140 lines
4.7 KiB
C++
140 lines
4.7 KiB
C++
#ifndef BELTTEARINGPRESENTER_H
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#define BELTTEARINGPRESENTER_H
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#include <QObject>
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#include <QTimer>
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#include <QMap>
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#include <deque>
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#include <mutex>
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#include <opencv2/opencv.hpp>
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#include "IVrEyeDevice.h"
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#include "../../SDK/beltTearing/Inc/beltTearingDetection_Export.h"
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#include "IVrBeltTearingConfig.h"
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#include "VZNL_Common.h"
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#include "VZNL_Types.h"
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#include "VrLog.h"
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#include "IYTCPServer.h"
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#include "ImageProcessingWorker.h"
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// 假设ByteDataType枚举定义
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enum class ByteDataType : quint8 {
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Text = 1,
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Image = 2
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};
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class BeltTearingPresenter : public QObject, public IVrBeltTearingConfigChangeNotify
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{
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Q_OBJECT
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public:
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explicit BeltTearingPresenter(QObject *parent = nullptr);
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~BeltTearingPresenter();
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// 配置相关方法
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bool loadConfiguration(const QString& configFilePath);
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void applyAlgorithmParameters(const BeltTearingAlgorithmParams& params);
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// 初始化TCP服务器
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bool startServer(quint16 port = 0); // port = 0 表示使用配置文件中的端口
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void stopServer();
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// 相机相关方法
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bool initializeCamera();
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void startCamera();
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void stopCamera();
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// 获取配置信息
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quint16 getServerPort() const { return m_configResult.serverPort; }
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const BeltTearingConfigResult& getConfig() const { return m_configResult; }
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// 获取版本信息
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static QString getVersionString();
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static QString getProductName();
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static QString getBuildInfo();
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// IVrBeltTearingConfigChangeNotify接口实现
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void OnConfigChanged(const BeltTearingConfigResult& configResult) override;
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void sendTestData(std::string fileName);
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private slots:
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void onCameraInitTimer();
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void onImageGenerated(const QImage& image);
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private:
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// TCP服务器回调函数
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static void OnServerRecv(const TCPClient* pClient, const char* pData, const unsigned int nLen);
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static void OnServerEvent(const TCPClient* pClient, TCPServerEventType eventType);
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// TCP服务器相关
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IYTCPServer *m_tcpServer;
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QMap<QString, const TCPClient*> m_clients;
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quint16 m_port;
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// 配置相关
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IVrBeltTearingConfig *m_config;
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BeltTearingConfigResult m_configResult;
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QString m_configFilePath;
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// 相机相关
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IVrEyeDevice *m_eyeDevice;
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QTimer *m_cameraInitTimer;
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QString m_cameraIP;
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bool m_cameraInitialized;
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bool m_cameraDetecting;
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// SDK算法相关
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std::atomic<bool> m_bInitAlgo{false};
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std::vector<SSG_hLineProInfo> m_hLineWorkers;
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SSG_beltTearingParam m_algorithmParam;
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std::vector<SSG_beltTearingInfo> m_beltTearings_new;
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std::vector<SSG_beltTearingInfo> m_beltTearings_growing;
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std::vector<SSG_beltTearingInfo> m_beltTearings_ended;
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std::vector<SSG_beltTearingInfo> m_beltTearings_unknown;
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// 激光线队列管理
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std::deque<SVzLaserLineData> m_laserLineQueue; // 激光线数据队列
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std::mutex m_queueMutex; // 队列访问互斥锁
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unsigned long long m_lineCounter; // 新增线条计数器
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static const int MAX_QUEUE_SIZE = 200; // 最大队列大小
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static const int IMAGE_GENERATION_INTERVAL = 20; // 每20条线生成一次图像
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// 相机状态回调函数
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static void OnStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
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// 点云数据回调函数
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static void OnPointCloudCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pParam);
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// 处理点云数据
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void processPointCloudData(const SVzLaserLineData* pLaserLine);
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// 发送算法结果
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void sendTearingResults(const std::vector<SSG_beltTearingInfo>& results);
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// 激光线队列管理方法
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void addLaserLineToQueue(const SVzLaserLineData* laserLine);
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// 图像生成和发送
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void sendImageToClients(const QImage& image);
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// 工具方法
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QString generateClientId(const TCPClient* client);
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// 实例方法（非静态）
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void handleServerRecv(const TCPClient* pClient, const char* pData, const unsigned int nLen);
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void handleServerEvent(const TCPClient* pClient, TCPServerEventType eventType);
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// 获取单例实例（用于静态回调）
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static BeltTearingPresenter* s_instance;
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// 图像处理工作线程
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ImageProcessingWorker* m_imageWorker;
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// 配置与SDK参数转换函数
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SSG_beltTearingParam configToSDKParam(const BeltTearingConfigResult& config) const;
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BeltTearingConfigResult sdkToConfigParam(const SSG_beltTearingParam& sdkParam) const;
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};
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#endif // BELTTEARINGPRESENTER_H
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