220 lines
6.1 KiB
C++
220 lines
6.1 KiB
C++
#ifndef IVRCONFIG_H
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#define IVRCONFIG_H
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#include <string>
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#include <vector>
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#include <utility>
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#include <algorithm>
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#include "VrCommonConfig.h" // 使用公共配置结构体定义
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/**
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* @brief 项目类型枚举
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*/
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enum class ProjectType
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{
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LapWeld = 0, // 激光焊接
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DirectBag = 1, // 带方向的编织袋
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};
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/**
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* @brief 项目类型字符串转换函数
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*/
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inline std::string ProjectTypeToString(ProjectType type)
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{
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switch (type) {
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case ProjectType::LapWeld:
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return "LapWeld";
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case ProjectType::DirectBag:
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return "DirectBag";
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default:
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return "Unknown";
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}
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}
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/**
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* @brief 字符串转项目类型函数
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*/
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inline ProjectType StringToProjectType(const std::string& str)
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{
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if (str == "LapWeld" || str == "0") {
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return ProjectType::LapWeld;
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} else if (str == "DirectBag" || str == "1") {
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return ProjectType::DirectBag;
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} else {
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return ProjectType::LapWeld; // 默认返回激光焊接
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}
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}
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// DeviceInfo, SerialConfig 已在 VrCommonConfig.h 中定义
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/**
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* @brief 离群点滤波参数
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*/
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struct VrOutlierFilterParam
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{
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double continuityTh = 20.0; // 连续性阈值
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int outlierTh = 5; // 离群点判断阈值
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};
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/**
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* @brief 斜坡参数
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*/
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struct VrSlopeParam
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{
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double LSlopeZWin = 10.0; // 斜坡计算的窗口长度
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double validSlopeH = 5.0; // 有效斜坡高度
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double minLJumpH = 3.0; // 最小L跳跃高度
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double minEndingGap = 2.0; // 最小结束间隔
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};
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/**
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* @brief 拐角参数
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*/
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struct VrCornerParam
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{
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double cornerTh = 25; // 拐角阈值
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double scale = 4; // 计算方向角的窗口比例因子
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double minEndingGap = 6; // Y方向最小结束间隔
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double minEndingGap_z = 1.5; // Z方向最小结束间隔
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double jumpCornerTh_1 = 10; // 跳跃拐角阈值1
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double jumpCornerTh_2 = 25; // 跳跃拐角阈值2
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};
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/**
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* @brief 树生长参数
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*/
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struct VrTreeGrowParam
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{
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int maxLineSkipNum = 5; // 生长时允许跳过的最大线条数
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double yDeviation_max = 1.0; // 生长时允许的最大Y偏差
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double maxSkipDistance = 5.0; // 最大跳跃距离
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double zDeviation_max = 2; // 生长时允许的最大Z偏差
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double minLTypeTreeLen = 30.0; // L型树的最小长度
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double minVTypeTreeLen = 30.0; // V型树的最小长度
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};
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/**
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* @brief 焊接扫描模式枚举
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*/
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enum class WeldScanMode
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{
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ScanMode_V = 0, // 垂直线垂直方向扫描
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ScanMode_H = 1, // 水平线平行水平扫描
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ScanMode_Both = 2 // 既有垂直扫描，也有水平扫描
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};
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/**
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* @brief 焊接扫描模式字符串转换函数
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*/
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inline std::string WeldScanModeToString(WeldScanMode mode)
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{
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switch (mode) {
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case WeldScanMode::ScanMode_V:
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return "ScanMode_V";
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case WeldScanMode::ScanMode_H:
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return "ScanMode_H";
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case WeldScanMode::ScanMode_Both:
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return "ScanMode_Both";
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default:
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return "Unknown";
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}
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}
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/**
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* @brief 字符串转焊接扫描模式函数
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*/
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inline WeldScanMode StringToWeldScanMode(const std::string& str)
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{
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if (str == "ScanMode_V" || str == "0") {
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return WeldScanMode::ScanMode_V;
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} else if (str == "ScanMode_H" || str == "1") {
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return WeldScanMode::ScanMode_H;
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} else if (str == "ScanMode_Both" || str == "2") {
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return WeldScanMode::ScanMode_Both;
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} else {
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return WeldScanMode::ScanMode_V; // 默认返回垂直扫描
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}
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}
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/**
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* @brief 激光焊接参数
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*/
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struct VrLapWeldParam
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{
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double lapHeight = 2.0; // 搭接厚度
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double weldMinLen = 2.0; // 最小焊缝长度，用于过滤可能的虚假焊缝
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int weldRefPoints = 2; // 输出的直线焊缝的参考点，默认是2个（起点和终点）
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WeldScanMode scanMode = WeldScanMode::ScanMode_V; // 焊接扫描模式
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};
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// VrCameraPlaneCalibParam, VrPlaneCalibParam, VrDebugParam 已在 VrCommonConfig.h 中定义
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/**
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* @brief 算法参数配置结构
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*/
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struct VrAlgorithmParams
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{
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VrOutlierFilterParam filterParam; // 滤波参数
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VrSlopeParam slopeParam; // 斜坡参数
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VrCornerParam cornerParam; // 拐角参数
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VrTreeGrowParam growParam; // 增长参数
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VrPlaneCalibParam planeCalibParam; // 平面校准参数
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VrLapWeldParam lapWeldParam; // 激光焊接参数
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};
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/**
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* @brief 配置加载结果
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*/
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struct ConfigResult
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{
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std::vector<DeviceInfo> cameraList;
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std::vector<DeviceInfo> deviceList;
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VrAlgorithmParams algorithmParams; // 算法参数
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VrDebugParam debugParam; // 调试参数
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SerialConfig serialConfig; // 串口配置
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ProjectType projectType; // 项目类型
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};
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// IVrConfigChangeNotify 已在 VrCommonConfig.h 中定义
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/**
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* @brief VrConfig接口类
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*/
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class IVrConfig
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{
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public:
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/**
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* @brief 虚析构函数
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*/
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virtual ~IVrConfig() {}
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/**
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* @brief 创建实例
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* @return 实例
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*/
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static bool CreateInstance(IVrConfig** ppVrConfig);
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/**
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* @brief 加载配置文件
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* @param filePath 配置文件路径
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* @return 加载的配置结果
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*/
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virtual ConfigResult LoadConfig(const std::string& filePath) = 0;
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/**
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* @brief 保存配置文件
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* @param filePath 配置文件路径
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* @param configResult 配置结果
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* @return 是否保存成功
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*/
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virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;
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/**
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* @brief 设置配置改变通知回调
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* @param notify 通知接口指针
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*/
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virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
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};
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#endif // IVRCONFIG_H
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