58 lines
1.9 KiB
C
58 lines
1.9 KiB
C
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#ifndef IYSTATORWORKPIECEPOSITIONSTATUS_H
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#define IYSTATORWORKPIECEPOSITIONSTATUS_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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// 使用 AppCommon 提供的通用接口和类型
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#include "IVisionApplicationStatus.h"
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struct WorkpiecePoint3D {
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double x = 0.0;
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double y = 0.0;
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double z = 0.0;
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WorkpiecePoint3D() = default;
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WorkpiecePoint3D(double xValue, double yValue, double zValue)
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: x(xValue), y(yValue), z(zValue) {}
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};
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// 机械臂六轴位姿和算法原始工件数据同时保留，供 UI 与协议层使用。
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struct WorkpiecePosition : public PositionData<double> {
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int workpieceType = 0;
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int sourceDetectionIndex = -1;
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double value = 0.0;
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// 原始算法中心经手眼矩阵变换后的机器人坐标，不包含工具 offset；
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// PositionData::x/y/z 才是加入工具 offset 后的最终目标点。
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WorkpiecePoint3D center;
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WorkpiecePoint3D xDir;
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WorkpiecePoint3D yDir;
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WorkpiecePoint3D zDir;
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WorkpiecePosition() = default;
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WorkpiecePosition(const WorkpiecePosition&) = default;
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WorkpiecePosition& operator=(const WorkpiecePosition&) = default;
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};
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struct StatorWorkpiecePositionDetectionResult : public DetectionResultData<WorkpiecePosition> {
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StatorWorkpiecePositionDetectionResult() = default;
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StatorWorkpiecePositionDetectionResult(const StatorWorkpiecePositionDetectionResult&) = default;
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StatorWorkpiecePositionDetectionResult& operator=(const StatorWorkpiecePositionDetectionResult&) = default;
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};
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// 状态回调接口
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class IYStatorWorkpiecePositionStatus : public IVisionApplicationStatus<StatorWorkpiecePositionDetectionResult>
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{
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public:
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virtual ~IYStatorWorkpiecePositionStatus() = default;
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};
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Q_DECLARE_METATYPE(WorkpiecePoint3D)
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Q_DECLARE_METATYPE(WorkpiecePosition)
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Q_DECLARE_METATYPE(StatorWorkpiecePositionDetectionResult)
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#endif // IYSTATORWORKPIECEPOSITIONSTATUS_H
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