54 lines
1.5 KiB
C
54 lines
1.5 KiB
C
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#pragma once
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#include <QObject>
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#include <QString>
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#include <functional>
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#include <memory>
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#include "IVrConfig.h"
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#include "RobotPose6D.h"
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using DetectionTriggerCallback = std::function<void(int cameraIndex, const RobotPose6D& robotPose)>;
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/**
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* @brief JiuruiWorkpiecePose TCP 文本协议（PIMPL 模式）
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*
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* 眼在手外(Eye-to-Hand)模式：相机固定，无需机械臂位姿。
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*
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* 协议格式：
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* - 请求: D1 触发相机1的工件检测
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* - 响应: count_X1_Y1_Z1_A1_B1_C1_X2_Y2_Z2_A2_B2_C2_...
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* (count 个目标，每个 6 个浮点：XYZ + 姿态 A/B/C)
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*
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* 内部持有 IYTCPServer 生命周期与行缓冲，通过回调驱动 QObject 信号。
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*/
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class JiuruiWorkpiecePoseTCPProtocol : public QObject
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{
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Q_OBJECT
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public:
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explicit JiuruiWorkpiecePoseTCPProtocol(QObject* parent = nullptr);
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~JiuruiWorkpiecePoseTCPProtocol();
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bool StartServer(uint16_t port);
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void StopServer();
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bool IsConnected() const;
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void SetDetectionTriggerCallback(DetectionTriggerCallback callback);
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void SendResult(const QString& resultText);
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signals:
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void ConnectionChanged(bool connected);
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void DataReceived(const QString& data);
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void DetectionTriggered(int cameraIndex, const RobotPose6D& robotPose);
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private slots:
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void OnNewConnection();
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void OnDisconnected();
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void OnReadyRead(const QByteArray& data);
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private:
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void ProcessCommand(const QString& command);
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class Impl;
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std::unique_ptr<Impl> m_pImpl;
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};
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