63 lines
2.2 KiB
C
63 lines
2.2 KiB
C
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#ifndef WORKPIECEPOSITIONPRESENTER_H
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#define WORKPIECEPOSITIONPRESENTER_H
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#include <QObject>
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#include <QTimer>
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#include <mutex>
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#include <vector>
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#include <memory>
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#include "IYWorkpiecePositionStatus.h"
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#include "IBinocularMarkReceiver.h"
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#include "IEpicEyeDevice.h"
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#include "IVrConfig.h"
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class WorkpiecePositionPresenter : public QObject
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{
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Q_OBJECT
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public:
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explicit WorkpiecePositionPresenter(QObject *parent = nullptr);
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~WorkpiecePositionPresenter();
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int Init();
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void SetStatusCallback(IYWorkpiecePositionStatus* pStatus);
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int StartDetection();
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int StopDetection();
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IVrConfig* GetConfigManager() { return m_pConfig; }
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private slots:
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void onMarkReconnectTimeout();
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void onEpicEyeReconnectTimeout();
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private:
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int InitConfig();
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int InitBinocularMarkReceiver();
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int InitEpicEyeDevice();
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void OnMarkResult(const std::vector<VrMark3D>& marks, qint64 timestamp, int errorCode);
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void OnMarkConnectionChanged(bool connected);
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int CalculateWorkpieceCenter(const std::vector<VrMark3D>& marks, const PointCloudData& pointCloud, WorkpieceCenterPosition& centerPosition);
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void UpdateWorkStatus(WorkStatus status);
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void UpdateStatusMessage(const std::string& message);
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int ConnectToBinocularMark();
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int ConnectToEpicEye();
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private:
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IYWorkpiecePositionStatus* m_pStatusCallback;
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IVrConfig* m_pConfig;
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ConfigResult m_configResult;
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IBinocularMarkReceiver* m_pMarkReceiver;
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IEpicEyeDevice* m_pEpicEyeDevice;
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std::string m_binocularMarkIp;
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quint16 m_binocularMarkPort;
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std::string m_epicEyeIp;
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bool m_bMarkConnected;
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bool m_bEpicEyeConnected;
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QTimer* m_pMarkReconnectTimer;
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QTimer* m_pEpicEyeReconnectTimer;
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bool m_bDetecting;
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std::mutex m_mutex;
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std::vector<VrMark3D> m_lastMarks;
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};
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#endif // WORKPIECEPOSITIONPRESENTER_H
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