81 lines
2.6 KiB
C
81 lines
2.6 KiB
C
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#ifndef TCPSERVERPROTOCOL_H
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#define TCPSERVERPROTOCOL_H
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#include <functional>
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#include <vector>
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#include <string>
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#include <map>
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#include <QByteArray>
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#include "IYTCPServer.h"
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#include "ProtocolCommon.h"
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/**
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* @brief TCP服务器协议封装类（文本协议）
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*
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* 触发格式（客户端->服务端）：
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* X1 RbtX-23.45 RbtY-23.45 RbtZ-23.45 RbtRoll-23.45 RbtPitch-123.45 RbtYaw-23.45\n
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* X后跟1或2区分相机，RbtX/Y/Z/Roll/Pitch/Yaw为机器人法兰位姿
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*
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* 返回格式（服务端->客户端）：
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* PointNum_X1_Y1_Z1_Roll1_Pitch1_Yaw1/X2_Y2_Z2_Roll2_Pitch2_Yaw2/\n
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* 第一个值是孔洞数量，_分隔同一孔洞各分量，/分隔不同孔洞
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*/
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class TCPServerProtocol
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{
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public:
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using TCPStatus = ConnectionStatus;
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/**
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* @brief 检测触发回调
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* @param cameraIndex 相机索引（1或2）
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* @param robotPose 机器人法兰位姿
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* @return 是否成功触发检测
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*/
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using DetectionTriggerCallback = std::function<bool(int cameraIndex, const RobotFlangePose& robotPose)>;
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public:
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TCPServerProtocol();
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~TCPServerProtocol();
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int Initialize(uint16_t port = 5020);
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void Deinitialize();
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/**
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* @brief 发送文本格式结果给客户端
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* @param text 文本内容（不含末尾换行，函数内部会自动添加）
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* @param pClient 目标客户端，nullptr则发送给所有客户端
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* @return 0-成功，其他-错误码
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*/
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int SendTextResult(const std::string& text, const TCPClient* pClient = nullptr);
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TCPStatus GetConnectionStatus() const;
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void SetConnectionCallback(const ConnectionCallback& callback);
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void SetDetectionTriggerCallback(const DetectionTriggerCallback& callback);
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bool IsRunning() const;
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private:
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void OnTCPEvent(const TCPClient* pClient, TCPServerEventType eventType);
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void OnTCPDataReceived(const TCPClient* pClient, const char* pData, unsigned int nLen);
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/**
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* @brief 解析一行文本命令
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* @param pClient 客户端对象
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* @param line 一行完整命令（不含换行符）
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*/
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void ParseTextCommand(const TCPClient* pClient, const QByteArray& line);
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private:
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IYTCPServer* m_pTCPServer;
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bool m_bServerRunning;
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uint16_t m_nPort;
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TCPStatus m_connectionStatus;
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ConnectionCallback m_connectionCallback;
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DetectionTriggerCallback m_detectionTriggerCallback;
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// 每个客户端的接收缓冲区（处理粘包/分包）
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std::map<const TCPClient*, QByteArray> m_clientBuffers;
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};
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#endif // TCPSERVERPROTOCOL_H
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