158 lines
5.5 KiB
C++
158 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 <thread>
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#include <atomic>
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#include <mutex>
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#include <condition_variable>
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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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* 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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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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// 批处理参数
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unsigned int m_nBatchLines = 200; // 批处理行数
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// 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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// 数据采集线程
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std::thread m_detectThread;
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std::atomic<bool> m_bDetecting{false};
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std::atomic<bool> m_bStopDetect{false};
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std::mutex m_detectMutex;
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std::condition_variable m_detectCondition;
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// 数据缓存
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std::vector<int32_t> m_profileBuffer; // 轮廓数据缓存
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std::vector<uint8_t> m_intensityBuffer; // 亮度数据缓存
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std::vector<SVzNL3DPosition> m_positionBuffer; // 转换后的位置数据
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// 帧计数
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unsigned long long m_ullFrameIndex = 0;
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unsigned long long m_ullTimeStamp = 0;
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// 内部方法
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/**
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* @brief 数据采集线程函数
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*/
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void DetectThreadFunc();
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/**
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* @brief 将 gl_linelaser_sdk 的轮廓数据转换为 SVzNL3DPosition
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* @param profileData 轮廓数据（int32_t，单位0.01um）
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* @param count 数据点数
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* @param lineIndex 当前行索引
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* @return 转换后的位置数据数组
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*/
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void ConvertProfileToPosition(const int32_t* profileData, int count, int lineIndex);
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/**
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* @brief 批处理数据回调（静态函数）
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*/
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static void BatchDataCallback(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj);
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/**
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* @brief 处理批处理数据
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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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// 用于回调的实例指针
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static CGlLineLaserDevice* s_pInstance;
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};
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#endif // CGLLINELASERDEVICE_H
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