58 lines
1.2 KiB
C++
58 lines
1.2 KiB
C++
#ifndef PROTOCOLCOMMON_H
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#define PROTOCOLCOMMON_H
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#include <string>
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#include <vector>
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#include <functional>
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// 机械臂坐标结构体
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struct RobotCoordinate
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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 roll = 0.0;
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double pitch = 0.0;
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double yaw = 0.0;
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};
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// 目标位置结构体
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struct TargetPosition
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{
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RobotCoordinate coordinate; // 目标坐标
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int cameraId = 0; // 对应的相机ID
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};
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// 多目标数据
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struct MultiTargetData
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{
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std::vector<TargetPosition> targets; // 目标位置列表
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int totalTargets = 0; // 总目标数
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};
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// 机器人法兰位姿结构体（触发信号中携带的位姿）
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struct RobotFlangePose
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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 roll = 0.0;
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double pitch = 0.0;
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double yaw = 0.0;
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};
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// 连接状态枚举
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enum ConnectionStatus
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{
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CONNECTION_DISCONNECTED = 0,
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CONNECTION_CONNECTED = 1,
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CONNECTION_CONNECTING = 2,
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CONNECTION_ERROR = 3
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};
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// 回调函数类型
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using ConnectionCallback = std::function<void(bool connected)>;
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using WorkSignalCallback = std::function<void(int cameraIndex)>;
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#endif // PROTOCOLCOMMON_H
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