorNode;
    class RealSensePointSmoother;
    class RealSenseMotorManager;
    enum RealSenseDeviceType : uint01
    {
          e_unknown 
        , e_d405    
        , e_d435    
        , e_d455    
        , e_d457    
        , e_t265    
    };
    class RealSenseIOSettings;
    class REALSENSE_INTERFACE_API RealSenseScanner : public RasterScanner
    {
    public:
        static constexpr const char* const fw_version = "Firmware/D4XX_FW_Image-5.16.0.1.bin";  
        RealSenseScanner(Model& model, RealSenseScannerConnection* connection, DesignObjectLookup* manager, QObject* parent = nullptr);
        RealSenseScanner(RealSenseScannerConnection* connection, DesignObjectLookup* manager, QObject* parent = nullptr);
        RealSenseScanner(UUID id, DesignObjectLookup* manager, QObject* parent = nullptr);
        virtual ~RealSenseScanner();
        [[nodiscard]] virtual Motor* headMotor(uint01 axis) const override;
        [[nodiscard]] uint04 meshBlendFactor() const override { return 1U; }
        void setupRSStream(const RealSenseIOSettings& settings);
        void startRSStream(RealSenseIOSettings settings);
        [[nodiscard]] Vector<3, Angle<fltp08>> headAngle() const override;
        virtual void orientHead(const Vector<3, Angle<fltp08>>& head_orientation) override;
        [[nodiscard]] virtual Connection* connection() const override;
        void setupCameraModel() override;
        void setDeviceType(RealSenseDeviceType device);
        void updateFW(File fw_file);
        void updateFW(const Buffer<uint01>& fw_data);
        virtual bool isOrientationValid() const override;
    protected:
        bool finishActiveFrame();
        void setupSLAM(const rs2::sensor& sensor, const rs2::video_stream_profile& video_profile, const rs2::video_stream_profile& depth, rs2::stream_profile gyro);
        void updateIOState() override;
        virtual FileRequest scanModelFile() const override;
        virtual Matrix<fltp08> scanModelFileTransform() const override;
        virtual void update(Time time) override;
        bool processFrame(const rs2::frame& frame);
        void initDevice();
        bool collectPoints() override;
    protected:
        bool attemptConnection() override;
    protected:
        rs2::frameset m_frame_set;              
        rs2::syncer* m_syncer = nullptr;        
        fltp08 m_last_collect_time = Constant<fltp08>::Invalid; 
        File m_firmware_file;                   
        RealSenseIOSettings m_requested_io_settings;    
        RealSenseIOSettings m_active_io_settings;       
        rs2::frameset m_rs_frame;               
        uint01* m_swap_buffer = nullptr;        
        rs2::device m_rs_device;                
        RealSenseScannerConnection* m_connection = nullptr; 
        RealSenseMotorManager* m_motor_manager = nullptr;   
        RealSenseDeviceType m_device_type = RealSenseDeviceType::e_unknown; 
        fltp04 m_usb_version = Constant<fltp04>::Invalid;   
        bool m_rs_streaming_active = false;     
        bool m_align_to_depth_frame = false;    
        bool m_has_imu = false;                 
    };
}