64 lines
1.8 KiB
C++
64 lines
1.8 KiB
C++
#ifndef SCREWPOSITIONTCPPROTOCOL_H
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#define SCREWPOSITIONTCPPROTOCOL_H
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#include <functional>
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#include <map>
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#include <string>
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#include <vector>
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#include <QByteArray>
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#include "IVrConfig.h"
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#include "IYTCPServer.h"
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struct RobotPose6D
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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 a = 0.0;
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double b = 0.0;
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double c = 0.0;
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};
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class ScrewPositionTCPProtocol
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{
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public:
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using ConnectionCallback = std::function<void(bool connected)>;
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using DetectionTriggerCallback = std::function<bool(int cameraIndex,
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DetectionType detectionType,
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const RobotPose6D& robotPose)>;
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ScrewPositionTCPProtocol();
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~ScrewPositionTCPProtocol();
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int Initialize(uint16_t port = 7800);
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void Deinitialize();
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bool IsRunning() const;
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void SetConnectionCallback(const ConnectionCallback& callback);
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void SetDetectionTriggerCallback(const DetectionTriggerCallback& callback);
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// Protocol:
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// request : T1_X_Y_Z_A_B_C\r\n
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// response: PointNum_X1_Y1_Z1_A1_B1_C1/.../\r\n
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int SendTextResult(const std::string& text, const TCPClient* pClient = nullptr);
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private:
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void OnTCPEvent(const TCPClient* pClient, TCPServerEventType eventType);
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void OnTCPDataReceived(const TCPClient* pClient, const char* pData, unsigned int nLen);
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void ParseTextCommand(const TCPClient* pClient, const QByteArray& line);
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private:
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IYTCPServer* m_pTCPServer = nullptr;
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bool m_bServerRunning = false;
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uint16_t m_nPort = 7800;
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ConnectionCallback m_connectionCallback;
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DetectionTriggerCallback m_detectionTriggerCallback;
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std::map<const TCPClient*, QByteArray> m_clientBuffers;
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};
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#endif // SCREWPOSITIONTCPPROTOCOL_H
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