112 lines
3.8 KiB
C++
112 lines
3.8 KiB
C++
#ifndef TIREHOLEPOSEPRESENTER_H
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#define TIREHOLEPOSEPRESENTER_H
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#include <atomic>
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#include <cstdint>
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#include <memory>
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#include <QObject>
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#include <QString>
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#include <vector>
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#include "BasePresenter.h"
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#include "CommonDialogCameraLevel.h"
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#include "ConfigManager.h"
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#include "DetectionOutputConverter.h"
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#include "IYTireHolePoseStatus.h"
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#include "LaserDataLoader.h"
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#include "SG_baseDataType.h"
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#include "TireHolePoseTCPProtocol.h"
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#include "VrConvert.h"
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class DetectPresenter;
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class TireHolePosePresenter : public BasePresenter,
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public IVrConfigChangeNotify,
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public ICameraLevelCalculator,
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public ICameraLevelResultSaver
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{
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Q_OBJECT
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public:
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explicit TireHolePosePresenter(QObject *parent = nullptr);
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~TireHolePosePresenter();
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int InitApp() override;
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void DeinitApp();
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bool TriggerDetection(int cameraIndex = -1,
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const RobotPose6D& robotPose = RobotPose6D{});
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int LoadAndDetect(const QString& fileName);
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void ReconnectCamera();
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// 轮胎孔定位使用 cornerParam 和 tireParam
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VrCornerParam GetCornerParams() const;
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void SetCornerParams(const VrCornerParam& params);
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QString GetAlgoVersion() const;
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ConfigManager* GetConfigManager() { return m_pConfigManager; }
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// 按相机索引取手眼矩阵；未配置时返回单位阵。
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CalibMatrix GetClibMatrix(int cameraIndex) const;
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void OnConfigChanged(const ConfigResult& configResult) override;
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void SendDetectionResultToClient(const DetectionResult& result);
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bool CalculatePlaneCalibration(
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const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& scanData,
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double planeCalib[9],
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double& planeHeight,
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double invRMatrix[9]) override;
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bool SaveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
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int cameraIndex, const QString& cameraName) override;
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bool LoadLevelingResults(int cameraIndex, const QString& cameraName,
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double planeCalib[9], double& planeHeight, double invRMatrix[9]) override;
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protected:
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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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{
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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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void OnModbusServerStatusChanged(bool isConnected) override;
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void OnModbusWriteCallback(uint16_t startAddress, const uint16_t* data, uint16_t count) override;
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private:
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int InitTCPServer();
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void stopServer();
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void OnTCPConnectionChanged(bool connected);
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void _SendDetectionResultToTCP(const DetectionResult& detectionResult, int cameraIndex);
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void _PublishDetectionResultToModbus(const DetectionResult& result);
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void _ResetModbusResultRegisters();
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void _UpdateModbusWorkStatus(uint16_t statusValue);
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void _InitializeModbusRegisters();
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RobotPose6D _ReadRobotPoseFromModbus();
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void CheckAndUpdateWorkStatus();
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SSG_planeCalibPara _GetCameraCalibParam(int cameraIndex);
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private:
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ConfigManager* m_pConfigManager = nullptr;
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TireHolePoseTCPProtocol* m_pTCPServer = nullptr;
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bool m_bTCPConnected = false;
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RobotPose6D m_currentRobotPose;
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qint64 m_requestTimestamp = 0;
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std::atomic<uint16_t> m_modbusWorkStatus = {0};
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uint16_t m_modbusRobotPoseRegs[12] = {0};
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bool m_modbusRegistersInitialized = false;
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DetectPresenter* m_pDetectPresenter = nullptr;
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};
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#endif // TIREHOLEPOSEPRESENTER_H
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