78 lines
2.3 KiB
C++
78 lines
2.3 KiB
C++
#ifndef GRABBAGPRESENTER_H
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#define GRABBAGPRESENTER_H
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#include "IVrConfig.h"
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#include "IVrEyeDevice.h"
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#include "IYGrabBagStatus.h"
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#include "RobotProtocol.h"
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#include "VZNL_Types.h"
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class GrabBagPresenter
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{
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public:
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GrabBagPresenter();
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~GrabBagPresenter();
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// 初始化
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int Init();
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// 设置状态回调
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void SetStatusCallback(IYGrabBagStatus* status);
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// 开始检测
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int StartDetection();
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// 停止检测
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int StopDetection();
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IVrEyeDevice* GetEyeDevice(int index);
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private:
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// 机械臂协议相关方法
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int InitRobotProtocol();
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// 机械臂协议回调函数
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void OnRobotConnectionChanged(bool connected);
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void OnRobotWorkSignal(bool startWork);
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// 连接状态检查和更新
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void CheckAndUpdateWorkStatus();
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// 静态回调函数，用于传递给SDK
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static void _StaticCameraNotify(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
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// 实例方法，处理回调
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void _CameraNotify(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
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// 检测数据回调函数
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static void _StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pParam);
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void _DetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint);
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// 算法检测线程
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void _AlgoDetectThread();
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int _DetectTask();
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private:
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IVrConfig* m_vrConfig = nullptr;
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std::vector<IVrEyeDevice*> m_vrEyeDeviceList;
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IYGrabBagStatus* m_pStatus = nullptr;
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RobotProtocol* m_pRobotProtocol = nullptr;
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// 连接状态标志
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bool m_bCameraConnected = false; // 相机连接状态
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bool m_bRobotConnected = false; // 机械臂连接状态
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WorkStatus m_currentWorkStatus = WorkStatus::Error; // 当前工作状态
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std::atomic<bool> m_bAlgoDetectThreadRunning = false;
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std::mutex m_algoDetectMutex;
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std::condition_variable m_algoDetectCondition;
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// 检测数据缓存
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std::vector<SVzLaserLineData*> m_detectionDataCache;
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std::mutex m_detectionDataMutex;
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};
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#endif // GRABBAGPRESENTER_H
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