109 lines
3.2 KiB
C++
109 lines
3.2 KiB
C++
#ifndef IYGRABBAGSTATUS_H
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#define IYGRABBAGSTATUS_H
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#include <string>
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#include <functional>
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#include <vector>
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#include <QImage>
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#include <QMetaType>
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// 工作状态枚举
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enum class WorkStatus {
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InitIng, // 初始化中
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Ready, // 准备就绪
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Working, // 正在工作
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Completed, // 监测完成
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Error // 设备异常
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};
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// 工作状态转换为字符串的工具函数
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inline std::string WorkStatusToString(WorkStatus status) {
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switch (status) {
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case WorkStatus::InitIng: return "初始化中";
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case WorkStatus::Ready: return "准备就绪";
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case WorkStatus::Working: return "正在工作";
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case WorkStatus::Completed: return "检测完成";
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case WorkStatus::Error: return "设备异常";
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default: return "未知状态";
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}
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}
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// 坐标结构体
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struct GrabBagPosition {
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double x;
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double y;
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double z;
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double roll;
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double pitch;
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double yaw;
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// 默认构造函数
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GrabBagPosition() : x(0), y(0), z(0), roll(0), pitch(0), yaw(0) {}
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// 拷贝构造函数（编译器会自动生成，但为了明确可以保留）
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GrabBagPosition(const GrabBagPosition&) = default;
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GrabBagPosition& operator=(const GrabBagPosition&) = default;
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};
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struct GrabBagPositionLayout {
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int layerIndex;
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std::vector<GrabBagPosition> position;
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// 默认构造函数
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GrabBagPositionLayout() : layerIndex(0) {}
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// 拷贝构造函数（编译器会自动生成，但为了明确可以保留）
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GrabBagPositionLayout(const GrabBagPositionLayout&) = default;
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GrabBagPositionLayout& operator=(const GrabBagPositionLayout&) = default;
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};
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// 检测结果结构体
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struct DetectionResult {
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QImage image;
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std::vector<GrabBagPositionLayout> positionLayout;
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// 默认构造函数
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DetectionResult() = default;
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// 拷贝构造函数（编译器会自动生成，但为了明确可以保留）
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DetectionResult(const DetectionResult&) = default;
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DetectionResult& operator=(const DetectionResult&) = default;
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// 移动构造函数（为了优化性能）
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DetectionResult(DetectionResult&&) = default;
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DetectionResult& operator=(DetectionResult&&) = default;
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};
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// 状态回调接口
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class IYGrabBagStatus {
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public:
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virtual ~IYGrabBagStatus() = default;
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// 状态文字回调
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virtual void OnStatusUpdate(const std::string& statusMessage) = 0;
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// 算法监测结果回调
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virtual void OnDetectionResult(const DetectionResult& result) = 0;
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// 相机状态回调
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virtual void OnCamera1StatusChanged(bool isConnected) = 0;
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virtual void OnCamera2StatusChanged(bool isConnected) = 0;
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// 机械臂连接状态回调
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virtual void OnRobotConnectionChanged(bool isConnected) = 0;
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// 相机个数回调
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virtual void OnCameraCountChanged(int cameraCount) = 0;
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// 工作状态回调
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virtual void OnWorkStatusChanged(WorkStatus status) = 0;
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};
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// 声明Qt元类型，使这些结构体能够在信号槽中传递
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Q_DECLARE_METATYPE(WorkStatus)
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Q_DECLARE_METATYPE(GrabBagPosition)
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Q_DECLARE_METATYPE(GrabBagPositionLayout)
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Q_DECLARE_METATYPE(DetectionResult)
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#endif // IYGRABBAGSTATUS_H
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