53 lines
1.5 KiB
C
53 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, DetectionType type, const RobotPose6D& robotPose)>;
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/**
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* @brief DiscHolePose TCP 文本协议（PIMPL 模式）
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*
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* 协议格式：
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* - 请求: D1_X_Y_Z_A_B_C 表示 disc hole 检测
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* - 请求: R1_X_Y_Z_A_B_C 表示 disc rack 检测
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* - 响应: count_AX_AY_AZ_A_B_C_X_Y_Z_A_B_C
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* (12 个浮点：先接近点，后目标点，姿态相同)
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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 DiscHolePoseTCPProtocol : public QObject
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{
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Q_OBJECT
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public:
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explicit DiscHolePoseTCPProtocol(QObject* parent = nullptr);
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~DiscHolePoseTCPProtocol();
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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, DetectionType type, 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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