88 lines
2.9 KiB
C
88 lines
2.9 KiB
C
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#ifndef RODWELDSEAMTCPPROTOCOL_H
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#define RODWELDSEAMTCPPROTOCOL_H
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#include <atomic>
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#include <cstddef>
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#include <cstdint>
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#include <functional>
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#include <map>
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#include <mutex>
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#include <set>
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#include <string>
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#include <QByteArray>
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#include "IYTCPServer.h"
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#include "RobotPose6D.h"
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/**
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* @brief 钢筋焊缝定位文本 TCP 协议服务端。
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*
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* 请求格式：W{camera}_X_Y_Z_A_B_C\r\n
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*
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* 协议层只负责报文收发和解析，不依赖 Presenter 或检测结果类型。检测完成后，
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* 上层通过 SendTextResult() 传入不含行结束符的结果正文，协议层追加 CRLF 并
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* 广播给当前所有客户端。
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*/
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class RodWeldSeamTCPProtocol
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{
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public:
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using ConnectionCallback = std::function<void(bool connected)>;
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using DetectionTriggerCallback = std::function<bool(int cameraIndex,
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const RobotPose6D& robotPose)>;
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RodWeldSeamTCPProtocol();
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~RodWeldSeamTCPProtocol();
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RodWeldSeamTCPProtocol(const RodWeldSeamTCPProtocol&) = delete;
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RodWeldSeamTCPProtocol& operator=(const RodWeldSeamTCPProtocol&) = delete;
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int Initialize(uint16_t port = 7800);
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void Deinitialize();
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bool IsRunning() const;
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std::size_t ClientCount() const;
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void SetConnectionCallback(const ConnectionCallback& callback);
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void SetDetectionTriggerCallback(const DetectionTriggerCallback& callback);
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/**
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* @brief 广播已格式化的结果正文。
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* @param text 不含 CR/LF 行结束符的结果正文。
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* @return 0=成功，-1=服务未运行，-2=发送失败。
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*/
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int SendTextResult(const std::string& text);
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private:
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static constexpr std::size_t kMaxClientBufferBytes = 64U * 1024U;
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void OnTCPEvent(const TCPClient* client, TCPServerEventType eventType);
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void OnTCPDataReceived(const TCPClient* client, const char* data, unsigned int length);
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void ParseTextCommand(const TCPClient* client, const QByteArray& line);
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int SendTextToClient(const TCPClient* client, const std::string& text);
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void NotifyConnectionChanged(bool connected);
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private:
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// Initialize/Deinitialize 可能由配置更新和析构路径分别调用，需串行化生命周期。
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mutable std::mutex m_lifecycleMutex;
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// 保护服务指针以及发送操作；停止服务前先把 running 置为 false，避免发送/释放竞争。
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mutable std::mutex m_sendMutex;
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// TCP 底层可能从多个工作线程回调，不同客户端的缓存和集合共用此锁。
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mutable std::mutex m_clientMutex;
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mutable std::mutex m_callbackMutex;
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IYTCPServer* m_tcpServer = nullptr;
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std::atomic<bool> m_serverRunning{false};
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std::atomic<std::size_t> m_clientCount{0};
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uint16_t m_port = 7800;
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std::map<const TCPClient*, QByteArray> m_clientBuffers;
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std::set<const TCPClient*> m_clients;
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ConnectionCallback m_connectionCallback;
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DetectionTriggerCallback m_detectionTriggerCallback;
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};
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#endif // RODWELDSEAMTCPPROTOCOL_H
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