239 lines
8.5 KiB
C++
239 lines
8.5 KiB
C++
#include "WorkpiecePresenter.h"
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#include "VrLog.h"
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#include "VrError.h"
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#include <QDateTime>
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// 初始化TCP服务器
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int WorkpiecePresenter::InitTCPServer()
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{
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LOG_DEBUG("Start initializing TCP server\n");
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if (m_pTCPServer) {
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LOG_WARNING("TCP server already initialized\n");
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return 0;
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}
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// 创建TCP服务器协议实例
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m_pTCPServer = new TCPServerProtocol();
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// 从配置获取端口，默认7800
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int port = 7800;
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// TODO: 从配置文件获取端口配置
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// ConfigResult configResult = m_pConfigManager->GetConfigResult();
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// port = configResult.tcpPort;
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// 初始化TCP服务器
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int nRet = m_pTCPServer->Initialize(port);
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if (nRet != 0) {
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LOG_ERROR("Failed to initialize TCP server, return code: %d\n", nRet);
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delete m_pTCPServer;
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m_pTCPServer = nullptr;
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return nRet;
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}
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// 设置连接状态回调
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m_pTCPServer->SetConnectionCallback([this](bool connected) {
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this->OnTCPConnectionChanged(connected);
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});
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// 设置检测触发回调
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m_pTCPServer->SetDetectionTriggerCallback([this](bool startWork, int cameraIndex, qint64 timestamp) {
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return this->OnTCPDetectionTrigger(startWork, cameraIndex, timestamp);
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});
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LOG_INFO("TCP server protocol initialized successfully on port %d\n", port);
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return 0;
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}
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// TCP连接状态改变回调
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void WorkpiecePresenter::OnTCPConnectionChanged(bool connected)
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{
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LOG_DEBUG("TCP connection status changed: %s\n", connected ? "connected" : "disconnected");
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m_bTCPConnected = connected;
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// 通知状态更新
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
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if (connected) {
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pStatus->OnStatusUpdate("TCP客户端已连接");
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} else {
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pStatus->OnStatusUpdate("TCP客户端已断开");
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}
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// 更新机械臂连接状态
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pStatus->OnRobotConnectionChanged(connected);
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}
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// 更新工作状态
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CheckAndUpdateWorkStatus();
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}
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// TCP检测触发回调
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bool WorkpiecePresenter::OnTCPDetectionTrigger(bool startWork, int cameraIndex, qint64 timestamp)
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{
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
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pStatus->OnWorkStatusChanged(WorkStatus::Working);
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}
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LOG_DEBUG("TCP detection trigger: startWork=%s, cameraIndex=%d, timestamp=%lld\n",
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startWork ? "true" : "false", cameraIndex, timestamp);
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// 通知UI接收到TCP扫描请求
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
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pStatus->OnStatusUpdate("【TCP协议】接收到扫描请求 (ScanRequest)");
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}
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if (!startWork) {
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LOG_WARNING("Received stop work signal, ignoring\n");
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return false;
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}
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// 检查相机连接状态
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if (!m_bCameraConnected) {
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LOG_ERROR("Camera not connected, cannot start detection\n");
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
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pStatus->OnStatusUpdate("【TCP协议】相机未连接，无法启动检测");
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}
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return false;
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}
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// 通知UI已发送响应
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
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pStatus->OnStatusUpdate("【TCP协议】已发送扫描响应 (ScanResponse)");
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}
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// 启动检测
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int result = StartDetection(cameraIndex, false); // false表示手动触发
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bool success = (result == 0);
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if (success) {
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LOG_DEBUG("Detection started successfully via TCP trigger\n");
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
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pStatus->OnStatusUpdate("开始执行扫描检测...");
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}
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} else {
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LOG_ERROR("Failed to start detection via TCP trigger, error code: %d\n", result);
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
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pStatus->OnStatusUpdate("检测启动失败");
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}
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}
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return success;
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}
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// 发送检测结果给TCP客户端
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void WorkpiecePresenter::_SendDetectionResultToTCP(const DetectionResult& detectionResult, int cameraIndex)
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{
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if (!m_pTCPServer || !m_bTCPConnected) {
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LOG_DEBUG("TCP server not available, skipping result transmission\n");
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return;
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}
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LOG_DEBUG("Sending detection result to TCP clients, camera index: %d\n", cameraIndex);
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// 创建主结果对象（使用新的协议格式）
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QJsonObject resultObject;
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resultObject["MessageType"] = "ScanResult";
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resultObject["Timestamp"] = QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss");
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// 创建Data对象
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QJsonObject data;
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data["WorkpieceType"] = detectionResult.workpieceType;
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// 构造新的JSON格式：type + L/T/R/B分组
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try {
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// 检查角点数量必须为12个（左3、顶3、右3、底3），否则不发送
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if (detectionResult.positions.size() < 12) {
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LOG_WARNING("Expected 12 corner points, but got %zu points. Not sending result.\n", detectionResult.positions.size());
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
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pStatus->OnStatusUpdate("【TCP协议】角点数量不足，未发送结果");
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}
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return;
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}
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// 角点索引说明（根据DetectPresenter.cpp中的顺序）：
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// 索引 0-2: 边1 - 从下到上
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// 索引 3-5: 边2 - 从左到右
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// 索引 6-8: 边3 - 从上到下
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// 索引 9-11: 边4 - 从右到左
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// 构造边1角点
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QJsonObject side1;
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for (int i = 0; i < 3; i++) {
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QJsonArray point;
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point.append(detectionResult.positions[i].x);
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point.append(detectionResult.positions[i].y);
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point.append(detectionResult.positions[i].z);
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side1[QString("P%1").arg(i + 1)] = point;
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}
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data["1"] = side1;
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// 构造边2角点
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QJsonObject side2;
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for (int i = 0; i < 3; i++) {
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QJsonArray point;
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point.append(detectionResult.positions[i + 3].x);
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point.append(detectionResult.positions[i + 3].y);
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point.append(detectionResult.positions[i + 3].z);
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side2[QString("P%1").arg(i + 1)] = point;
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}
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data["2"] = side2;
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// 构造边3角点
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QJsonObject side3;
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for (int i = 0; i < 3; i++) {
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QJsonArray point;
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point.append(detectionResult.positions[i + 6].x);
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point.append(detectionResult.positions[i + 6].y);
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point.append(detectionResult.positions[i + 6].z);
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side3[QString("P%1").arg(i + 1)] = point;
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}
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data["3"] = side3;
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// 构造边4角点
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QJsonObject side4;
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for (int i = 0; i < 3; i++) {
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QJsonArray point;
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point.append(detectionResult.positions[i + 9].x);
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point.append(detectionResult.positions[i + 9].y);
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point.append(detectionResult.positions[i + 9].z);
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side4[QString("P%1").arg(i + 1)] = point;
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}
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data["4"] = side4;
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// 添加中心点坐标
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QJsonArray centerPoint;
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centerPoint.append(detectionResult.center.x);
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centerPoint.append(detectionResult.center.y);
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centerPoint.append(detectionResult.center.z);
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data["Center"] = centerPoint;
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// 添加长度信息
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QJsonObject lengths;
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lengths["len_A1"] = detectionResult.len_A1;
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lengths["len_A2"] = detectionResult.len_A2;
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lengths["len_B1"] = detectionResult.len_B1;
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lengths["len_B2"] = detectionResult.len_B2;
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data["Lengths"] = lengths;
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// 将Data对象添加到结果中
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resultObject["Data"] = data;
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// 发送结果
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int sendResult = m_pTCPServer->SendDetectionResult(resultObject);
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if (sendResult == 0) {
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LOG_INFO("Detection result sent to TCP clients successfully\n");
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// 通知UI已发送检测结果
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
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pStatus->OnStatusUpdate("【TCP协议】已发送扫描结果 (ScanResult)");
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}
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} else {
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LOG_ERROR("Failed to send detection result to TCP clients, error code: %d\n", sendResult);
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}
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} catch (const std::exception& e) {
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LOG_ERROR("Exception while preparing TCP detection result: %s\n", e.what());
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m_pTCPServer->SendDetectionResult(resultObject);
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}
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}
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