85 lines
2.5 KiB
C++
85 lines
2.5 KiB
C++
#ifndef SCREWPOSITIONTCPPROTOCOL_H
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#define SCREWPOSITIONTCPPROTOCOL_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 "IVrConfig.h"
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/**
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* @brief 机器人法兰位姿（触发信号中携带）
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*/
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struct RobotPose6D
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{
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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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double rx = 0.0;
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double ry = 0.0;
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double rz = 0.0;
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};
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/**
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* @brief ScrewPosition 文本协议 TCP 服务器
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*
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* 触发格式（客户端→服务端，换行符结尾）：
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* S1 RbtX-23.45 RbtY-23.45 RbtZ-23.45 RbtRX-23.45 RbtRY-123.45 RbtRZ-23.45\n
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* S 表示螺杆检测，T 表示工具盘检测，后跟相机索引
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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_RX1_RY1_RZ1/X2_Y2_Z2_RX2_RY2_RZ2/\n
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*/
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class ScrewPositionTCPProtocol
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{
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public:
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using ConnectionCallback = std::function<void(bool connected)>;
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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
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* @param detectionType 检测类型
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* @param robotPose 机器人当前位姿
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* @return 是否成功触发
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*/
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using DetectionTriggerCallback = std::function<bool(int cameraIndex,
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DetectionType detectionType,
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const RobotPose6D& robotPose)>;
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ScrewPositionTCPProtocol();
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~ScrewPositionTCPProtocol();
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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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void SetConnectionCallback(const ConnectionCallback& callback);
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void SetDetectionTriggerCallback(const DetectionTriggerCallback& callback);
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/**
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* @brief 发送文本结果
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* @param text 文本内容（不含换行，内部自动添加）
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* @param pClient nullptr 则广播
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*/
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int SendTextResult(const std::string& text, const TCPClient* pClient = nullptr);
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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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void ParseTextCommand(const TCPClient* pClient, const QByteArray& line);
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private:
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IYTCPServer* m_pTCPServer = nullptr;
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bool m_bServerRunning = false;
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uint16_t m_nPort = 7800;
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ConnectionCallback m_connectionCallback;
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DetectionTriggerCallback m_detectionTriggerCallback;
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std::map<const TCPClient*, QByteArray> m_clientBuffers;
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};
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#endif // SCREWPOSITIONTCPPROTOCOL_H
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