119 lines
3.5 KiB
C++
119 lines
3.5 KiB
C++
#ifndef HOLEPITPOSITIONPRESENTER_H
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#define HOLEPITPOSITIONPRESENTER_H
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#include <condition_variable>
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#include <thread>
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#include <map>
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#include <mutex>
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#include <memory>
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#include "BasePresenter.h"
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#include "IVrEyeDevice.h"
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#include "ConfigManager.h"
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#include "TCPServerProtocol.h"
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#include "IYHolePitPositionStatus.h"
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#include "VrConvert.h"
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#include "LaserDataLoader.h"
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#include "CoordinateTransform.h"
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#include <QImage>
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#include <QPainter>
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#include <QColor>
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#include <QObject>
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#include <QTimer>
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#include <memory>
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// 前向声明
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class DetectPresenter;
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class HolePitPositionPresenter;
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// 配置变化监听器代理类
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class ConfigChangeListenerProxy : public IConfigChangeListener
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{
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public:
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explicit ConfigChangeListenerProxy(HolePitPositionPresenter* presenter) : m_presenter(presenter) {}
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void OnSystemConfigChanged(const SystemConfig& config) override;
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void OnCameraParamChanged(int cameraIndex, const CameraUIParam& cameraParam) override {}
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void OnAlgorithmParamChanged(const VrAlgorithmParams& algorithmParams) override {}
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private:
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HolePitPositionPresenter* m_presenter;
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};
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class HolePitPositionPresenter : public BasePresenter, public IVrConfigChangeNotify
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{
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Q_OBJECT
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// 声明友元类，允许访问 protected 成员
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friend class ConfigChangeListenerProxy;
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public:
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explicit HolePitPositionPresenter(QObject *parent = nullptr);
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~HolePitPositionPresenter();
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// 初始化
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int InitApp() override;
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// 获取配置管理器
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ConfigManager* GetConfigManager() { return m_pConfigManager; }
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// 手眼标定矩阵管理
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CalibMatrix GetClibMatrix(int index) const;
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// 获取算法版本号
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std::string GetAlgoVersion() const;
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// 实现IVrConfigChangeNotify接口
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virtual void OnConfigChanged(const ConfigResult& configResult) override;
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protected:
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// ============ 实现 BasePresenter 纯虚函数 ============
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int InitAlgoParams() override;
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int ProcessAlgoDetection(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& detectionDataCache) override;
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EVzResultDataType GetDetectionDataType() override {
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return keResultDataType_Position;
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}
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void OnCameraStatusChanged(int cameraIndex, bool isConnected) override;
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void OnWorkStatusChanged(WorkStatus status) override;
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void OnCameraCountChanged(int count) override;
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void OnStatusUpdate(const std::string& statusMessage) override;
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// HolePitPosition 不需要 ModbusTCP 服务器（使用 TCPServerProtocol 通信）
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bool ShouldStartModbusServer() const override { return false; }
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private:
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// TCP服务器相关方法
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int InitTCPServer();
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void OnTCPConnectionChanged(bool connected);
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bool OnTCPDetectionTrigger(int cameraIndex, const RobotFlangePose& robotPose);
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void _SendDetectionResultToTCP(const HoleDetectionResult& detectionResult, int cameraIndex);
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// 连接状态检查和更新
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void CheckAndUpdateWorkStatus();
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private:
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ConfigManager* m_pConfigManager = nullptr;
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// TCP服务器相关
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TCPServerProtocol* m_pTCPServer = nullptr;
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bool m_bTCPConnected = false;
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// 检测处理器
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DetectPresenter* m_pDetectPresenter = nullptr;
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// 手眼标定矩阵列表
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std::vector<CalibMatrix> m_clibMatrixList;
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// 当前机器人法兰位姿（从TCP触发信号中获取）
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RobotFlangePose m_currentRobotPose;
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// 配置变化监听器代理
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std::shared_ptr<ConfigChangeListenerProxy> m_pConfigListener;
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};
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#endif // HOLEPITPOSITIONPRESENTER_H
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