156 lines
5.5 KiB
C++
156 lines
5.5 KiB
C++
#ifndef CGLLINELASERDEVICE_H
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#define CGLLINELASERDEVICE_H
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#include "IGlLineLaserDevice.h"
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#include "phoskey_ss.h"
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#include <atomic>
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#include <vector>
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#include <string>
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/**
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* @brief CGlLineLaserDevice 实现类
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*
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* 将 gl_linelaser_sdk (phoskey_ss) 的接口适配到 IVrEyeDevice 接口。
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* 使用 SDK 回调模式（GLX8_2_SetBatchOneTimeDataHandler）获取批处理数据。
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*
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* 完整闭环流程：
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* OpenDevice → 配置批处理参数 + 注册SDK回调
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* StartDetect → GLX8_2_StartMeasureWithCallback 启动采集
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* SDK回调 → BatchOneTimeCallback → ProcessBatchData → 逐行转换并回调上层
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* StopDetect → GLX8_2_StopMeasure 停止采集
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* CloseDevice → GLX8_2_CommClose 关闭设备
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*
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* 数据转换：gl_linelaser_sdk 的 int32_t 轮廓数据（单位0.01um）转换为
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* SVzLaserLineData 的 SVzNL3DPosition 格式（单位mm）。
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*/
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class CGlLineLaserDevice : public IGlLineLaserDevice
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{
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public:
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CGlLineLaserDevice();
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~CGlLineLaserDevice();
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// ============ 实现 IVrEyeDevice 接口 ============
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int InitDevice() override;
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int SetStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void *param) override;
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int OpenDevice(const char* sIP, bool bRGBD = false, bool bSwing = true, bool bFillLaser = true) override;
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int GetVersion(SVzNLVersionInfo& sVersionInfo) override;
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int GetDevInfo(SVzNLEyeDeviceInfoEx& sDeviceInfo) override;
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int CloseDevice() override;
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int StartDetect(VzNL_AutoOutputLaserLineExCB fCallFunc, EVzResultDataType eDataType, void *param) override;
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bool IsDetectIng() override;
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int StopDetect() override;
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int SetDetectROI(SVzNLRect& leftROI, SVzNLRect& rightROI) override;
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int GetDetectROI(SVzNLRect& leftROI, SVzNLRect& rightROI) override;
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int SetEyeExpose(unsigned int& exposeTime) override;
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int GetEyeExpose(unsigned int& exposeTime) override;
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int SetEyeGain(unsigned int& gain) override;
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int GetEyeGain(unsigned int& gain) override;
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int SetFrame(int& frame) override;
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int GetFrame(int& frame) override;
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bool IsSupport() override;
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int SetRGBDExposeThres(float& value) override;
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int GetRGBDExposeThres(float& value) override;
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int SetFilterHeight(double& dHeight) override;
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int GetFilterHeight(double& dHeight) override;
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int GetSwingSpeed(float& fSpeed) override;
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int SetSwingSpeed(float& fSpeed) override;
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int SetSwingAngle(float& fMin, float& fMax) override;
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int GetSwingAngle(float& fMin, float& fMax) override;
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int SetWorkRange(double& dMin, double& dMax) override;
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int GetWorkRange(double& dMin, double& dMax) override;
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// ============ 实现 IGlLineLaserDevice 专用接口 ============
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int GetProfileDataWidth() override;
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double GetXPitch() override;
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double GetYPitch() override;
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int SetYPitch(double pitch) override;
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int SetBatchLines(unsigned int batchLines) override;
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unsigned int GetBatchLines() override;
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int SwitchProgram(int programNo) override;
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int GetModelInfo(char* model, char* serialNumber) override;
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int GetMeasureRange(double& xMin, double& xMax, double& zMin, double& zMax) override;
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int SetBaseDistance(double distance) override;
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private:
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// 设备状态
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int m_nDeviceId = 0; // 设备ID
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bool m_bDeviceOpen = false; // 设备是否打开
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std::string m_strDeviceIP; // 设备IP
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// 设备信息
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GLX8_2_ModelInfo m_modelInfo; // 型号信息
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int m_nProfileWidth = 4096; // 轮廓数据宽度
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double m_dXPitch = 0.01; // X方向间距 (mm)
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double m_dYPitch = 1.0; // Y方向间距 (mm)，用户设置
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double m_dBaseDistance = 300.0; // 基准距离 (mm)，Z偏移校正
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// 批处理参数
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unsigned int m_nBatchLines = 200; // 批处理行数
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// 上层回调相关
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VzNL_AutoOutputLaserLineExCB m_pDetectCallback = nullptr;
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void* m_pDetectCallbackParam = nullptr;
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EVzResultDataType m_eDataType = keResultDataType_Position;
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VzNL_OnNotifyStatusCBEx m_pStatusCallback = nullptr;
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void* m_pStatusCallbackParam = nullptr;
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// 检测状态
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std::atomic<bool> m_bDetecting{false};
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// 帧计数
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unsigned long long m_ullFrameIndex = 0;
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// 内部方法
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/**
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* @brief 配置批处理模式
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*/
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int ConfigureBatchMode();
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/**
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* @brief 注册SDK批处理回调
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*/
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int RegisterBatchCallback();
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/**
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* @brief SDK 批处理回调函数（静态，由SDK线程调用）
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* @param info 批处理信息
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* @param DataObj 批处理数据对象，用于提取轮廓/亮度/编码器
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*/
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static void BatchOneTimeCallback(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj);
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/**
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* @brief 处理一次批处理回调数据，逐行转换并回调给上层
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* @param info 批处理信息
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* @param DataObj 批处理数据对象
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*/
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void ProcessBatchData(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj);
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// 静态回调需要通过实例指针访问成员，保存this指针供回调使用
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static CGlLineLaserDevice* s_pInstance;
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};
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#endif // CGLLINELASERDEVICE_H
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