283 lines
8.9 KiB
C++
283 lines
8.9 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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// 包含公共配置结构体
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#include "VrCommonConfig.h"
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// 包含SDK算法参数类型
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#include "SG_baseDataType.h"
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#include "bagThreadPositioning_Export.h"
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/**
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* @brief 线头参数（扫描信息）
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* 使用 SDK 的 SSX_ScanInfo 结构
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*/
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struct VrThreadParam
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{
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bool isHorizonScan = false; // 是否水平扫描（激光线平行槽道）
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bool scanFromThreadHead = true; // 是否从线头开始扫描
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double stitchWidth = 1.0; // 线缝最小宽度
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double operateDist = 3.0; // 落刀位置距离线距离
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double mark_diameter = 18.0; // Mark外径（mm）
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double mark_height = 18.0; // Mark高度（mm）
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double mark_distance = 39.0; // 两个Mark的距离（mm）
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// 转换为 SDK 结构
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SSX_ScanInfo ToSDK() const {
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SSX_ScanInfo info;
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info.isHorizonScan = isHorizonScan;
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info.scanFromThreadHead = scanFromThreadHead;
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info.stitchWidth = stitchWidth;
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info.operateDist = operateDist;
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info.mark_diameter = mark_diameter;
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info.mark_height = mark_height;
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info.mark_distance = mark_distance;
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return info;
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}
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};
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/**
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* @brief 角点检测参数
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* 使用 SDK 的 SSG_cornerParam 结构
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*/
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struct VrCornerParam
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{
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double minEndingGap = 1.0; // Y方向最小结束间隙
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double minEndingGap_z = 3.5; // Z方向最小结束间隙
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double scale = 4.0; // 计算方向角的窗口比例
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double cornerTh = 90.0; // 角点阈值
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double jumpCornerTh_1 = 15.0; // 跳跃角点阈值1
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double jumpCornerTh_2 = 60.0; // 跳跃角点阈值2
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// 转换为 SDK 结构
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SSG_cornerParam ToSDK() const {
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SSG_cornerParam param;
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param.minEndingGap = minEndingGap;
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param.minEndingGap_z = minEndingGap_z;
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param.scale = scale;
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param.cornerTh = cornerTh;
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param.jumpCornerTh_1 = jumpCornerTh_1;
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param.jumpCornerTh_2 = jumpCornerTh_2;
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return param;
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}
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};
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/**
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* @brief 离群点滤波参数
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* 使用 SDK 的 SSG_outlierFilterParam 结构
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*/
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struct VrOutlierFilterParam
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{
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double continuityTh = 3.0; // 连续性阈值
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double outlierTh = 2.0; // 离群点阈值
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// 转换为 SDK 结构
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SSG_outlierFilterParam ToSDK() const {
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SSG_outlierFilterParam param;
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param.continuityTh = continuityTh;
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param.outlierTh = outlierTh;
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return param;
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}
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};
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/**
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* @brief 凸起特征参数
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* 使用 SDK 的 SSG_raisedFeatureParam 结构
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*/
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struct VrRaisedFeatureParam
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{
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double minJumpZ = 1.5; // Z方向最小跳跃高度
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double minK = 2.0; // 最小斜率
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double widthMin = 1.0; // 宽度最小值
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double widthMax = 4.0; // 宽度最大值
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// 转换为 SDK 结构
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SSG_raisedFeatureParam ToSDK() const {
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SSG_raisedFeatureParam param;
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param.minJumpZ = minJumpZ;
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param.minK = minK;
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param.widthRange.min = widthMin;
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param.widthRange.max = widthMax;
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return param;
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}
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};
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/**
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* @brief 树生长参数
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* 使用 SDK 的 SSG_treeGrowParam 结构
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*/
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struct VrTreeGrowParam
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{
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double yDeviation_max = 1.0; // Y方向最大偏差
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double zDeviation_max = 1.0; // Z方向最大偏差
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int maxLineSkipNum = -1; // 最大跳过行数
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double maxSkipDistance = 5.0; // 最大跳过距离
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double minLTypeTreeLen = 10.0; // L型树最小长度
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double minVTypeTreeLen = 10.0; // V型树最小长度
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// 转换为 SDK 结构
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SSG_treeGrowParam ToSDK() const {
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SSG_treeGrowParam param;
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param.yDeviation_max = yDeviation_max;
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param.zDeviation_max = zDeviation_max;
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param.maxLineSkipNum = maxLineSkipNum;
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param.maxSkipDistance = maxSkipDistance;
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param.minLTypeTreeLen = minLTypeTreeLen;
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param.minVTypeTreeLen = minVTypeTreeLen;
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return param;
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}
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};
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/**
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* @brief 算法参数结构体（包裹拆线定位专用）
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*
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* 包含线激光扫描和拆线位置检测所需的参数
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*/
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struct VrAlgorithmParams
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{
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// 线头参数
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VrThreadParam threadParam;
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// 角点检测参数
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VrCornerParam cornerParam;
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// 离群点滤波参数
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VrOutlierFilterParam filterParam;
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// 凸起特征参数
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VrRaisedFeatureParam raisedFeatureParam;
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// 树生长参数
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VrTreeGrowParam growParam;
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// 平面标定参数（多相机）
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VrPlaneCalibParam planeCalibParam;
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// 显式赋值构造函数
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VrAlgorithmParams& operator=(const VrAlgorithmParams& other) {
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if (this != &other) {
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threadParam = other.threadParam;
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cornerParam = other.cornerParam;
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filterParam = other.filterParam;
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raisedFeatureParam = other.raisedFeatureParam;
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growParam = other.growParam;
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planeCalibParam = other.planeCalibParam;
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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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: threadParam(other.threadParam)
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, cornerParam(other.cornerParam)
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, filterParam(other.filterParam)
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, raisedFeatureParam(other.raisedFeatureParam)
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, growParam(other.growParam)
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, planeCalibParam(other.planeCalibParam) {
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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; // 相机设备列表
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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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uint16_t tcpPort = 5020; // TCP服务器端口
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bool modbusBigEndian = true; // ModbusTCP大小端配置（true=大端，false=小端）
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std::string modbusIP = "192.168.2.1"; // ModbusTCP远端IP地址
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uint16_t modbusPort = 502; // ModbusTCP远端端口
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int modbusPollingInterval = 200; // ModbusTCP轮询间隔（毫秒）
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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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algorithmParams = other.algorithmParams;
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debugParam = other.debugParam;
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serialConfig = other.serialConfig;
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tcpPort = other.tcpPort;
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modbusBigEndian = other.modbusBigEndian;
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modbusIP = other.modbusIP;
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modbusPort = other.modbusPort;
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modbusPollingInterval = other.modbusPollingInterval;
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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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, algorithmParams(other.algorithmParams)
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, debugParam(other.debugParam)
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, serialConfig(other.serialConfig)
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, tcpPort(other.tcpPort)
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, modbusBigEndian(other.modbusBigEndian)
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, modbusIP(other.modbusIP)
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, modbusPort(other.modbusPort)
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, modbusPollingInterval(other.modbusPollingInterval) {
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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 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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