119 lines
4.4 KiB
C++
119 lines
4.4 KiB
C++
#ifndef IWDREMOTERECEIVER_H
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#define IWDREMOTERECEIVER_H
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#include "WDRemoteDataTypes.h"
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#include <functional>
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#include <string>
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#include <vector>
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// 导出宏定义
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#ifdef _WIN32
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# ifdef WDREMOTERECEIVER_LIBRARY
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# define WDREMOTERECEIVER_EXPORT __declspec(dllexport)
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# else
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# define WDREMOTERECEIVER_EXPORT __declspec(dllimport)
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# endif
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#else
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# define WDREMOTERECEIVER_EXPORT __attribute__((visibility("default")))
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#endif
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/**
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* @brief 远程接收器接口
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*
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* 把对 ZMQ 控制通道 + 结果订阅 + 原始图像订阅的访问封装为一个动态库，
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* 不绑定到具体业务，下游项目可以直接复用。
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*
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* 内部使用：
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* - IVrZeroMQClient (控制 REQ-REP)
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* - IVrZeroMQSubscriber (结果 PUB-SUB，topic="result")
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* - IVrZeroMQSubscriber (原始图像 PUB-SUB，topic="raw")
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*
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* 典型用法：
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* IWDRemoteReceiver* p = nullptr;
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* IWDRemoteReceiver::CreateInstance(&p);
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* p->SetEventCallback(...);
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* p->SetDetectionCallback(...);
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* p->SetRawImageCallback(...); // 双目图像
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* std::vector<WDRemoteDeviceInfo> devices;
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* p->SearchDevices(devices); // UDP 广播发现设备
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* p->Open(devices[0].machineCode); // 按机器码打开指定设备
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* p->StartWork(WDRemoteWorkMode::Detection);
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* ...
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* p->StopWork(); // 发送停止指令
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* p->Disconnect(); // 断开所有通道
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*/
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class WDREMOTERECEIVER_EXPORT IWDRemoteReceiver
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{
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public:
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virtual ~IWDRemoteReceiver() = default;
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/**
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* @brief 连接参数
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*/
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struct ConnectConfig
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{
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std::string serverIp{"127.0.0.1"};
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int controlPort{5555}; // ZMQ REQ-REP 控制
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int resultPort{5556}; // ZMQ PUB 检测结果
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int rawImagePort{5557}; // ZMQ PUB 原始图像，0 表示不启用
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};
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// 回调类型
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using DetectionCallback = std::function<void(const WDRemoteDetectionFrame& frame)>;
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using RawImageCallback = std::function<void(const WDRemoteBinocularRawImage& image)>;
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using EventCallback = std::function<void(WDRemoteEventType ev,
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const std::string& msg)>;
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// 连接 / 断开。推荐使用 SearchDevices + Open；Connect 保留给兼容旧调用。
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virtual int Connect(const ConnectConfig& cfg) = 0;
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virtual int SearchDevices(std::vector<WDRemoteDeviceInfo>& devices,
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int timeoutMs = 150) = 0;
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virtual int Open(const std::string& machineCode,
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int timeoutMs = 3000) = 0;
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virtual int Disconnect() = 0;
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virtual bool IsConnected() const = 0;
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// 控制接口（内部同步走 ZMQ REQ-REP）
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virtual int StartWork(int timeoutMs = 3000) = 0;
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virtual int StartWork(WDRemoteWorkMode mode, int timeoutMs = 3000) = 0;
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virtual int StopWork (int timeoutMs = 3000) = 0;
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virtual int StopWork (WDRemoteWorkMode mode, int timeoutMs = 3000) = 0;
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virtual int RequestSingleDetection(int timeoutMs = 15000) = 0;
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virtual int SetExposure(double exposureTime, int timeoutMs = 3000) = 0;
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virtual int SetGain (double gain, int timeoutMs = 3000) = 0;
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virtual int SetAlgoParams(const WDRemoteAlgoParams& params, int timeoutMs = 3000) = 0;
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virtual WDRemoteServerInfo GetServerInfo(int timeoutMs = 3000) = 0;
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/**
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* @brief 设置检测模式下的图像传输模式
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* @param mode "binocular"（默认，发送左右目）或 "mono"（仅发送左目）
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*
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* 在调用 StartWork(Detection) 之前设置；
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* 仅在检测模式下生效，实时传图模式不受影响。
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*/
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virtual void SetDetectMode(const std::string& mode) = 0;
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/**
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* @brief 自定义控制命令（透传 JSON 给服务端 ZMQ REP socket）
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*
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* 服务端目前不识别的命令会回 "unknown cmd"。
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* 上层可借此扩展，无需修改库本身。
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*/
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virtual int SendCustomCommand(const std::string& jsonReq,
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std::string& jsonResp,
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int timeoutMs = 3000) = 0;
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// 回调注入
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virtual void SetDetectionCallback(DetectionCallback cb) = 0;
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virtual void SetRawImageCallback (RawImageCallback cb) = 0; // 双目图像
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virtual void SetEventCallback (EventCallback cb) = 0;
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/**
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* @brief 创建实例
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*/
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static int CreateInstance(IWDRemoteReceiver** ppReceiver);
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};
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#endif // IWDREMOTERECEIVER_H
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