126 lines
3.7 KiB
C
126 lines
3.7 KiB
C
|
#ifndef WHEELMEASURETCPPROTOCOL_H
|
|||
|
|
#define WHEELMEASURETCPPROTOCOL_H
|
|||
|
|
|
|||
|
|
#include <functional>
|
|||
|
|
#include <vector>
|
|||
|
|
#include <string>
|
|||
|
|
#include <QString>
|
|||
|
|
#include <QMutex>
|
|||
|
|
#include "IYTCPServer.h"
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 车轮测量TCP服务器协议
|
|||
|
|
*
|
|||
|
|
* 协议格式：
|
|||
|
|
* - 接收：start,100 (start命令，100是参数)
|
|||
|
|
* - 发送：1,100,200;2,100,200;3,100,200;4,100,200
|
|||
|
|
* - 格式：相机ID,中心点到地面距离,轮眉到地面距离
|
|||
|
|
* - 多个相机结果用分号分隔
|
|||
|
|
* - 错误码：
|
|||
|
|
* - 400：扫描/匹配失败
|
|||
|
|
* - 401：工件为空
|
|||
|
|
* - 示例：1,400;2,100,200;3,100,200;4,100,200 (相机1失败)
|
|||
|
|
*/
|
|||
|
|
class WheelMeasureTCPProtocol
|
|||
|
|
{
|
|||
|
|
public:
|
|||
|
|
/**
|
|||
|
|
* @brief 单个相机的测量结果
|
|||
|
|
*/
|
|||
|
|
struct CameraMeasureResult {
|
|||
|
|
int cameraId = 0; // 相机ID (1-4)
|
|||
|
|
int errorCode = 0; // 错误码：0-成功，400-扫描失败，401-工件为空
|
|||
|
|
double centerDistance = 0; // 中心点到地面距离
|
|||
|
|
double archDistance = 0; // 轮眉到地面距离
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 检测触发回调函数类型
|
|||
|
|
* @param param 从start命令解析的参数
|
|||
|
|
* @return true-成功触发检测，false-失败
|
|||
|
|
*/
|
|||
|
|
using DetectionTriggerCallback = std::function<bool(int param)>;
|
|||
|
|
|
|||
|
|
public:
|
|||
|
|
WheelMeasureTCPProtocol();
|
|||
|
|
~WheelMeasureTCPProtocol();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 初始化TCP服务器
|
|||
|
|
* @param port TCP端口号
|
|||
|
|
* @return 0-成功，其他-错误码
|
|||
|
|
*/
|
|||
|
|
int Initialize(uint16_t port = 6800);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 反初始化，停止服务
|
|||
|
|
*/
|
|||
|
|
void Deinitialize();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 发送测量结果给客户端
|
|||
|
|
* @param results 所有相机的测量结果
|
|||
|
|
* @return 0-成功，其他-错误码
|
|||
|
|
*/
|
|||
|
|
int SendMeasureResults(const std::vector<CameraMeasureResult>& results);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 设置检测触发回调
|
|||
|
|
* @param callback 回调函数
|
|||
|
|
*/
|
|||
|
|
void SetDetectionTriggerCallback(const DetectionTriggerCallback& callback);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 获取服务运行状态
|
|||
|
|
* @return true-运行中，false-已停止
|
|||
|
|
*/
|
|||
|
|
bool IsRunning() const { return m_bServerRunning; }
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 获取当前连接的客户端数量
|
|||
|
|
* @return 客户端数量
|
|||
|
|
*/
|
|||
|
|
int GetClientCount() const;
|
|||
|
|
|
|||
|
|
private:
|
|||
|
|
/**
|
|||
|
|
* @brief TCP客户端连接事件处理
|
|||
|
|
* @param pClient 客户端对象
|
|||
|
|
* @param eventType 事件类型
|
|||
|
|
*/
|
|||
|
|
void OnTCPEvent(const TCPClient* pClient, TCPServerEventType eventType);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief TCP数据接收处理
|
|||
|
|
* @param pClient 客户端对象
|
|||
|
|
* @param pData 数据指针
|
|||
|
|
* @param nLen 数据长度
|
|||
|
|
*/
|
|||
|
|
void OnTCPDataReceived(const TCPClient* pClient, const char* pData, unsigned int nLen);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 解析命令
|
|||
|
|
* @param pClient 客户端对象
|
|||
|
|
* @param command 命令字符串
|
|||
|
|
*/
|
|||
|
|
void ParseCommand(const TCPClient* pClient, const QString& command);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 发送数据给指定客户端
|
|||
|
|
* @param pClient 客户端对象，nullptr表示发送给所有客户端
|
|||
|
|
* @param data 数据字符串
|
|||
|
|
* @return true-成功，false-失败
|
|||
|
|
*/
|
|||
|
|
bool SendData(const TCPClient* pClient, const QString& data);
|
|||
|
|
|
|||
|
|
private:
|
|||
|
|
IYTCPServer* m_pTCPServer; // TCP服务器实例
|
|||
|
|
bool m_bServerRunning; // 服务器运行状态
|
|||
|
|
uint16_t m_nPort; // TCP端口
|
|||
|
|
DetectionTriggerCallback m_detectionCallback; // 检测触发回调
|
|||
|
|
QMutex m_mutex; // 线程安全锁
|
|||
|
|
const TCPClient* m_pCurrentClient; // 当前请求的客户端
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
#endif // WHEELMEASURETCPPROTOCOL_H
|