309 lines
9.7 KiB
C++
309 lines
9.7 KiB
C++
#include "DiscHolePoseTCPProtocol.h"
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#include "IYTCPServer.h"
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#include "IVrConfig.h"
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#include "VrLog.h"
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#include <QString>
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#include <QStringList>
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#include <QMetaObject>
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#include <map>
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// ============================================================
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// Impl —— 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::Impl
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{
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public:
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DiscHolePoseTCPProtocol* q = nullptr;
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IYTCPServer* m_pTCPServer = nullptr;
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bool m_bServerRunning = false;
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uint16_t m_nPort = 0;
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bool m_bConnected = false;
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DetectionTriggerCallback m_detectionTriggerCallback;
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// 每个客户端的行缓冲（基于 TCPClient 指针作为 key）
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std::map<const TCPClient*, QByteArray> m_clientBuffers;
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// ============ 生命周期 ============
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bool StartServer(uint16_t port)
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{
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m_nPort = port;
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if (!VrCreatYTCPServer(&m_pTCPServer)) {
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LOG_ERROR("DiscHolePose: Failed to create TCP server instance\n");
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return false;
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}
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if (!m_pTCPServer->Init(port)) {
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LOG_ERROR("DiscHolePose: Failed to initialize TCP server on port %d\n", port);
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delete m_pTCPServer;
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m_pTCPServer = nullptr;
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return false;
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}
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m_pTCPServer->SetEventCallback([this](const TCPClient* pClient, TCPServerEventType eventType) {
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this->OnTCPEvent(pClient, eventType);
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});
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if (!m_pTCPServer->Start([this](const TCPClient* pClient, const char* pData, const unsigned int nLen) {
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this->OnTCPDataReceived(pClient, pData, nLen);
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})) {
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LOG_ERROR("DiscHolePose: Failed to start TCP server\n");
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m_pTCPServer->Close();
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delete m_pTCPServer;
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m_pTCPServer = nullptr;
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return false;
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}
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m_bServerRunning = true;
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LOG_DEBUG("DiscHolePose TCP protocol started on port %d\n", port);
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return true;
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}
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void StopServer()
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{
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if (m_pTCPServer) {
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m_bServerRunning = false;
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m_bConnected = false;
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m_pTCPServer->Stop();
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m_pTCPServer->Close();
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delete m_pTCPServer;
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m_pTCPServer = nullptr;
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m_clientBuffers.clear();
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}
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}
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bool IsConnected() const
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{
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return m_bConnected;
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}
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// ============ 发送 ============
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int SendResult(const QString& resultText, const TCPClient* pClient = nullptr)
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{
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if (!m_pTCPServer || !m_bServerRunning) {
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return -1;
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}
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const QByteArray sendData = resultText.toUtf8() + "\r\n";
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bool success = false;
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if (pClient) {
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success = m_pTCPServer->SendData(pClient, sendData.constData(),
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static_cast<unsigned int>(sendData.size()));
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} else {
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success = m_pTCPServer->SendAllData(sendData.constData(),
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static_cast<unsigned int>(sendData.size()));
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}
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return success ? 0 : -2;
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}
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// ============ TCP 事件回调（在 IYTCPServer 工作线程中）============
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void OnTCPEvent(const TCPClient* pClient, TCPServerEventType eventType)
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{
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switch (eventType) {
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case TCP_EVENT_CLIENT_CONNECTED:
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LOG_DEBUG("DiscHolePose: TCP client connected: %p\n", pClient);
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m_bConnected = true;
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QMetaObject::invokeMethod(q, [this]() {
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emit q->ConnectionChanged(true);
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}, Qt::QueuedConnection);
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break;
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case TCP_EVENT_CLIENT_DISCONNECTED:
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LOG_DEBUG("DiscHolePose: TCP client disconnected: %p\n", pClient);
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m_clientBuffers.erase(pClient);
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m_bConnected = false;
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QMetaObject::invokeMethod(q, [this]() {
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emit q->ConnectionChanged(false);
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}, Qt::QueuedConnection);
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break;
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case TCP_EVENT_CLIENT_EXCEPTION:
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LOG_WARNING("DiscHolePose: TCP client exception: %p\n", pClient);
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m_clientBuffers.erase(pClient);
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m_bConnected = false;
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QMetaObject::invokeMethod(q, [this]() {
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emit q->ConnectionChanged(false);
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}, Qt::QueuedConnection);
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break;
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}
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}
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void OnTCPDataReceived(const TCPClient* pClient, const char* pData, unsigned int nLen)
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{
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if (!pData || nLen == 0) {
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return;
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}
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m_clientBuffers[pClient].append(pData, static_cast<int>(nLen));
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QByteArray& buffer = m_clientBuffers[pClient];
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while (true) {
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int idx = buffer.indexOf("\r\n");
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int terminatorLen = 2;
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if (idx < 0) {
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idx = buffer.indexOf('\n');
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terminatorLen = 1;
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}
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if (idx < 0) {
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break;
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}
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QByteArray line = buffer.left(idx).trimmed();
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buffer.remove(0, idx + terminatorLen);
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if (!line.isEmpty()) {
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const QString strLine = QString::fromUtf8(line);
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// Emit DataReceived signal on main thread
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QMetaObject::invokeMethod(q, [this, strLine]() {
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emit q->DataReceived(strLine);
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}, Qt::QueuedConnection);
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ProcessCommand(strLine);
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}
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}
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}
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// ============ 命令解析 ============
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void ProcessCommand(const QString& command)
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{
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// 协议格式: T1_X_Y_Z_A_B_C
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// T = D（discHole）或 R（discRack）
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// 1 = 相机索引（从 1 开始）
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QStringList tokens = command.split('_', Qt::SkipEmptyParts);
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LOG_DEBUG("DiscHolePose ParseCommand: '%s', tokens=%d\n",
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command.toStdString().c_str(), tokens.size());
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if (tokens.size() < 7) {
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LOG_ERROR("DiscHolePose: Invalid command format, expected 7 tokens, got %d: %s\n",
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tokens.size(), command.toStdString().c_str());
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return;
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}
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// 解析检测类型
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const QString typeToken = tokens[0].toUpper();
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DetectionType detectionType;
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if (typeToken.startsWith('D')) {
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detectionType = DETECTION_TYPE_DISC_HOLE;
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} else if (typeToken.startsWith('R')) {
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detectionType = DETECTION_TYPE_DISC_RACK;
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} else {
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LOG_ERROR("DiscHolePose: Invalid type token: %s (expected D or R)\n",
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typeToken.toStdString().c_str());
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return;
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}
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// 解析相机索引
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int cameraIndex = typeToken.mid(1).toInt();
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if (cameraIndex < 1) {
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cameraIndex = 1;
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}
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// 解析机器人位姿 X_Y_Z_A_B_C
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RobotPose6D robotPose;
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double* values[] = {
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&robotPose.x, &robotPose.y, &robotPose.z,
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&robotPose.a, &robotPose.b, &robotPose.c
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};
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for (int i = 0; i < 6; ++i) {
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bool ok = false;
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const double val = tokens[i + 1].toDouble(&ok);
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if (!ok) {
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LOG_ERROR("DiscHolePose: Invalid numeric value at position %d: '%s'\n",
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i + 1, tokens[i + 1].toStdString().c_str());
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return;
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}
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*values[i] = val;
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}
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LOG_INFO("DiscHolePose TCP trigger: type=%d, camera=%d, pose=(%.3f, %.3f, %.3f, %.3f, %.3f, %.3f)\n",
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static_cast<int>(detectionType), cameraIndex,
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robotPose.x, robotPose.y, robotPose.z,
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robotPose.a, robotPose.b, robotPose.c);
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// Emit DetectionTriggered signal on main thread
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QMetaObject::invokeMethod(q, [this, cameraIndex, detectionType, robotPose]() {
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emit q->DetectionTriggered(cameraIndex, detectionType, robotPose);
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}, Qt::QueuedConnection);
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if (m_detectionTriggerCallback) {
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m_detectionTriggerCallback(cameraIndex, detectionType, robotPose);
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}
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}
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};
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// ============================================================
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// DiscHolePoseTCPProtocol 公开接口（委托给 Impl）
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// ============================================================
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DiscHolePoseTCPProtocol::DiscHolePoseTCPProtocol(QObject* parent)
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: QObject(parent)
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, m_pImpl(std::make_unique<Impl>())
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{
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m_pImpl->q = this;
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}
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DiscHolePoseTCPProtocol::~DiscHolePoseTCPProtocol()
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{
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StopServer();
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}
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bool DiscHolePoseTCPProtocol::StartServer(uint16_t port)
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{
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return m_pImpl->StartServer(port);
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}
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void DiscHolePoseTCPProtocol::StopServer()
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{
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m_pImpl->StopServer();
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}
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bool DiscHolePoseTCPProtocol::IsConnected() const
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{
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return m_pImpl->IsConnected();
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}
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void DiscHolePoseTCPProtocol::SetDetectionTriggerCallback(DetectionTriggerCallback callback)
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{
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m_pImpl->m_detectionTriggerCallback = std::move(callback);
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}
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void DiscHolePoseTCPProtocol::SendResult(const QString& resultText)
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{
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m_pImpl->SendResult(resultText);
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}
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// Private slots —— 这些槽在当前设计中由 Impl 的回调通过 QMetaObject::invokeMethod
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// 驱动信号，因此这里保留空实现（实际逻辑在 Impl::OnTCPEvent / OnTCPDataReceived 内完成）。
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// 如果将来需要外部主动调用这些槽，可以补充转发逻辑。
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void DiscHolePoseTCPProtocol::OnNewConnection()
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{
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// 当前由 Impl 内部 TCP_EVENT_CLIENT_CONNECTED 直接 emit ConnectionChanged
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}
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void DiscHolePoseTCPProtocol::OnDisconnected()
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{
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// 当前由 Impl 内部 TCP_EVENT_CLIENT_DISCONNECTED 直接 emit ConnectionChanged
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}
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void DiscHolePoseTCPProtocol::OnReadyRead(const QByteArray& data)
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{
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// 当前数据接收在 Impl::OnTCPDataReceived 中完成，
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// 此槽保留供将来 Qt 信号驱动的接收路径使用
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Q_UNUSED(data);
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}
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void DiscHolePoseTCPProtocol::ProcessCommand(const QString& command)
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{
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m_pImpl->ProcessCommand(command);
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}
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