441 lines
14 KiB
C++
441 lines
14 KiB
C++
#ifndef IVRCONFIG_H
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#define IVRCONFIG_H
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#include <iostream>
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#include <string>
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#include <vector>
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#include <utility>
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#include <algorithm>
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#include <cstring>
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/**
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* @brief 项目类型枚举
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*/
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enum class ProjectType
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{
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Workpiece = 0, // 激光焊接
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DirectBag = 1, // 带方向的编织袋
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};
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/**
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* @brief 项目类型字符串转换函数
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*/
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inline std::string ProjectTypeToString(ProjectType type)
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{
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switch (type) {
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case ProjectType::Workpiece:
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return "Workpiece";
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case ProjectType::DirectBag:
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return "DirectBag";
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default:
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return "Unknown";
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}
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}
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/**
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* @brief 字符串转项目类型函数
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*/
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inline ProjectType StringToProjectType(const std::string& str)
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{
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if (str == "Workpiece" || str == "0") {
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return ProjectType::Workpiece;
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} else if (str == "DirectBag" || str == "1") {
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return ProjectType::DirectBag;
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} else {
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return ProjectType::Workpiece; // 默认返回激光焊接
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}
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}
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struct DeviceInfo
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{
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std::string name;
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std::string ip;
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// 显式赋值构造函数，确保 std::string 正确复制
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DeviceInfo& operator=(const DeviceInfo& other) {
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if (this != &other) {
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name = other.name;
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ip = other.ip;
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}
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return *this;
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}
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// 显式复制构造函数
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DeviceInfo(const DeviceInfo& other)
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: name(other.name)
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, ip(other.ip) {
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}
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// 默认构造函数
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DeviceInfo() = default;
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};
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/**
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* @brief 串口配置信息
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*/
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struct SerialConfig
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{
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#ifdef _WIN32
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std::string portName = "COM6"; // 串口名称
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#else
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std::string portName = "/dev/ttyS3"; // 串口名称
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#endif
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int baudRate = 115200; // 波特率
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int dataBits = 8; // 数据位
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int stopBits = 1; // 停止位
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int parity = 0; // 校验位 (0-无校验, 1-奇校验, 2-偶校验)
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int flowControl = 0; // 流控制 (0-无, 1-硬件, 2-软件)
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bool enabled = true; // 是否启用串口通信
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// 显式赋值构造函数，确保 std::string 正确复制
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SerialConfig& operator=(const SerialConfig& other) {
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if (this != &other) {
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portName = other.portName;
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baudRate = other.baudRate;
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dataBits = other.dataBits;
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stopBits = other.stopBits;
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parity = other.parity;
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flowControl = other.flowControl;
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enabled = other.enabled;
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}
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return *this;
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}
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// 显式复制构造函数
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SerialConfig(const SerialConfig& other)
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: portName(other.portName)
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, baudRate(other.baudRate)
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, dataBits(other.dataBits)
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, stopBits(other.stopBits)
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, parity(other.parity)
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, flowControl(other.flowControl)
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, enabled(other.enabled) {
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}
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// 默认构造函数
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SerialConfig() = default;
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};
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/**
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* @brief 离群点滤波参数
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*/
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struct VrOutlierFilterParam
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{
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double continuityTh = 20.0; // 连续性阈值
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double outlierTh = 5.0; // 离群点判断阈值
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};
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/**
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* @brief 拐角参数
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*/
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struct VrCornerParam
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{
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double cornerTh = 60; // 拐角阈值
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double scale = 50; // 计算方向角的窗口比例因子
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double minEndingGap = 20; // Y方向最小结束间隔
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double minEndingGap_z = 20; // Z方向最小结束间隔
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double jumpCornerTh_1 = 10; // 跳跃拐角阈值1
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double jumpCornerTh_2 = 60; // 跳跃拐角阈值2
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};
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/**
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* @brief 树生长参数
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*/
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struct VrTreeGrowParam
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{
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int maxLineSkipNum = 10; // 生长时允许跳过的最大线条数
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double yDeviation_max = 10.0; // 生长时允许的最大Y偏差
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double maxSkipDistance = 10.0; // 最大跳跃距离
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double zDeviation_max = 10; // 生长时允许的最大Z偏差
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double minLTypeTreeLen = 100.0; // L型树的最小长度
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double minVTypeTreeLen = 100.0; // V型树的最小长度
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};
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/**
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* @brief 激光焊接参数
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*/
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struct VrWorkpieceParam
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{
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double lineLen = 180.0; // 工件角点提取：直线段长度阈值
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};
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/**
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* @brief 单个相机的平面校准参数
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*/
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struct VrCameraPlaneCalibParam
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{
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int cameraIndex = 1; // 相机索引（1-based）
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std::string cameraName = ""; // 相机名称
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double planeCalib[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; // 旋转矩阵，将数据调平（默认单位矩阵）
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double planeHeight = -1.0; // 参考平面的高度，用于去除地面数据
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double invRMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; // 逆旋转矩阵，回到原坐标系（默认单位矩阵）
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bool isCalibrated = false; // 是否已经校准
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// 显式赋值构造函数，确保 std::string 正确复制
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VrCameraPlaneCalibParam& operator=(const VrCameraPlaneCalibParam& other) {
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if (this != &other) {
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cameraIndex = other.cameraIndex;
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cameraName = other.cameraName;
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memcpy(planeCalib, other.planeCalib, sizeof(planeCalib));
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planeHeight = other.planeHeight;
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memcpy(invRMatrix, other.invRMatrix, sizeof(invRMatrix));
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isCalibrated = other.isCalibrated;
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}
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return *this;
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}
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// 显式复制构造函数
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VrCameraPlaneCalibParam(const VrCameraPlaneCalibParam& other)
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: cameraIndex(other.cameraIndex)
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, cameraName(other.cameraName)
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, planeHeight(other.planeHeight)
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, isCalibrated(other.isCalibrated) {
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memcpy(planeCalib, other.planeCalib, sizeof(planeCalib));
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memcpy(invRMatrix, other.invRMatrix, sizeof(invRMatrix));
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}
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// 默认构造函数
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VrCameraPlaneCalibParam() = default;
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};
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/**
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* @brief 平面校准参数（支持多相机）
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*/
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struct VrPlaneCalibParam
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{
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std::vector<VrCameraPlaneCalibParam> cameraCalibParams; // 各个相机的校准参数
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// 获取指定相机的校准参数（C++11兼容方式，返回bool，通过引用参数传出结果）
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// 返回true表示找到该相机的参数，false表示未找到
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bool GetCameraCalibParam(int cameraIndex, VrCameraPlaneCalibParam& outParam) const {
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for (const auto& param : cameraCalibParams) {
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if (param.cameraIndex == cameraIndex) {
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outParam = param; // 返回一个副本
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return true;
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}
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}
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return false;
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}
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// 设置或更新指定相机的校准参数
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void SetCameraCalibParam(const VrCameraPlaneCalibParam& param) {
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for (auto& existingParam : cameraCalibParams) {
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if (existingParam.cameraIndex == param.cameraIndex) {
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existingParam = param;
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return;
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}
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}
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// 如果不存在，则添加新的
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cameraCalibParams.push_back(param);
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}
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// 移除指定相机的校准参数
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void RemoveCameraCalibParam(int cameraIndex) {
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cameraCalibParams.erase(
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std::remove_if(cameraCalibParams.begin(), cameraCalibParams.end(),
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[cameraIndex](const VrCameraPlaneCalibParam& param) {
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return param.cameraIndex == cameraIndex;
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}),
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cameraCalibParams.end());
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}
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// 显式赋值构造函数
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VrPlaneCalibParam& operator=(const VrPlaneCalibParam& other) {
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if (this != &other) {
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cameraCalibParams = other.cameraCalibParams;
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}
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return *this;
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}
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// 显式复制构造函数
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VrPlaneCalibParam(const VrPlaneCalibParam& other)
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: cameraCalibParams(other.cameraCalibParams) {
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}
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// 默认构造函数
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VrPlaneCalibParam() = default;
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};
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/**
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* @brief 调试参数
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*/
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struct VrDebugParam
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{
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bool enableDebug = true; // 是否开启调试模式
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bool savePointCloud = false; // 是否保存点云数据
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bool saveDebugImage = false; // 是否保存调试图像
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bool printDetailLog = true; // 是否打印详细日志
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std::string debugOutputPath = ""; // 调试输出路径
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// 显式赋值构造函数，确保 std::string 正确复制
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VrDebugParam& operator=(const VrDebugParam& other) {
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if (this != &other) {
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enableDebug = other.enableDebug;
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savePointCloud = other.savePointCloud;
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saveDebugImage = other.saveDebugImage;
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printDetailLog = other.printDetailLog;
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debugOutputPath = other.debugOutputPath; // std::string 深拷贝
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}
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return *this;
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}
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// 显式复制构造函数
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VrDebugParam(const VrDebugParam& other)
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: enableDebug(other.enableDebug)
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, savePointCloud(other.savePointCloud)
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, saveDebugImage(other.saveDebugImage)
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, printDetailLog(other.printDetailLog)
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, debugOutputPath(other.debugOutputPath) {
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}
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// 默认构造函数
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VrDebugParam() = default;
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};
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/**
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* @brief 算法参数配置结构
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*/
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struct VrAlgorithmParams
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{
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VrOutlierFilterParam filterParam; // 离群点滤波参数
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VrCornerParam cornerParam; // 拐角参数
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VrTreeGrowParam growParam; // 树生长参数
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VrPlaneCalibParam planeCalibParam; // 平面校准参数
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VrWorkpieceParam workpieceParam; // 工件参数
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// 显式赋值构造函数，确保正确的深拷贝
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VrAlgorithmParams& operator=(const VrAlgorithmParams& other) {
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if (this != &other) {
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filterParam = other.filterParam;
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cornerParam = other.cornerParam;
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growParam = other.growParam;
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planeCalibParam = other.planeCalibParam;
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workpieceParam = other.workpieceParam;
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}
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return *this;
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}
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// 显式复制构造函数
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VrAlgorithmParams(const VrAlgorithmParams& other)
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: filterParam(other.filterParam)
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, cornerParam(other.cornerParam)
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, growParam(other.growParam)
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, planeCalibParam(other.planeCalibParam)
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, workpieceParam(other.workpieceParam) {
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}
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// 默认构造函数
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VrAlgorithmParams() = default;
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};
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/**
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* @brief 配置加载结果
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*/
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struct ConfigResult
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{
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std::vector<DeviceInfo> cameraList;
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std::vector<DeviceInfo> deviceList;
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VrAlgorithmParams algorithmParams; // 算法参数
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VrDebugParam debugParam; // 调试参数
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SerialConfig serialConfig; // 串口配置
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ProjectType projectType; // 项目类型
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// 显式赋值构造函数，确保正确的深拷贝
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ConfigResult& operator=(const ConfigResult& other) {
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if (this != &other) {
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cameraList = other.cameraList;
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deviceList = other.deviceList;
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algorithmParams = other.algorithmParams;
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debugParam = other.debugParam;
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serialConfig = other.serialConfig;
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projectType = other.projectType;
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}
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return *this;
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}
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// 显式复制构造函数
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ConfigResult(const ConfigResult& other)
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: cameraList(other.cameraList)
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, deviceList(other.deviceList)
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, algorithmParams(other.algorithmParams)
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, debugParam(other.debugParam)
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, serialConfig(other.serialConfig)
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, projectType(other.projectType) {
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}
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// 默认构造函数
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ConfigResult() = default;
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};
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/**
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* @brief 配置加载错误代码
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*/
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enum LoadConfigErrorCode
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{
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LOAD_CONFIG_SUCCESS = 0, // 加载成功
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LOAD_CONFIG_FILE_NOT_FOUND = -1, // 配置文件不存在
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LOAD_CONFIG_PARSE_ERROR = -2, // 配置文件解析错误
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LOAD_CONFIG_INVALID_FORMAT = -3, // 配置文件格式无效
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LOAD_CONFIG_UNKNOWN_ERROR = -99 // 未知错误
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};
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/**
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* @brief 配置改变通知接口
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*/
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class IVrConfigChangeNotify
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{
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public:
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virtual ~IVrConfigChangeNotify() {}
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/**
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* @brief 配置数据改变通知
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* @param configResult 新的配置数据
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*/
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virtual void OnConfigChanged(const ConfigResult& configResult) = 0;
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};
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/**
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* @brief VrConfig接口类
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*/
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class IVrConfig
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{
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public:
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/**
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* @brief 虚析构函数
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*/
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virtual ~IVrConfig() {}
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/**
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* @brief 创建实例
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* @return 实例
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*/
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static bool CreateInstance(IVrConfig** ppVrConfig);
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/**
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* @brief 加载配置文件
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* @param filePath 配置文件路径
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* @param configResult 输出参数，加载的配置结果
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* @return 错误代码 (LoadConfigErrorCode): 0=成功, 负值表示错误
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*/
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virtual int LoadConfig(const std::string& filePath, ConfigResult& configResult) = 0;
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/**
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* @brief 保存配置文件
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* @param filePath 配置文件路径
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* @param configResult 配置结果
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* @return 是否保存成功
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*/
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virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;
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/**
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* @brief 设置配置改变通知回调
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* @param notify 通知接口指针
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*/
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virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
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};
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#endif // IVRCONFIG_H
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