154 lines
3.2 KiB
C
154 lines
3.2 KiB
C
|
#ifndef CVREYEDEVICE_H
|
||
|
|
#define CVREYEDEVICE_H
|
||
|
|
|
||
|
|
#include "IVrEyeDevice.h"
|
||
|
|
#include "IVzDeviceCoreDataReader.h"
|
||
|
|
#include "VrEyeCommon.h"
|
||
|
|
|
||
|
|
#include "VZNL_Common.h"
|
||
|
|
#include "VZNL_DetectConfig.h"
|
||
|
|
#include "VZNL_DetectLaser.h"
|
||
|
|
#include "VZNL_SwingMotor.h"
|
||
|
|
#include "VZNL_Internal.h"
|
||
|
|
#include "VZNL_RGBConfig.h"
|
||
|
|
#include "VZNL_DetectLaser.h"
|
||
|
|
|
||
|
|
class CVrEyeDevice : public IVrEyeDevice
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
CVrEyeDevice();
|
||
|
|
~CVrEyeDevice();
|
||
|
|
|
||
|
|
// 初始化设备
|
||
|
|
int InitDevice() override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Open设备
|
||
|
|
*/
|
||
|
|
int OpenDevice(const char* sIP, VzNL_OnNotifyStatusCBEx fNotify, void *param) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 获取版本信息
|
||
|
|
* @return 版本信息
|
||
|
|
*/
|
||
|
|
int GetVersion(SVzNLVersionInfo& sVersionInfo) override;
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 获取设备信息
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
int GetDevInfo(SVzNLEyeDeviceInfoEx& sDeviceInfo) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Close设备
|
||
|
|
*/
|
||
|
|
int CloseDevice() override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 开始自动检测
|
||
|
|
* @return 错误代码 0表示成功
|
||
|
|
*/
|
||
|
|
int StartDetect(VzNL_AutoOutputLaserLineExCB fCallFunc, void *param) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 是否正在检测
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
bool IsDetectIng() override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 停止自动检测
|
||
|
|
* @return 错误代码 0表示成功
|
||
|
|
*/
|
||
|
|
int StopDetect() override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* ROI设置
|
||
|
|
* @param leftROI
|
||
|
|
* @param rightROI
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
int SetDetectROI(SVzNLRect& leftROI, SVzNLRect& rightROI) override;
|
||
|
|
int GetDetectROI(SVzNLRect& leftROI, SVzNLRect& rightROI) override;
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 曝光设置&获取
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
int SetEyeExpose(unsigned int& exposeTime) override;
|
||
|
|
int GetEyeExpose(unsigned int& exposeTime) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 增益设置&获取
|
||
|
|
* @param gain
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
int SetEyeGain(unsigned int& gain) override;
|
||
|
|
int GetEyeGain(unsigned int& gain) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 帧率设置&获取
|
||
|
|
* @param frame
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
int SetFrame(int& frame) override;
|
||
|
|
int GetFrame(int& frame) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 是否支持RGBD
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
bool IsSupport() override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 设置彩色Sensor期望值
|
||
|
|
* @param value
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
int SetRGBDExposeThres(float& value) override;
|
||
|
|
int GetRGBDExposeThres(float& value) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 设置过滤高度
|
||
|
|
* @param dHeight
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
int SetFilterHeight(double& dHeight) override;
|
||
|
|
int GetFilterHeight(double& dHeight) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 配置摆动机构速度
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
int GetSwingSpeed(float& fSpeed) override;
|
||
|
|
int SetSwingSpeed(float& fSpeed) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 设置工作角度
|
||
|
|
* @param nMin
|
||
|
|
* @param nMax
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
int SetSwingAngle(float& fMin, float& fMax) override;
|
||
|
|
int GetSwingAngle(float& fMin, float& fMax) override;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 设置工作距离
|
||
|
|
* @param nMin
|
||
|
|
* @param nMax
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
int SetWorkRange(double& dMin, double& dMax) override;
|
||
|
|
int GetWorkRange(double& dMin, double& dMax) override;
|
||
|
|
|
||
|
|
private:
|
||
|
|
VZNLHANDLE m_pHandle = nullptr;
|
||
|
|
SVzNLEyeDeviceInfoEx m_sEeyCBDeviceInfo;
|
||
|
|
IVzDeviceCoreDataReader* m_pDeviceCore;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // CVREYEDEVICE_H
|