338 lines
11 KiB
C++
338 lines
11 KiB
C++
/**
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* @file TCPServerMethods.cpp
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* @brief JiuruiWorkpiecePosePresenter TCP/Modbus communication methods
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*
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* TCP 协议（眼在手外）：
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* - 请求: D1 触发相机1检测（无需机械臂位姿）
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* - 响应: count_X1_Y1_Z1_A1_B1_C1_... 返回全部 count 个目标
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* (每个目标 6 个浮点：XYZ + 姿态 A/B/C)
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*
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* Modbus 协议（默认端口 5020）：
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* - 触发寄存器地址 0，工作状态地址 1，机器人位姿地址 2 (12 regs)
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* - 结果起始地址 14 (12 regs = 6 floats: XYZ + 姿态 A/B/C)
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*/
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#include "JiuruiWorkpiecePosePresenter.h"
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#include <QApplication>
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#include "DetectionOutputConverter.h"
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#include "VrLog.h"
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#include <array>
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#include <cstdio>
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#include <cstring>
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namespace {
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constexpr uint16_t kModbusTriggerAddress = 0;
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constexpr uint16_t kModbusWorkStatusAddress = 1;
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constexpr uint16_t kModbusRobotPoseAddress = 2;
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constexpr uint16_t kModbusRobotPoseRegisterCount = 12;
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constexpr uint16_t kModbusResultStartAddress = 14;
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// 结果寄存器：12 = 6 floats * 2 regs，目标点(6 floats: XYZ + 姿态3分量)
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constexpr uint16_t kModbusResultRegisterCount = 12;
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constexpr uint16_t kDefaultModbusPort = 5020;
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constexpr int kPoseOutputRxRyRz = 0;
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constexpr int kPoseOutputRxRzRy = 1;
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constexpr int kPoseOutputRyRxRz = 2;
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constexpr int kPoseOutputRyRzRx = 3;
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constexpr int kPoseOutputRzRxRy = 4;
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constexpr int kPoseOutputRzRyRx = 5;
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void FloatToRegisters(float value, uint16_t& high, uint16_t& low)
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{
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uint32_t raw = 0;
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static_assert(sizeof(raw) == sizeof(value), "float size mismatch");
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std::memcpy(&raw, &value, sizeof(value));
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high = static_cast<uint16_t>((raw >> 16) & 0xFFFF);
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low = static_cast<uint16_t>(raw & 0xFFFF);
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}
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void ReorderPoseAngles(double roll,
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double pitch,
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double yaw,
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int poseOutputOrder,
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double& angle1,
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double& angle2,
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double& angle3)
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{
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switch (poseOutputOrder) {
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case kPoseOutputRxRzRy:
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angle1 = roll;
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angle2 = yaw;
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angle3 = pitch;
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break;
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case kPoseOutputRyRxRz:
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angle1 = pitch;
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angle2 = roll;
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angle3 = yaw;
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break;
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case kPoseOutputRyRzRx:
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angle1 = pitch;
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angle2 = yaw;
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angle3 = roll;
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break;
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case kPoseOutputRzRxRy:
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angle1 = yaw;
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angle2 = roll;
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angle3 = pitch;
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break;
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case kPoseOutputRzRyRx:
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angle1 = yaw;
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angle2 = pitch;
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angle3 = roll;
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break;
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case kPoseOutputRxRyRz:
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default:
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angle1 = roll;
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angle2 = pitch;
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angle3 = yaw;
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break;
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}
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}
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template<typename PoseT>
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void FillPoseRegisters(const PoseT& pose,
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int poseOutputOrder,
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std::array<uint16_t, kModbusResultRegisterCount>& registers)
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{
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double angle1 = 0.0;
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double angle2 = 0.0;
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double angle3 = 0.0;
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ReorderPoseAngles(pose.roll, pose.pitch, pose.yaw, poseOutputOrder, angle1, angle2, angle3);
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// 目标点（6 floats）
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const float values[6] = {
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static_cast<float>(pose.x),
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static_cast<float>(pose.y),
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static_cast<float>(pose.z),
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static_cast<float>(angle1),
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static_cast<float>(angle2),
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static_cast<float>(angle3)
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};
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for (size_t i = 0; i < 6; ++i) {
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FloatToRegisters(values[i], registers[i * 2], registers[i * 2 + 1]);
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}
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}
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} // namespace
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// ============================================================================
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// TCP 结果发送
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// ============================================================================
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void JiuruiWorkpiecePosePresenter::_SendDetectionResultToTCP(const DetectionResult& result, int cameraIndex)
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{
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if (!m_pTCPServer || !m_pTCPServer->IsConnected()) {
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LOG_WARNING("TCP not connected, skip sending result\n");
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return;
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}
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(void)cameraIndex;
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int poseOutputOrder = 0;
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if (m_pConfigManager) {
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poseOutputOrder = m_pConfigManager->GetConfigResult().poseOutputOrder;
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}
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const int count = static_cast<int>(result.positions.size());
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QString resultText = QString::number(count);
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// 返回全部检测结果（每目标 6 个浮点：XYZ + 姿态 A/B/C）
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for (int i = 0; i < count; ++i) {
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const auto& pos = result.positions[i];
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double angle1 = 0.0;
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double angle2 = 0.0;
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double angle3 = 0.0;
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ReorderPoseAngles(pos.roll, pos.pitch, pos.yaw, poseOutputOrder, angle1, angle2, angle3);
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resultText += QString("_%1_%2_%3_%4_%5_%6")
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.arg(pos.x, 0, 'f', 3)
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.arg(pos.y, 0, 'f', 3)
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.arg(pos.z, 0, 'f', 3)
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.arg(angle1, 0, 'f', 3)
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.arg(angle2, 0, 'f', 3)
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.arg(angle3, 0, 'f', 3);
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}
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LOG_INFO("TCP result: count=%d, text=%s\n",
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count, resultText.toStdString().c_str());
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m_pTCPServer->SendResult(resultText);
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}
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// ============================================================================
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// Modbus 结果发布
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// ============================================================================
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void JiuruiWorkpiecePosePresenter::_PublishDetectionResultToModbus(const DetectionResult& result)
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{
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if (!IsModbusServerRunning()) {
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return;
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}
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std::array<uint16_t, kModbusResultRegisterCount> registers{};
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bool hasPose = false;
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int poseOutputOrder = 0;
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if (m_pConfigManager) {
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poseOutputOrder = m_pConfigManager->GetConfigResult().poseOutputOrder;
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}
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if (!result.positions.empty()) {
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FillPoseRegisters(result.positions.front(), poseOutputOrder, registers);
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hasPose = true;
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}
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WriteModbusRegisters(kModbusResultStartAddress, registers.data(), kModbusResultRegisterCount);
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LOG_DEBUG("Published Modbus pose registers, hasPose=%d\n", hasPose ? 1 : 0);
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_UpdateModbusWorkStatus(result.success ? 2 : 3);
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}
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void JiuruiWorkpiecePosePresenter::_ResetModbusResultRegisters()
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{
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if (!IsModbusServerRunning()) {
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return;
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}
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std::array<uint16_t, kModbusResultRegisterCount> zeros{};
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WriteModbusRegisters(kModbusResultStartAddress, zeros.data(), kModbusResultRegisterCount);
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}
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void JiuruiWorkpiecePosePresenter::_UpdateModbusWorkStatus(uint16_t statusValue)
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{
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if (!IsModbusServerRunning()) {
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m_modbusWorkStatus = statusValue;
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return;
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}
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m_modbusWorkStatus = statusValue;
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WriteModbusRegisters(kModbusWorkStatusAddress, &statusValue, 1);
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}
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void JiuruiWorkpiecePosePresenter::_InitializeModbusRegisters()
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{
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if (m_modbusRegistersInitialized || !IsModbusServerRunning()) {
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return;
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}
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const uint16_t zero = 0;
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WriteModbusRegisters(kModbusTriggerAddress, &zero, 1);
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std::array<uint16_t, kModbusRobotPoseRegisterCount> robotZeros{};
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WriteModbusRegisters(kModbusRobotPoseAddress, robotZeros.data(), kModbusRobotPoseRegisterCount);
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_ResetModbusResultRegisters();
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_UpdateModbusWorkStatus(0);
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m_modbusRegistersInitialized = true;
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}
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RobotPose6D JiuruiWorkpiecePosePresenter::_ReadRobotPoseFromModbus()
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{
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RobotPose6D pose;
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auto regToFloat = [this](int offset) -> float {
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uint32_t raw = (static_cast<uint32_t>(m_modbusRobotPoseRegs[offset]) << 16)
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| static_cast<uint32_t>(m_modbusRobotPoseRegs[offset + 1]);
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float val = 0;
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std::memcpy(&val, &raw, sizeof(val));
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return val;
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};
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pose.x = regToFloat(0);
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pose.y = regToFloat(2);
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pose.z = regToFloat(4);
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pose.a = regToFloat(6);
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pose.b = regToFloat(8);
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pose.c = regToFloat(10);
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return pose;
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}
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// ============================================================================
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// TCP Server 生命周期
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// ============================================================================
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int JiuruiWorkpiecePosePresenter::InitTCPServer()
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{
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if (m_pTCPServer) {
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LOG_WARNING("TCP server already initialized\n");
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return 0;
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}
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m_pTCPServer = new JiuruiWorkpiecePoseTCPProtocol();
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// 把 TCP 协议对象移到主线程，确保信号能通过事件循环正确投递
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if (QApplication::instance()) {
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m_pTCPServer->moveToThread(QApplication::instance()->thread());
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}
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// 连接 TCP 连接状态变化信号
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// 注意：必须传入 this (JiuruiWorkpiecePosePresenter) 作为 context 对象，
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// 因为 InitTCPServer() 在工作线程中调用，而 Presenter 在主线程创建，
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// 不传 context 会导致 Qt 默认使用工作线程作为 receiver 线程，
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// 信号在主线程 emit 后被 QueuedConnection 投递到工作线程（无事件循环），永远不执行。
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QObject::connect(m_pTCPServer, &JiuruiWorkpiecePoseTCPProtocol::ConnectionChanged,
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this, [this](bool connected) {
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OnTCPConnectionChanged(connected);
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});
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// 连接检测触发信号
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// 眼在手外模式：TCP 命令 D1 为触发相机1检测
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QObject::connect(m_pTCPServer, &JiuruiWorkpiecePoseTCPProtocol::DetectionTriggered,
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this, [this](int cameraIndex, const RobotPose6D& robotPose) {
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LOG_DEBUG("TCP triggered detection, cameraIndex: %d\n", cameraIndex);
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TriggerDetection(cameraIndex, robotPose);
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});
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uint16_t port = 7800;
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if (m_pConfigManager) {
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const ConfigResult configResult = m_pConfigManager->GetConfigResult();
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port = configResult.tcpPort;
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}
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if (!m_pTCPServer->StartServer(port)) {
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LOG_ERROR("Failed to start TCP server on port %d\n", port);
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delete m_pTCPServer;
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m_pTCPServer = nullptr;
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return -1;
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}
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LOG_DEBUG("TCP server started on port %d (JiuruiWorkpiecePose protocol: D1/R1 commands)\n", port);
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return 0;
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}
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void JiuruiWorkpiecePosePresenter::stopServer()
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{
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if (m_pTCPServer) {
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m_pTCPServer->StopServer();
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delete m_pTCPServer;
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m_pTCPServer = nullptr;
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m_bTCPConnected = false;
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LOG_DEBUG("TCP server stopped\n");
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}
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}
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void JiuruiWorkpiecePosePresenter::OnTCPConnectionChanged(bool connected)
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{
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m_bTCPConnected = connected;
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LOG_DEBUG("TCP connection changed: %s\n", connected ? "connected" : "disconnected");
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if (auto pStatus = GetStatusCallback<IYJiuruiWorkpiecePoseStatus>()) {
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pStatus->OnRobotConnectionChanged(connected);
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pStatus->OnStatusUpdate(connected ? "TCP 客户端已连接" : "TCP 客户端已断开");
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}
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CheckAndUpdateWorkStatus();
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}
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// ============================================================================
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// 对外发送接口
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// ============================================================================
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void JiuruiWorkpiecePosePresenter::SendDetectionResultToClient(const DetectionResult& result)
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{
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_SendDetectionResultToTCP(result, result.cameraIndex);
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}
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