137 lines
4.7 KiB
C++
137 lines
4.7 KiB
C++
#ifndef BINOCULARMARKRECEIVER_H
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#define BINOCULARMARKRECEIVER_H
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#include "IBinocularMarkReceiver.h"
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#include "IVrTCPClient.h"
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#include <mutex>
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#include <condition_variable>
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#include <thread>
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#include <atomic>
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#include <string>
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#include <vector>
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/**
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* @brief BinocularMarkReceiver实现类
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* TCP客户端，接收BinocularMarkApp发送的Mark检测结果
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*/
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class BinocularMarkReceiver : public IBinocularMarkReceiver
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{
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public:
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BinocularMarkReceiver();
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~BinocularMarkReceiver() override;
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// 实现IBinocularMarkReceiver接口
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int Connect(const std::string& serverIp, uint16_t serverPort) override;
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int Disconnect() override;
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bool IsConnected() const override;
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int TriggerDetection() override;
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SingleDetectionResult RequestSingleDetection(int timeoutMs = 5000) override;
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ImageData RequestSingleImage(int timeoutMs = 5000) override;
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int StartWork() override;
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int StopWork() override;
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int SetCalibrationMatrix(const std::string& calibrationXml) override;
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int SetExposureTime(double exposureTime) override;
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int SetGain(double gain) override;
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void SetMarkResultCallback(MarkResultCallback callback) override;
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void SetEventCallback(EventCallback callback) override;
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private:
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/**
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* @brief 解析数据帧（处理粘包）
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*/
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void parseFrames();
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/**
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* @brief 处理单个JSON消息
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* @param jsonData JSON数据
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*/
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void handleJsonMessage(const std::string& jsonData);
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/**
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* @brief 处理Mark结果消息
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* @param jsonStr JSON字符串
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*/
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void handleMarkResult(const std::string& jsonStr);
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/**
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* @brief 处理单次检测结果消息
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* @param jsonStr JSON字符串
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*/
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void handleSingleDetectionResult(const std::string& jsonStr);
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/**
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* @brief 处理图像数据消息
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* @param jsonStr JSON字符串
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*/
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void handleImageData(const std::string& jsonStr);
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/**
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* @brief 处理心跳应答消息
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* @param jsonStr JSON字符串
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*/
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void handleHeartbeatAck(const std::string& jsonStr);
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/**
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* @brief 处理命令应答消息
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* @param jsonStr JSON字符串
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*/
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void handleCommandResponse(const std::string& jsonStr);
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/**
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* @brief 构造数据帧
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* @param jsonData JSON数据
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* @return 完整的数据帧（帧头+长度+数据+帧尾）
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*/
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std::string buildFrame(const std::string& jsonData);
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/**
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* @brief 发送JSON消息
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* @param messageType 消息类型
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* @param jsonData JSON数据字符串
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* @return 0-成功，其他-失败
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*/
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int sendJsonMessage(const std::string& messageType, const std::string& jsonData);
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private:
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// TCP回调函数
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static void tcpRecvCallback(IVrTCPClient* pClient, const char* pData, const int nLen, void* pParam);
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static void linkEventCallback(IVrTCPClient* pClient, bool connected, void* pParam);
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// 心跳线程函数
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void heartbeatThreadFunc();
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IVrTCPClient* m_pTcpClient; // TCP客户端
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std::string m_serverIp; // 服务器IP
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uint16_t m_serverPort; // 服务器端口
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std::atomic<bool> m_bConnected; // 连接状态
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std::vector<char> m_dataBuffer; // 数据缓冲区（处理粘包）
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MarkResultCallback m_markResultCallback; // Mark结果回调
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EventCallback m_eventCallback; // 事件回调
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// 同步等待结果存储
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SingleDetectionResult m_pendingSingleDetectionResult;
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ImageData m_pendingImageData;
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std::condition_variable m_cvSingleDetection; // 单次检测条件变量
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std::condition_variable m_cvImageData; // 图像数据条件变量
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bool m_bSingleDetectionReady;
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bool m_bImageDataReady;
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// 心跳线程
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std::thread m_heartbeatThread;
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std::atomic<bool> m_bHeartbeatRunning;
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int m_nHeartbeatInterval; // 心跳间隔（秒）
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mutable std::mutex m_mutex; // 线程安全锁
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// 帧格式常量
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static constexpr const char* FRAME_HEADER = "##START#";
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static constexpr const char* FRAME_TAIL = "#END";
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static constexpr int FRAME_HEADER_SIZE = 8;
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static constexpr int FRAME_TAIL_SIZE = 4;
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static constexpr int FRAME_LENGTH_SIZE = 8;
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};
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#endif // BINOCULARMARKRECEIVER_H
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