84 lines
2.4 KiB
C
84 lines
2.4 KiB
C
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#ifndef IYJIURUIWORKPIECEPOSESTATUS_H
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#define IYJIURUIWORKPIECEPOSESTATUS_H
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#include <string>
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#include <functional>
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#include <vector>
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#include <QImage>
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#include <QMetaType>
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#include "IVisionApplicationStatus.h"
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// WorkStatus, WorkStatusToString 已在 IVisionApplicationStatus.h 中定义
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// 工件信息结构体（来自 Jiurui_getWorkpiecePose 返回的 SSG_pointPose）
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struct JiuruiWorkpieceInfo {
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// 工件中心点（Eye坐标系）
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double centerX = 0.0;
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double centerY = 0.0;
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double centerZ = 0.0;
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// 工件姿态 X 轴方向向量
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double poseXx = 0.0;
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double poseXy = 0.0;
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double poseXz = 0.0;
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// 工件姿态 Y 轴方向向量
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double poseYx = 0.0;
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double poseYy = 0.0;
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double poseYz = 0.0;
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// 工件姿态 Z 轴方向向量（法向）
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double poseZx = 0.0;
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double poseZy = 0.0;
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double poseZz = 0.0;
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JiuruiWorkpieceInfo() = default;
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JiuruiWorkpieceInfo(const JiuruiWorkpieceInfo&) = default;
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JiuruiWorkpieceInfo& operator=(const JiuruiWorkpieceInfo&) = default;
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};
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// 位置结构体（继承自 PositionData 模板）
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struct JiuruiWorkpiecePosition : public PositionData<double> {
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JiuruiWorkpiecePosition() : PositionData<double>() {}
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JiuruiWorkpiecePosition(double _x, double _y, double _z,
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double _roll, double _pitch, double _yaw)
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: PositionData<double>(_x, _y, _z, _roll, _pitch, _yaw) {}
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JiuruiWorkpiecePosition(const JiuruiWorkpiecePosition&) = default;
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JiuruiWorkpiecePosition& operator=(const JiuruiWorkpiecePosition&) = default;
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JiuruiWorkpiecePosition(const PositionData<double>& pos)
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: PositionData<double>(pos) {}
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};
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// 检测结果结构体
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struct DetectionResult : public DetectionResultData<JiuruiWorkpiecePosition> {
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// 工件信息列表
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std::vector<JiuruiWorkpieceInfo> workpieceInfoList;
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bool success = true;
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QString message = "检测成功";
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DetectionResult() = default;
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DetectionResult(const DetectionResult&) = default;
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DetectionResult& operator=(const DetectionResult&) = default;
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};
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// 状态回调接口
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class IYJiuruiWorkpiecePoseStatus : public IVisionApplicationStatus<DetectionResult>
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{
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public:
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virtual ~IYJiuruiWorkpiecePoseStatus() = default;
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};
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Q_DECLARE_METATYPE(JiuruiWorkpieceInfo)
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Q_DECLARE_METATYPE(JiuruiWorkpiecePosition)
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Q_DECLARE_METATYPE(DetectionResult)
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#endif // IYJIURUIWORKPIECEPOSESTATUS_H
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