106 lines
3.7 KiB
C++
106 lines
3.7 KiB
C++
#ifndef WDREMOTERECEIVER_H
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#define WDREMOTERECEIVER_H
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#include "IWDRemoteReceiver.h"
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#include <atomic>
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#include <mutex>
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#include <string>
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#include <vector>
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class IVrZeroMQClient;
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class IVrZeroMQSubscriber;
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/**
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* @brief IWDRemoteReceiver 实现
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*
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* - 控制：IVrZeroMQClient (REQ-REP)
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* - 结果订阅：IVrZeroMQSubscriber on topic="result"
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* - 原始图像订阅：IVrZeroMQSubscriber on topic="raw"
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*/
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class WDRemoteReceiver : public IWDRemoteReceiver
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{
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public:
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WDRemoteReceiver();
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~WDRemoteReceiver() override;
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// IWDRemoteReceiver
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int Connect(const ConnectConfig& cfg) override;
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int SearchDevices(std::vector<WDRemoteDeviceInfo>& devices,
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int timeoutMs) override;
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int Open(const std::string& machineCode,
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int timeoutMs) override;
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int Disconnect() override;
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bool IsConnected() const override;
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int StartWork(int timeoutMs) override;
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int StartWork(WDRemoteWorkMode mode, int timeoutMs) override;
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int StopWork (int timeoutMs) override;
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int StopWork (WDRemoteWorkMode mode, int timeoutMs) override;
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int RequestSingleDetection(int timeoutMs) override;
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int SetExposure(double exposureTime, int timeoutMs) override;
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int SetGain (double gain, int timeoutMs) override;
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int SetAlgoParams(const WDRemoteAlgoParams& params, int timeoutMs) override;
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WDRemoteServerInfo GetServerInfo(int timeoutMs) override;
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int SendCustomCommand(const std::string& jsonReq,
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std::string& jsonResp,
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int timeoutMs) override;
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void SetDetectMode(const std::string& mode) override;
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void SetDetectionCallback(DetectionCallback cb) override;
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void SetRawImageCallback (RawImageCallback cb) override; // 双目图像
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void SetEventCallback (EventCallback cb) override;
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private:
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int sendCommandAndParse(const std::string& jsonReq,
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std::string& jsonResp,
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int timeoutMs);
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// 内部订阅管理（StartWork/StopWork 自动调用）
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int StartSubscribeDetection();
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int StopSubscribeDetection();
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int StartSubscribeRawImage();
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int StopSubscribeRawImage();
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void onResultMessage (const char* topic, size_t topicLen,
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const char* data, size_t dataLen);
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void onRawImageMessage(const char* topic, size_t topicLen,
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const char* data, size_t dataLen);
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void emitEvent(WDRemoteEventType ev, const std::string& msg);
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static bool parseDetectionJson(const std::string& jsonStr,
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WDRemoteDetectionFrame& outFrame);
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static bool parseDeviceInfoJson(const std::string& jsonStr,
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const std::string& serverIp,
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WDRemoteDeviceInfo& outDevice);
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private:
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enum class WorkState
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{
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Idle,
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LiveStream,
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Detection,
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};
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ConnectConfig m_cfg;
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std::atomic<bool> m_bConnected{false};
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IVrZeroMQClient* m_pCtrlClient{nullptr};
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IVrZeroMQSubscriber* m_pSubResult{nullptr};
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IVrZeroMQSubscriber* m_pSubRaw{nullptr};
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std::mutex m_mtxCtrl; // 串行化 REQ-REP
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mutable std::mutex m_mtxCallback;
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mutable std::mutex m_mtxDetectMode;
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mutable std::mutex m_mtxWorkState;
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DetectionCallback m_cbDetection;
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RawImageCallback m_cbRawImage; // 双目图像回调
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EventCallback m_cbEvent;
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std::vector<WDRemoteDeviceInfo> m_lastDevices;
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std::string m_detectMode{"binocular"}; // "binocular" | "mono"
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WorkState m_workState{WorkState::Idle};
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};
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#endif // WDREMOTERECEIVER_H
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