GrabBag/Device/VrEyeDevice/_Inc/VrEyeDevice.h

#ifndef CVREYEDEVICE_H
#define CVREYEDEVICE_H

#ifdef _WIN32
// Debug模式开关 - 修改此处开启/关闭debug功能
#define VR_EYE_DEBUG_MODE
#endif

#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"

#ifdef VR_EYE_DEBUG_MODE
#include <thread>
#include <atomic>
#include <mutex>
#include <vector>
#endif

class CVrEyeDevice : public IVrEyeDevice
{
public:
    CVrEyeDevice();
    ~CVrEyeDevice();

    // 初始化设备
    int InitDevice() override;

    /**
     * 设置状态回调函数
     */
    int SetStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void *param) override;
    
    /**
     * Open设备
     */
    int OpenDevice(const char* sIP, bool bRGBD = false, bool bSwing = true, bool bFillLaser = true) 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, EVzResultDataType eDataType, 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;

#ifdef VR_EYE_DEBUG_MODE
    // Debug模式相关成员
    VzNL_AutoOutputLaserLineExCB    m_debugCallback = nullptr;
    void*                           m_debugCallbackParam = nullptr;
    EVzResultDataType               m_debugDataType;
    std::atomic<bool>               m_debugRunning{false};
    std::thread                     m_debugThread;
    std::mutex                      m_debugMutex;
    VzNL_OnNotifyStatusCBEx         m_debugStatusCallback = nullptr;
    void*                           m_debugStatusCallbackParam = nullptr;

    void DebugThreadFunc();
#endif

};

#endif // CVREYEDEVICE_H