347 lines
11 KiB
C++
347 lines
11 KiB
C++
#ifndef IVRCONFIG_H
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#define IVRCONFIG_H
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#include <iostream>
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#include <string>
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#include <vector>
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#include <utility>
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#include <algorithm>
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#include <cstring>
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// 包含公共配置结构体
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#include "VrCommonConfig.h"
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/**
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* @brief 工具姿态和目标点补偿参数
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*
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* 锥形工件定位接口自身只接收点云和地面标定参数。该参数组用于把算法
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* 输出的工件坐标系转换为最终机械臂目标位姿，配置方式与 WorkpieceHole 一致。
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*/
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struct VrToolParam
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{
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int eulerOrder = 11; // 工具补偿欧拉角顺序，默认外旋 ZYX
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double rotX = 0.0; // 工具姿态 X 轴补偿 (deg)
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double rotY = 0.0; // 工具姿态 Y 轴补偿 (deg)
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double rotZ = 0.0; // 工具姿态 Z 轴补偿 (deg)
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double offsetX = 0.0; // 目标点 X 偏移 (mm)
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double offsetY = 0.0; // 目标点 Y 偏移 (mm)
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double offsetZ = 0.0; // 目标点 Z 偏移 (mm)
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};
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/**
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* @brief 左目二维工件定位阈值
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*/
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struct VrWorkpieceModelParam
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{
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// 模型及运行库由应用按平台从固定安装目录自动加载。
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double minimumScore = 0.6;
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// 2D模型类别到 hybridPosePositioning 工件类型的映射。
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// 默认对齐 hybridPosePositioning_test.cpp：class 0/1/2 -> workpieceType 1/2/3。
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// 配置值 <=0 表示忽略该2D类别，用于只启用其中两种工件的现场配置。
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int class0WorkpieceType = 1;
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int class1WorkpieceType = 2;
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int class2WorkpieceType = 3;
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int WorkpieceTypeForClass(int classId) const {
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switch (classId) {
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case 0: return class0WorkpieceType;
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case 1: return class1WorkpieceType;
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case 2: return class2WorkpieceType;
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default: return 0;
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}
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}
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};
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struct VrFullImageCaptureParam
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{
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unsigned int exposure = 50000; // 在线全图二维采集临时曝光
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unsigned int gain = 2; // 在线全图二维采集临时增益
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};
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struct VrBinParam
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{
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bool useConfiguredBin = true; // 未先检测料框时，是否使用配置文件里的料框近似值
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double binHeight = 120.0; // wd_HRM_getBinSize 使用的料框高度
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double length = 10000.0;
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double width = 10000.0;
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double binTopZ = 0.0;
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double center[3] = {0.0, 0.0, 0.0};
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double bottomNormal[3] = {0.0, 0.0, 1.0};
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double xDir[3] = {1.0, 0.0, 0.0};
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double yDir[3] = {0.0, 1.0, 0.0};
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double minRectVertex[4][3] = {{-5000.0, -5000.0, 0.0},
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{ 5000.0, -5000.0, 0.0},
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{ 5000.0, 5000.0, 0.0},
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{-5000.0, 5000.0, 0.0}};
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};
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struct VrRotorCoreParam
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{
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double radius = 45.0;
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double height = 20.0;
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};
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/**
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* @brief 手眼标定矩阵
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*/
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struct VrHandEyeCalibMatrix
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{
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double matrix[16] = {
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0
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};
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int eulerOrder = 11; // 欧拉角顺序，默认11=sZYX（外旋ZYX）
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};
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/**
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* @brief Modbus Server 寄存器地址配置（0-based 协议）
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*
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* 统一地址定义：
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* 地址0: 触发开始工作（边沿检测 0→1 触发）
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* 地址1: 工作状态（0=正在工作, 1=完成正常, 2=错误）
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* 地址2+: 检测结果数据（每点 workpieceType + reserved + 6个float = 14个寄存器）
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*/
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struct VrPlcRegisterConfig
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{
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int addrTrigger = 0; // 触发寄存器地址（客户写，软件读后清0）
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int addrWorkStatus = 1; // 工作状态寄存器地址（软件写，客户读）
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int addrCoordDataStart = 2; // 坐标数据起始寄存器地址
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// 显式赋值构造函数
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VrPlcRegisterConfig& operator=(const VrPlcRegisterConfig& other) {
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if (this != &other) {
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addrTrigger = other.addrTrigger;
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addrWorkStatus = other.addrWorkStatus;
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addrCoordDataStart = other.addrCoordDataStart;
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}
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return *this;
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}
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// 显式复制构造函数
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VrPlcRegisterConfig(const VrPlcRegisterConfig& other)
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: addrTrigger(other.addrTrigger)
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, addrWorkStatus(other.addrWorkStatus)
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, addrCoordDataStart(other.addrCoordDataStart) {
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}
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// 默认构造函数
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VrPlcRegisterConfig() = default;
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};
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/**
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* @brief 姿态输出顺序枚举
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*
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* 定义机械臂姿态数据的输出顺序
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*/
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enum VrPoseOutputOrder
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{
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POSE_ORDER_RPY = 0, // Roll, Pitch, Yaw（默认）
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POSE_ORDER_RYP = 1, // Roll, Yaw, Pitch
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POSE_ORDER_PRY = 2, // Pitch, Roll, Yaw
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POSE_ORDER_PYR = 3, // Pitch, Yaw, Roll
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POSE_ORDER_YRP = 4, // Yaw, Roll, Pitch
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POSE_ORDER_YPR = 5 // Yaw, Pitch, Roll
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};
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/**
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* @brief 方向向量反向配置枚举
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*
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* 定义机械臂方向向量的反向配置
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* 用于调整相机坐标系到机械臂坐标系的方向向量转换
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*/
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enum VrDirVectorInvert
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{
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DIR_INVERT_NONE = 0, // 不反向
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DIR_INVERT_XY = 1, // X和Y方向反向
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DIR_INVERT_XZ = 2, // X和Z方向反向
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DIR_INVERT_YZ = 3 // Y和Z方向反向（默认，兼容原有行为）
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};
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/**
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* @brief Modbus 浮点寄存器字顺序枚举
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*
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* 定义 Modbus 通信时浮点数的字顺序
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* 每个 16 位寄存器内部仍按 Modbus 大端传输；选项 1 只交换两个寄存器字。
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*/
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enum VrByteOrder
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{
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BYTE_ORDER_BIG_ENDIAN = 0, // 标准字顺序 (ABCD)，高位字在低地址
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BYTE_ORDER_LITTLE_ENDIAN = 1 // 字交换 (CDAB)，低位字在低地址
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};
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/**
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* @brief TCP/IP 文本服务端配置和 Modbus 寄存器地址配置
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*
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* robotServerPort 仅用于本应用的 TCP/IP 文本协议服务端。
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* Modbus TCP Server 监听端口固定为 5020，由系统映射到标准 502 端口。
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*/
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struct VrPlcRobotServerConfig
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{
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int robotServerPort = 7800; // TCP/IP 文本协议服务端监听端口
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VrPlcRegisterConfig registerConfig; // Modbus 寄存器地址配置
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int poseOutputOrder = POSE_ORDER_RPY; // 姿态输出顺序，默认RPY
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int dirVectorInvert = DIR_INVERT_YZ; // 方向向量反向配置，默认YZ反向（兼容原有行为）
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int byteOrder = BYTE_ORDER_BIG_ENDIAN; // 浮点寄存器字顺序，默认 ABCD
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// 显式赋值构造函数
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VrPlcRobotServerConfig& operator=(const VrPlcRobotServerConfig& other) {
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if (this != &other) {
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robotServerPort = other.robotServerPort;
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registerConfig = other.registerConfig;
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poseOutputOrder = other.poseOutputOrder;
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dirVectorInvert = other.dirVectorInvert;
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byteOrder = other.byteOrder;
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}
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return *this;
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}
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// 显式复制构造函数
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VrPlcRobotServerConfig(const VrPlcRobotServerConfig& other)
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: robotServerPort(other.robotServerPort)
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, registerConfig(other.registerConfig)
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, poseOutputOrder(other.poseOutputOrder)
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, dirVectorInvert(other.dirVectorInvert)
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, byteOrder(other.byteOrder) {
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}
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// 默认构造函数
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VrPlcRobotServerConfig() = default;
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};
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/**
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* @brief 算法参数配置结构
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*/
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struct VrAlgorithmParams
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{
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VrPlaneCalibParam planeCalibParam; // 算法输入的地面标定参数
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VrToolParam toolParam; // 结果位姿补偿参数
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VrWorkpieceModelParam modelParam; // 左目二维定位置信度
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VrFullImageCaptureParam fullImageCaptureParam; // 在线全图二维采集参数
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VrBinParam binParam; // 料框检测/默认料框参数
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VrRotorCoreParam rotorCoreParam; // 转子钢芯算法参数
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// 显式赋值构造函数，确保正确的深拷贝
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VrAlgorithmParams& operator=(const VrAlgorithmParams& other) {
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if (this != &other) {
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planeCalibParam = other.planeCalibParam;
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toolParam = other.toolParam;
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modelParam = other.modelParam;
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fullImageCaptureParam = other.fullImageCaptureParam;
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binParam = other.binParam;
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rotorCoreParam = other.rotorCoreParam;
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}
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return *this;
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}
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// 显式复制构造函数
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VrAlgorithmParams(const VrAlgorithmParams& other)
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: planeCalibParam(other.planeCalibParam)
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, toolParam(other.toolParam)
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, modelParam(other.modelParam)
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, fullImageCaptureParam(other.fullImageCaptureParam)
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, binParam(other.binParam)
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, rotorCoreParam(other.rotorCoreParam) {
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}
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// 默认构造函数
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VrAlgorithmParams() = default;
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};
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/**
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* @brief 配置加载结果
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*/
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struct ConfigResult
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{
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std::vector<DeviceInfo> cameraList;
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std::vector<DeviceInfo> deviceList;
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VrAlgorithmParams algorithmParams; // 算法参数
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VrHandEyeCalibMatrix handEyeCalibMatrix; // 手眼标定矩阵
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VrDebugParam debugParam; // 调试参数
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SerialConfig serialConfig; // 串口配置
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VrPlcRobotServerConfig plcRobotServerConfig; // TCP 服务端和 Modbus 寄存器配置
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// 显式赋值构造函数，确保正确的深拷贝
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ConfigResult& operator=(const ConfigResult& other) {
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if (this != &other) {
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cameraList = other.cameraList;
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deviceList = other.deviceList;
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algorithmParams = other.algorithmParams;
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handEyeCalibMatrix = other.handEyeCalibMatrix;
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debugParam = other.debugParam;
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serialConfig = other.serialConfig;
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plcRobotServerConfig = other.plcRobotServerConfig;
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}
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return *this;
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}
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// 显式复制构造函数
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ConfigResult(const ConfigResult& other)
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: cameraList(other.cameraList)
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, deviceList(other.deviceList)
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, algorithmParams(other.algorithmParams)
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, handEyeCalibMatrix(other.handEyeCalibMatrix)
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, debugParam(other.debugParam)
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, serialConfig(other.serialConfig)
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, plcRobotServerConfig(other.plcRobotServerConfig) {
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}
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// 默认构造函数
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ConfigResult() = default;
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};
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/**
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* @brief 配置加载错误代码
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*/
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enum LoadConfigErrorCode
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{
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LOAD_CONFIG_SUCCESS = 0, // 加载成功
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LOAD_CONFIG_FILE_NOT_FOUND = -1, // 配置文件不存在
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LOAD_CONFIG_PARSE_ERROR = -2, // 配置文件解析错误
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LOAD_CONFIG_INVALID_FORMAT = -3, // 配置文件格式无效
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LOAD_CONFIG_UNKNOWN_ERROR = -99 // 未知错误
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};
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/**
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* @brief VrConfig接口类
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*/
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class IVrConfig
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{
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public:
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/**
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* @brief 虚析构函数
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*/
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virtual ~IVrConfig() {}
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/**
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* @brief 创建实例
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* @return 实例
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*/
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static bool CreateInstance(IVrConfig** ppVrConfig);
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/**
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* @brief 加载配置文件
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* @param filePath 配置文件路径
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* @param configResult 输出参数，加载的配置结果
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* @return 错误代码 (LoadConfigErrorCode): 0=成功, 负值表示错误
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*/
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virtual int LoadConfig(const std::string& filePath, ConfigResult& configResult) = 0;
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/**
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* @brief 保存配置文件
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* @param filePath 配置文件路径
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* @param configResult 配置结果
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* @return 是否保存成功
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*/
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virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;
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/**
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* @brief 设置配置改变通知回调
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* @param notify 通知接口指针
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*/
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virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
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};
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#endif // IVRCONFIG_H
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