TotalStation.h

#pragma once
#include "DLLInfo.h"
#include <NDEVR/Scanner3D.h>
#include <NDEVR/ApplicationOptions.h>
#include <NDEVR/Matrix.h>
#include <NDEVR/Time.h>
#include <NDEVR/Scene.h>
#include <NDEVR/Pointer.h>
#include <NDEVR/Thread.h>
#include <NDEVR/INIInterface.h>
#include <QPointer>
class ScannerDriver;
namespace NDEVR
{
    class PointMeasureModel;
    struct FileRequest;
    class DesignObjectLookup;
    class Log;
    class CarlsonScannerOrientation;
    class CarlsonScannerConnection;
    class CarlsonScannerBattery;
    class CarlsonScannerMotor;
    class PositionSensor;
    class SocketIOChannel;
    class MadgwickOrientationSensor;
    class TOTAL_STATION_API TotalStation final : public Scanner3D, public INIInterface
    {
    public:
        TotalStation(DesignObjectLookup* manager, QObject* parent = nullptr);
        ~TotalStation();
        bool isConnected() const override;
        //Children Sensors
        [[nodiscard]] virtual Light* light() const final override;
        [[nodiscard]] virtual Light* redDot() const final override;
        [[nodiscard]] virtual OrientationSensor* orientationSensor() const final override;
        [[nodiscard]] virtual Connection* connection() const final override;
        [[nodiscard]] virtual PositionSensor* positionSensor() const final override;
        [[nodiscard]] virtual RangeSensor* rangeSensor() const final override;
        [[nodiscard]] virtual TranslatedString scannerInfo() const final override;
        [[nodiscard]] virtual Buffer<Battery*> batteries() const final override;
        [[nodiscard]] virtual Buffer<TemperatureSensor*> temperatureSensors() const final override;
        [[nodiscard]] virtual DistanceEncoder* distanceEncoder() const final override;
        void setConstantLaserFire(bool constant_fire);
        void setModelFile(const File& file);
        //Scanner method implementations
        virtual void endUpdates() override;
        virtual void startScan(const Scanner3DScanSettings& settings) final override;
        virtual RangeSensor* createRangeSensor() final override;
        virtual void stopScan() final override;
        virtual void pauseScan() final override;
        virtual void resumeScan() final override;
        virtual void createScanner() final override;
        void addReverseOrientation();
        void addGridOrientation(sint04 range, const Angle<fltp08>& step, const Angle<fltp08>& offset);
        void createScannerModel() final override;
        void checkScanStep();
        void recordLocation();
        void orientHead(const Vector<3, Angle<fltp08>>& head_orientation) final override;
        bool executeManualCommand(const String& command) final override;
        virtual void setScannerState(ScannerState scanner_state) final override;
        virtual void showWarning(const TranslatedString& error) const final override;
        [[nodiscard]] virtual bool supportsState(ScannerState state) const final override;
        [[nodiscard]] virtual TimeSpan updateInterval() const final override;
        [[nodiscard]] virtual TimeSpan getScanTime(const Scanner3DScanSettings& settings) const final override;
        [[nodiscard]] bool useCalibratedScan() const final override;
        [[nodiscard]] ScannerState scannerState() const final override;
        [[nodiscard]] virtual bool supportsScanImageRaster() const final override;
        [[nodiscard]] virtual RasterInfo defaultRasterInfo(const UUID& profile) const final override;
        [[nodiscard]] virtual Buffer<ScanProfile> availableScanProfiles() const final override;
        [[nodiscard]] Bounds<2, Angle<fltp08>> scanBounds() const final override;
        [[nodiscard]] virtual Matrix<fltp08> cameraTransform() const final override;
        [[nodiscard]] virtual bool usingPrism() const override;
        fltp08 calculateDistance();
        Vertex<3, fltp08> targetPosition() const;
    protected:
        virtual FileRequest scanModelFile() const override;
        Matrix<fltp08> scanModelFileTransform() const override;
        Matrix<fltp08> prismModelFileTransform() const override;
        virtual void update(Time time) override;
        void onConnectedUpdate(const Time& current);
        void parkDevice() override;
        Matrix<fltp08> laserTransform(const Vector<3, Angle<fltp08>>& head_angle) const override;
        virtual Matrix<fltp08> scanTransform() const override;
        Vector<3, Angle<fltp08>> pointToHeadAngle(Vertex<3, fltp08> point) const override;
        virtual void getINI(INIFactory& factory) override;
    protected:
        Time m_last_distance_update_time = Time(0); 
        Scene m_measurement_points; 
        Vector<2, Angle<fltp08>> m_current_target = Constant<Vector<2, Angle<fltp08>>>::Invalid; 
        Buffer<Vector<2, Angle<fltp08>>> m_angle_targets; 
        DynamicPointer<Camera> m_camera_model; 
        MadgwickOrientationSensor* m_orientation = nullptr; 
        PositionSensor* m_position_sensor = nullptr; 
        DistanceEncoder* m_distance_encoder = nullptr; 
        Light* m_light = nullptr; 
        Light* m_red_dot = nullptr; 
        File m_model_file; 
        bool m_use_gnss = false; 
        bool m_constant_laser_fire = false; 
        bool m_auto_update_model = true; 
        fltp08 m_max_range = 100.0; 
        uint04 m_measure_initial_size = Constant<uint04>::Invalid; 
        PointMeasureModel* m_measure_model; 
    };
}