RangeSensor.h

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/*--------------------------------------------------------------------------------------------
Copyright (c) 2019, NDEVR LLC
tyler.parke@ndevr.org
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 |   \ |  | | |  \ \ | |___  \ \ / /  |  |__)  |
 |  . \|  | | |__/ / | |___   \ V /   |   _   /
 |  |\    |_|_____/__|_____|___\_/____|  | \  \
 |__| \__________________________________|  \__\
 
Subject to the terms of the Enterprise+ Agreement, NDEVR hereby grants 
Licensee a limited, non-exclusive, non-transferable, royalty-free license 
(without the right to sublicense) to use the API solely for the purpose of 
Licensee's internal development efforts to develop applications for which 
the API was provided.
 
The above copyright notice and this permission notice shall be included in all 
copies or substantial portions of the Software.
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
 
Library: Hardware
File: RangeSensor
Included in API: True
Author(s): Tyler Parke
 *-----------------------------------------------------------------------------------------**/
#pragma once
#include <NDEVR/Device.h>
namespace NDEVR
{
    /**--------------------------------------------------------------------------------------------------
    \brief The type of a range sensor.
    **/
    enum RangeSensorType
    {
          e_line
        , e_2d_fan
        , e_3d_fan
    };
    /**--------------------------------------------------------------------------------------------------
    \brief A RangeSensor is a Device that determines the distance of a target at a certian orientaton. 
        Usually based on LiDAR or photogrametry.
    **/
    class HARDWARE_API RangeSensor : public Device
    {
        Q_OBJECT
    public:
        RangeSensor(const Model& name, ProgressInfo* log, QObject* parent = nullptr);
        RangeSensor(const Angle<fltp08>& fov, const Model& name, ProgressInfo* log, QObject* parent = nullptr);
        RangeSensor(const Vector<2, Angle<fltp08>>& fov, const Model& name, ProgressInfo* log, QObject* parent = nullptr);
        virtual bool activated() const { return m_is_activated; };
        [[nodiscard]] virtual fltp08 intensity() const { return m_intensity; }
        [[nodiscard]] virtual fltp08 distance() const { return m_distance; }
        [[nodiscard]] virtual bool lowVisibilityMode() const { return m_low_visibility_mode; }
        virtual void setLowVisibilityMode(bool low_visibility) { m_low_visibility_mode = low_visibility; }
        [[nodiscard]] virtual bool supportsLowVisibilityMode() const { return false; }
        virtual void setIntensity(fltp08 intensity) { m_intensity = intensity; }
        virtual void setDistance(fltp08 distance) { m_distance = distance; }
        [[nodiscard]] virtual bool supportsSetActivated() const { return false; }
        virtual void setActivated(bool is_active) { m_is_activated = is_active; }
        virtual void createModel(const RGBColor& color);
        virtual void createLineModel(const RGBColor& color);
        virtual void createFanModel(const RGBColor& color);
        virtual void updateModel();
        virtual void createMaterial(const RGBColor& color);
        RangeSensorType rangeSensorType() { return m_type; }
        virtual void measureDistance() {}
    protected:
        void init();
    protected:
        Vector<2, Angle<fltp08>> m_fov;
        fltp08 m_intensity;
        fltp08 m_distance;
        RangeSensorType m_type;
        bool m_is_activated;
        bool m_low_visibility_mode;
    };
}