Represents the Jorvik Total Station, a 3D scanner with advanced measurement capabilities. More...

Inheritance diagram for JorvikTotalStation:

Collaboration diagram for JorvikTotalStation:

Public Member Functions
	JorvikTotalStation (JorvikConnection connection, DesignObjectLookup manager, QObject *parent=nullptr)
	Constructor for the JorvikTotalStation.
	~JorvikTotalStation ()
	Destructor for the JorvikTotalStation.
void	addGridOrientation (sint04 range_pitch, sint04 range_roll, const Angle< fltp08 > &step_pitch, const Angle< fltp08 > &step_roll, const Angle< fltp08 > &offset)
	Adds a grid orientation to the scanner.
void	addModelsToScan ()
	Adds models to the scan.
void	addReverseOrientation ()
	Adds a reverse orientation to the scanner.
virtual Buffer< ScanProfile >	availableScanProfiles () const final override
	Retrieves the available scan profiles.
virtual Buffer< Battery * >	batteries () const final override
	Retrieves the list of batteries.
fltp08	calculateDistance ()
	Calculates the distance to a target.
virtual Matrix< fltp08 >	cameraTransform () const final override
	Retrieves the camera transformation matrix.
void	checkScanStep ()
	Checks the current scan step.
virtual Connection *	connection () const final override
	Retrieves the connection instance.
virtual RangeSensor *	createRangeSensor () final override
	Creates a range sensor.
virtual void	createScanner () final override
	Creates the scanner instance.
String	defaultCameraFeed ()
	Retrieves the default camera feed.
virtual RasterInfo	defaultRasterInfo (const UUID &profile) const final override
	Retrieves the default raster info for a given profile.
virtual DistanceEncoder *	distanceEncoder () const final override
	Retrieves the distance encoder.
virtual void	endUpdates () override
	Ends updates for the scanner.
bool	executeManualCommand (const String &command) final override
	Executes a manual command on the scanner.
virtual void	getINI (INIFactory &factory) override
	Reads INI settings into the factory.
virtual TimeSpan	getScanTime (const Scanner3DScanSettings &settings) const final override
	Calculates the scan time for the given settings.
bool	isConnected () const override
	Checks if the total station is connected.
virtual Light *	light () const final override
	Retrieves the light sensor.
virtual OrientationSensor *	orientationSensor () const final override
	Retrieves the orientation sensor.
void	orientHead (const Vector< 3, Angle< fltp08 > > &head_orientation) final override
	Orients the scanner head to the specified orientation.
virtual void	pauseScan () final override
	Pauses the current scan.
virtual PositionSensor *	positionSensor () const final override
	Retrieves the position sensor.
virtual RangeSensor *	rangeSensor () const final override
	Retrieves the range sensor.
void	recordLocation ()
	Records the current location of the scanner.
virtual Light *	redDot () const final override
	Retrieves the red dot light sensor.
virtual void	resumeScan () final override
	Resumes the paused scan.
void	saveDeviations (File file)
	Saves deviation data to a file.
Bounds< 2, Angle< fltp08 > >	scanBounds () const final override
	Retrieves the scan bounds.
virtual TranslatedString	scannerInfo () const final override
	Retrieves scanner information.
ScannerState	scannerState () const final override
	Retrieves the current state of the scanner.
void	setConstantLaserFire (bool constant_fire)
	Enables or disables constant laser firing.
void	setModelFile (const File &file)
	Sets the model file for the total station.
virtual void	startScan (const Scanner3DScanSettings &settings) final override
	Starts a scan with the given settings.
virtual void	stopScan () final override
	Stops the current scan.
virtual bool	supportsScanImageRaster () const final override
	Checks if the scanner supports image raster scanning.
virtual bool	supportsState (ScannerState state) const final override
	Checks if the scanner supports a specific state.
Vertex< 3, fltp08 >	targetPosition () const
	Retrieves the target position of the scanner.
virtual Buffer< TemperatureSensor * >	temperatureSensors () const final override
	Retrieves the list of temperature sensors.
virtual TimeSpan	updateInterval () const final override
	Retrieves the update interval for the scanner.
bool	useCalibratedScan () const final override
	Checks if the scanner uses calibrated scans.
virtual bool	usingPrism () const override
	Checks if the scanner is using a prism.
Public Member Functions inherited from INIInterface
	INIInterface ()
	Constructs an INIInterface with no default INI file.
	INIInterface (const File &default_ini)
	Constructs an INIInterface with the specified default INI file.
virtual	~INIInterface ()
	Virtual destructor for safe polymorphic cleanup.
virtual void	finishReadingINI (INIFactory &)
	Called after reading an INI file.
virtual void	prepareForINI (INIFactory &)
	Called before reading or writing an INI file.
virtual bool	readINIOptions ()
	Reads INI options from the default INI file.
virtual bool	readINIOptions (File &ini_file)
	Reads INI options from the specified INI file.
virtual bool	saveINIOptions (bool multithead=false)
	Saves INI options to the default INI file.
virtual bool	saveINIOptions (File &ini_file, bool multithead=false)
	Saves INI options to the specified INI file.
void	setDefaultINIFile (const File &file)
	Sets the default INI file path used for reading and writing options.
virtual void	writeToLog (const StringView &title, LogPtr log, uint01 log_level=2U)
	Writes the current INI options to the specified log with a title.
virtual void	writeToLog (LogPtr log, uint01 log_level=2U)
	Writes the current INI options to the specified log.

Static Public Attributes
static ApplicationOption< bool >	calculate_motor_offset
	Option to calculate motor offset.
static ApplicationOption< Angle< fltp08 > >	compensator_offset_pitch
	Compensator offset for pitch.
static ApplicationOption< Angle< fltp08 > >	compensator_offset_roll
	Compensator offset for roll.
static ApplicationOption< Angle< fltp08 > >	compensator_to_encoder_offset_pitch
	Compensator-to-encoder offset for pitch.
static ApplicationOption< Angle< fltp08 > >	compensator_to_encoder_offset_roll
	Compensator-to-encoder offset for roll.
static ApplicationOption< String >	connection_address
	Connection address for the scanner.
static ApplicationOption< Angle< fltp08 > >	encoder_angle_offset_pitch
	Encoder angle offset for pitch.
static ApplicationOption< Angle< fltp08 > >	encoder_angle_offset_roll
	Encoder angle offset for roll.
static ApplicationOption< Angle< fltp08 > >	motor_epsilon
	Motor epsilon value.

Protected Member Functions
void	addDataToChartModel ()
	Adds data to the chart model.
fltp08	chartTime ()
	Retrieves the current chart time.
void	initCameraModel ()
	Initializes the camera model.
void	initCharts ()
	Initializes the chart models.
void	initMeasureModel ()
	Initializes the measurement model.
void	initMotors ()
	Initializes the scanner motors.
Matrix< fltp08 >	laserTransform (const Vector< 3, Angle< fltp08 > > &head_angle) const override
	Retrieves the laser transformation matrix.
void	onConnectedUpdate (const Time &current)
	Handles updates when the scanner is connected.
void	parkDevice () override
	Parks the scanner device.
Vector< 3, Angle< fltp08 > >	pointToHeadAngle (Vertex< 3, fltp08 > point) const override
	Converts a point to a head angle.
Matrix< fltp08 >	prismModelFileTransform () const override
	Retrieves the transformation matrix for the prism model file.
void	processData (Time time, const JorvikData &data)
	Processes incoming data.
void	processMessages (Time time)
	Processes incoming messages.
void	recordChartDeviation ()
	Records deviation data for charts.
void	recordDeviation ()
	Records deviation data.
virtual FileRequest	scanModelFile () const override
	Retrieves the scan model file.
Matrix< fltp08 >	scanModelFileTransform () const override
	Retrieves the transformation matrix for the scan model file.
virtual Matrix< fltp08 >	scanTransform () const override
	Retrieves the scan transformation matrix.
virtual void	update (Time time) override
	Updates the scanner state.

Protected Attributes
NDEVRChartModel *	m_angle_chart_model [2]
	Chart models for angle data.
Buffer< Vector< 2, Angle< fltp08 > > >	m_angle_targets
	Buffer of angle targets.
bool	m_auto_update_model = true
	Indicates if the model is auto-updated.
CalibrationData *	m_calibration_data
	Calibration data for the scanner.
DynamicPointer< Camera >	m_camera_model
	Camera model for the scanner.
Model	m_camera_target_model
	Target model for the camera.
fltp08	m_chart_offset_time = 0.0
	Offset time for charts.
Scene	m_chart_scene
	Scene for chart data.
Buffer< CollimatorReading >	m_collimator_readings
	Buffer of collimator readings.
bool	m_collimator_test = false
	Indicates if a collimator test is active.
JorvikConnection *	m_connection
	Connection to the scanner.
bool	m_constant_laser_fire = false
	Indicates if constant laser firing is enabled.
Vector< 2, Angle< fltp08 > >	m_current_target = Constant<Vector<2, Angle<fltp08>>>::Invalid
	Current target angles.
NDEVRChartModel *	m_deviation_chart_model [2]
	Chart models for deviation data.
DistanceEncoder *	m_distance_encoder = nullptr
	Distance encoder for the scanner.
bool	m_has_removed_bulb = false
	Indicates if the bulb has been removed.
bool	m_infinite_test = false
	Indicates if an infinite test is active.
Time	m_last_angle_update_time = Constant<Time>::Invalid
	Last update time for angles.
Time	m_last_compensator_update_time = Constant<Time>::Invalid
	Last update time for the compensator.
Time	m_last_distance_update_time = Time(0)
	Last update time for distance.
Time	m_last_head_move_time = Time(0)
	Last move time for the scanner head.
Time	m_last_head_update_time = Time(0)
	Last update time for the scanner head.
Time	m_last_settings_time = Time(0)
	Last update time for settings.
bool	m_manual_step = false
	Indicates if manual stepping is enabled.
bool	m_manually_drive = false
	Indicates if manual driving is enabled.
fltp08	m_max_range = 10.0
	Maximum range of the scanner.
uint04	m_measure_initial_size = Constant<uint04>::Invalid
	Initial size for measurements.
PointMeasureModel *	m_measure_model
	Measurement model for the scanner.
Scene	m_measurement_points
	Scene for measurement points.
File	m_model_file
	Model file for the scanner.
Buffer< Model >	m_model_targets
	Buffer of model targets.
Vector< 2, Angle< fltp08 > >	m_motor_offset = Constant<Vector<2, Angle<fltp08>>>::Invalid
	Motor offset calibration values.
Vector< 2, Angle< fltp08 > >	m_motor_target = Constant<Vector<2, Angle<fltp08>>>::Invalid
	Motor target angles.
OrientationSensor *	m_orientation = nullptr
	Orientation sensor for the scanner.
NDEVRChartModel *	m_orientation_chart_model [2]
	Chart models for orientation data.
PositionSensor *	m_position_sensor = nullptr
	Position sensor for the scanner.
Vector< 2, Angle< fltp08 > >	m_raw_angles = Constant<Vector<2, Angle<fltp08>>>::Invalid
	Raw angles from the scanner.
Vector< 2, Angle< fltp08 > >	m_raw_compensator = Constant<Vector<2, Angle<fltp08>>>::Invalid
	Raw compensator angles.
TimeSpan	m_reading_wait_time = TimeSpan(20.0)
	Wait time for readings.
Light *	m_red_dot = nullptr
	Red dot light for the scanner.
UUID	m_scan_profile
	Scan profile UUID.
TranslatedString	m_test_name
	Name of the current test.
bool	m_use_gnss = false
	Indicates if GNSS is used.
Protected Attributes inherited from INIInterface
File	m_default_ini
	The default file path used for reading and writing INI options.

Detailed Description

Represents the Jorvik Total Station, a 3D scanner with advanced measurement capabilities.

This class extends Scanner3D and integrates with the INI system for configuration management.

Definition at line 40 of file JorvikTotalStation.h.

Constructor & Destructor Documentation

◆ JorvikTotalStation()

JorvikTotalStation::JorvikTotalStation	(	JorvikConnection *	connection,
		DesignObjectLookup *	manager,
		QObject *	parent = nullptr )

Constructor for the JorvikTotalStation.

Parameters

connection	Pointer to the JorvikConnection instance.
manager	Pointer to the DesignObjectLookup instance.
parent	Optional parent QObject.

References connection().

Member Function Documentation

◆ addGridOrientation()

void JorvikTotalStation::addGridOrientation	(	sint04	range_pitch,
		sint04	range_roll,
		const Angle< fltp08 > &	step_pitch,
		const Angle< fltp08 > &	step_roll,
		const Angle< fltp08 > &	offset )

Adds a grid orientation to the scanner.

Parameters

range_pitch	Range of pitch angles.
range_roll	Range of roll angles.
step_pitch	Step size for pitch angles.
step_roll	Step size for roll angles.
offset	Offset for the grid orientation.