614 lines
17 KiB
C++
614 lines
17 KiB
C++
#include "GlLineLaserDevice.h"
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#include "VrError.h"
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#include "VrLog.h"
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#include <cstring>
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#include <chrono>
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#include <algorithm>
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CGlLineLaserDevice::CGlLineLaserDevice()
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: m_nDeviceId(0)
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, m_bDeviceOpen(false)
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, m_nProfileWidth(4096)
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, m_dXPitch(0.01)
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, m_dYPitch(1.0)
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, m_nBatchLines(200)
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{
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memset(&m_modelInfo, 0, sizeof(GLX8_2_ModelInfo));
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}
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CGlLineLaserDevice::~CGlLineLaserDevice()
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{
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if (m_bDeviceOpen) {
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CloseDevice();
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}
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}
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int CGlLineLaserDevice::InitDevice()
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{
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// 初始化 gl_linelaser_sdk
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int ret = GLX8_2_Initialize();
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if (ret != 0) {
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LOG_ERROR("GLX8_2_Initialize failed: %d\n", ret);
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return ERR_CODE(DEV_OPEN_ERR);
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}
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LOG_DEBUG("GLX8_2_Initialize success, SDK version: %s\n", GLX8_2_GetVersion());
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return SUCCESS;
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}
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int CGlLineLaserDevice::SetStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void *param)
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{
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m_pStatusCallback = fNotify;
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m_pStatusCallbackParam = param;
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return SUCCESS;
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}
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int CGlLineLaserDevice::OpenDevice(const char* sIP, bool bRGBD, bool bSwing, bool bFillLaser)
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{
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// gl_linelaser_sdk 不支持 RGBD 和摆动模式，忽略这些参数
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(void)bRGBD;
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(void)bSwing;
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(void)bFillLaser;
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if (m_bDeviceOpen) {
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LOG_WARNING("Device already open\n");
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return SUCCESS;
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}
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// 解析IP地址
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GLX8_2_ETHERNET_CONFIG ethConfig;
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memset(ðConfig, 0, sizeof(ethConfig));
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if (sIP && strlen(sIP) > 0) {
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LOG_DEBUG("open IP address format: %s\n", sIP);
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// 解析IP字符串 "x.x.x.x"
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int ip[4];
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if (sscanf(sIP, "%d.%d.%d.%d", &ip[0], &ip[1], &ip[2], &ip[3]) == 4) {
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ethConfig.abyIpAddress[0] = (unsigned char)ip[0];
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ethConfig.abyIpAddress[1] = (unsigned char)ip[1];
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ethConfig.abyIpAddress[2] = (unsigned char)ip[2];
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ethConfig.abyIpAddress[3] = (unsigned char)ip[3];
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m_strDeviceIP = sIP;
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} else {
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LOG_ERROR("Invalid IP address format: %s\n", sIP);
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return ERR_CODE(DEV_ARG_INVAILD);
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}
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} else {
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// 搜索在线设备
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int count = 0;
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GLX8_2_ETHERNET_CONFIG* pDevices = GLX8_2_SearchOnline(&count, 3000);
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if (count == 0 || pDevices == nullptr) {
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LOG_ERROR("No device found\n");
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return ERR_CODE(DEV_NOT_FIND);
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}
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// 使用第一个找到的设备
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memcpy(ðConfig, &pDevices[0], sizeof(GLX8_2_ETHERNET_CONFIG));
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char ipStr[32];
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sprintf(ipStr, "%d.%d.%d.%d", ethConfig.abyIpAddress[0], ethConfig.abyIpAddress[1], ethConfig.abyIpAddress[2], ethConfig.abyIpAddress[3]);
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m_strDeviceIP = ipStr;
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LOG_DEBUG("Found device: %s\n", m_strDeviceIP.c_str());
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}
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// 打开设备
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int ret = GLX8_2_EthernetOpen(m_nDeviceId, ðConfig);
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if (ret != 0) {
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LOG_ERROR("GLX8_2_Ethernet Open failed: %d\n", ret);
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return ERR_CODE(DEV_OPEN_ERR);
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}
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m_bDeviceOpen = true;
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LOG_DEBUG("Device opened: %s\n", m_strDeviceIP.c_str());
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// 获取设备信息
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ret = GLX8_2_GetModelInfos(m_nDeviceId, &m_modelInfo);
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if (ret == 0) {
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m_nProfileWidth = m_modelInfo.ProfileDataWidth;
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m_dXPitch = m_modelInfo.xPixth;
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if (m_modelInfo.yPixth > 0) {
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m_dYPitch = m_modelInfo.yPixth;
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}
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LOG_DEBUG("Device model: %s, width: %d, xPitch: %.4f, yPitch: %.4f\n",
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m_modelInfo.Model, m_nProfileWidth, m_dXPitch, m_dYPitch);
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}
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// 分配数据缓存
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m_profileBuffer.resize(static_cast<size_t>(m_nProfileWidth) * m_nBatchLines);
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m_intensityBuffer.resize(static_cast<size_t>(m_nProfileWidth) * m_nBatchLines);
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m_positionBuffer.resize(m_nProfileWidth);
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return SUCCESS;
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}
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int CGlLineLaserDevice::GetVersion(SVzNLVersionInfo& sVersionInfo)
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{
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memset(&sVersionInfo, 0, sizeof(SVzNLVersionInfo));
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const char* sdkVersion = GLX8_2_GetVersion();
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if (sdkVersion) {
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strncpy(sVersionInfo.szSDKVersion, sdkVersion, VZNL_VERSION_LENGTH - 1);
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}
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// 填充其他版本信息
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strncpy(sVersionInfo.szAppVersion, "GlLineLaser", VZNL_VERSION_LENGTH - 1);
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return SUCCESS;
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}
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int CGlLineLaserDevice::GetDevInfo(SVzNLEyeDeviceInfoEx& sDeviceInfo)
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{
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memset(&sDeviceInfo, 0, sizeof(SVzNLEyeDeviceInfoEx));
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// 填充设备信息
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strncpy(sDeviceInfo.sEyeCBInfo.byServerIP, m_strDeviceIP.c_str(), VZNL_SDK_NETWORK_IPv4_LENGTH - 1);
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strncpy(sDeviceInfo.sEyeCBInfo.szDeviceName, m_modelInfo.Model, VZNL_DEVICE_NAME_LENGTH - 1);
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strncpy(sDeviceInfo.sEyeCBInfo.szDeviceID, m_modelInfo.HeaderSerial, VZNL_GUID_LENGTH - 1);
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// 设置分辨率
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sDeviceInfo.sVideoRes.nFrameWidth = m_nProfileWidth;
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sDeviceInfo.sVideoRes.nFrameHeight = m_nBatchLines;
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return SUCCESS;
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}
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int CGlLineLaserDevice::CloseDevice()
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{
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if (!m_bDeviceOpen) {
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return SUCCESS;
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}
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// 先停止检测
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if (m_bDetecting) {
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StopDetect();
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}
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// 关闭设备
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int ret = GLX8_2_CommClose(m_nDeviceId);
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if (ret != 0) {
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LOG_ERROR("GLX8_2_CommClose failed: %d\n", ret);
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}
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m_bDeviceOpen = false;
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LOG_DEBUG("Device closed\n");
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return SUCCESS;
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}
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int CGlLineLaserDevice::StartDetect(VzNL_AutoOutputLaserLineExCB fCallFunc, EVzResultDataType eDataType, void *param)
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{
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if (!m_bDeviceOpen) {
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LOG_ERROR("Device not open\n");
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return ERR_CODE(DEV_NO_OPEN);
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}
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if (m_bDetecting) {
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LOG_WARNING("Already detecting\n");
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return SUCCESS;
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}
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m_pDetectCallback = fCallFunc;
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m_pDetectCallbackParam = param;
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m_eDataType = eDataType;
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m_bStopDetect = false;
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m_ullFrameIndex = 0;
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// 启动数据采集线程（主动轮询模式）
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m_bDetecting = true;
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m_detectThread = std::thread(&CGlLineLaserDevice::DetectThreadFunc, this);
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LOG_DEBUG("Detection started\n");
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return SUCCESS;
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}
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bool CGlLineLaserDevice::IsDetectIng()
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{
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return m_bDetecting;
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}
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int CGlLineLaserDevice::StopDetect()
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{
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if (!m_bDetecting) {
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return SUCCESS;
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}
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m_bStopDetect = true;
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// 停止批处理
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int ret = GLX8_2_StopMeasure(m_nDeviceId);
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if (ret != 0) {
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LOG_ERROR("GLX8_2_StopMeasure failed: %d\n", ret);
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}
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// 等待线程结束
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if (m_detectThread.joinable()) {
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m_detectThread.join();
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}
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m_bDetecting = false;
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// 通知状态变化
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if (m_pStatusCallback) {
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m_pStatusCallback(keDeviceWorkStatus_Device_Swing_Finish, nullptr, 0, m_pStatusCallbackParam);
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m_pStatusCallback(keDeviceWorkStatus_Device_Auto_Stop, nullptr, 0, m_pStatusCallbackParam);
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}
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LOG_DEBUG("Detection stopped\n");
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return SUCCESS;
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}
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// 数据采集线程函数（主动轮询模式，参考 test_deal_atch_datas）
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void CGlLineLaserDevice::DetectThreadFunc()
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{
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LOG_DEBUG("Detect thread started\n");
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while (!m_bStopDetect) {
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// 启动批处理（参考 test_deal_atch_datas）
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int ret = GLX8_2_StartMeasure(m_nDeviceId, 5000); // 5秒超时
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if (ret != 0) {
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LOG_ERROR("GLX8_2_StartMeasure failed: %d\n", ret);
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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continue;
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}
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// 等待一小段时间让设备准备好
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std::this_thread::sleep_for(std::chrono::milliseconds(50));
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// 获取批处理数据（参考 test_batch_datas）
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GetBatchData();
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// 批处理完成后等待一段时间再开始下一次
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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}
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LOG_DEBUG("Detect thread stopped\n");
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}
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// 获取批处理数据（参考 test_batch_datas 的流程）
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void CGlLineLaserDevice::GetBatchData()
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{
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GLX8_2_STR_CALLBACK_INFO info;
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memset(&info, 0, sizeof(info));
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const int maxBatchLines = m_nBatchLines;
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// 确保缓存足够大
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size_t totalPoints = static_cast<size_t>(m_nProfileWidth) * maxBatchLines;
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if (m_profileBuffer.size() < totalPoints) {
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m_profileBuffer.resize(totalPoints);
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}
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if (m_intensityBuffer.size() < totalPoints) {
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m_intensityBuffer.resize(totalPoints);
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}
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std::vector<uint32_t> encoderBuffer(maxBatchLines);
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// 使用 GLX8_2_ReceiveDataAuto 顺序获取批处理数据
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int ret = GLX8_2_ReceiveDataAuto(m_nDeviceId, &info,
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m_profileBuffer.data(),
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m_intensityBuffer.data(),
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encoderBuffer.data());
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if (ret != 0) {
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LOG_WARNING("GLX8_2_ReceiveDataAuto failed: %d\n", ret);
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return;
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}
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int batchCount = info.BatchPoints;
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int width = info.xPoints;
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if (batchCount <= 0 || width <= 0) {
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LOG_WARNING("Invalid batch data: batchCount=%d, width=%d\n", batchCount, width);
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return;
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}
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LOG_DEBUG("Received batch: %d lines, width: %d, startEncoder: %d\n",
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batchCount, width, info.startEncoder);
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// 确保位置缓存足够大
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if (m_positionBuffer.size() < static_cast<size_t>(width)) {
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m_positionBuffer.resize(width);
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}
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// 逐行处理数据并回调（转换为xyz点云数据）
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for (int lineIdx = 0; lineIdx < batchCount; lineIdx++) {
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if (m_bStopDetect) {
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break;
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}
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// 计算当前行在缓存中的偏移
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const int32_t* lineProfile = m_profileBuffer.data() + static_cast<size_t>(lineIdx) * width;
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// 转换为xyz坐标
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ConvertProfileToPosition(lineProfile, width, lineIdx);
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// 填充 SVzLaserLineData 结构
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SVzLaserLineData laserLineData;
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memset(&laserLineData, 0, sizeof(SVzLaserLineData));
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laserLineData.p3DPoint = m_positionBuffer.data();
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laserLineData.p2DPoint = nullptr; // 线激光没有2D数据
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laserLineData.nPointCount = width;
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laserLineData.dTotleOffset = static_cast<double>(m_ullFrameIndex) * m_dYPitch;
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laserLineData.dStep = m_dYPitch;
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laserLineData.llFrameIdx = m_ullFrameIndex;
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laserLineData.llTimeStamp = std::chrono::duration_cast<std::chrono::microseconds>(
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std::chrono::steady_clock::now().time_since_epoch()).count();
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laserLineData.nEncodeNo = encoderBuffer[lineIdx]; // 使用实际的编码器值
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laserLineData.fSwingAngle = 0.0f; // 线激光没有摆动角度
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laserLineData.bEndOnceScan = (lineIdx == batchCount - 1) ? VzTrue : VzFalse;
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// 回调给上层应用
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if (m_pDetectCallback) {
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m_pDetectCallback(m_eDataType, &laserLineData, m_pDetectCallbackParam);
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}
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m_ullFrameIndex++;
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}
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LOG_DEBUG("Processed %d lines, total frames: %llu\n", batchCount, m_ullFrameIndex);
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}
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// 将轮廓数据转换为位置数据
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void CGlLineLaserDevice::ConvertProfileToPosition(const int32_t* profileData, int count, int lineIndex)
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{
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// lineIndex 参数保留用于未来扩展，当前使用 m_ullFrameIndex 计算全局偏移
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(void)lineIndex;
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// 确保缓存足够大
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if (m_positionBuffer.size() < static_cast<size_t>(count)) {
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m_positionBuffer.resize(count);
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}
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// 计算Y偏移（基于全局帧索引）
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double yOffset = static_cast<double>(m_ullFrameIndex) * m_dYPitch;
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// 转换每个点
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for (int i = 0; i < count; i++) {
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SVzNL3DPosition& pos = m_positionBuffer[i];
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pos.nPointIdx = i;
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// X 坐标：根据点索引和X间距计算
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// X范围居中：从 -width/2 * xPitch 到 width/2 * xPitch
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pos.pt3D.x = (static_cast<double>(i) - static_cast<double>(count) / 2.0) * m_dXPitch;
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// Y 坐标：扫描方向偏移
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pos.pt3D.y = yOffset;
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// Z 坐标：高度值，gl_linelaser_sdk 单位是 0.01um，转换为 mm
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// 无效值通常是最大值或特定值，这里假设 0x7FFFFFFF 或负值为无效
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int32_t rawZ = profileData[i];
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if (rawZ == 0x7FFFFFFF || rawZ < -100000000) {
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pos.pt3D.z = 0.0; // 无效值设为0
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} else {
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pos.pt3D.z = static_cast<double>(rawZ) * 0.00001; // 0.01um -> mm
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}
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}
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}
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// ============ ROI相关（线激光不支持）============
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int CGlLineLaserDevice::SetDetectROI(SVzNLRect& leftROI, SVzNLRect& rightROI)
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{
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(void)leftROI;
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(void)rightROI;
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// 线激光不支持ROI设置
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return SUCCESS;
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}
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int CGlLineLaserDevice::GetDetectROI(SVzNLRect& leftROI, SVzNLRect& rightROI)
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{
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memset(&leftROI, 0, sizeof(SVzNLRect));
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memset(&rightROI, 0, sizeof(SVzNLRect));
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return SUCCESS;
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}
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// ============ 曝光/增益相关（线激光通过SDK设置）============
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int CGlLineLaserDevice::SetEyeExpose(unsigned int& exposeTime)
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{
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(void)exposeTime;
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// gl_linelaser_sdk 通过 GLX8_2_SetSetting 设置曝光
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// 暂不实现详细接口
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return SUCCESS;
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}
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int CGlLineLaserDevice::GetEyeExpose(unsigned int& exposeTime)
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{
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exposeTime = 1000; // 默认值
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return SUCCESS;
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}
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int CGlLineLaserDevice::SetEyeGain(unsigned int& gain)
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{
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(void)gain;
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return SUCCESS;
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}
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int CGlLineLaserDevice::GetEyeGain(unsigned int& gain)
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{
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gain = 100; // 默认值
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return SUCCESS;
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}
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// ============ 帧率相关 ============
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int CGlLineLaserDevice::SetFrame(int& frame)
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{
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(void)frame;
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// 线激光帧率由硬件决定
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return SUCCESS;
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}
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int CGlLineLaserDevice::GetFrame(int& frame)
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{
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frame = 100; // 默认帧率
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return SUCCESS;
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}
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// ============ RGBD相关（线激光不支持）============
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bool CGlLineLaserDevice::IsSupport()
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{
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return false; // 不支持RGBD
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}
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int CGlLineLaserDevice::SetRGBDExposeThres(float& value)
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{
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(void)value;
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return ERR_CODE(DEV_UNSUPPORT);
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}
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int CGlLineLaserDevice::GetRGBDExposeThres(float& value)
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{
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value = 0.0f;
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return ERR_CODE(DEV_UNSUPPORT);
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}
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// ============ 过滤高度 ============
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int CGlLineLaserDevice::SetFilterHeight(double& dHeight)
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{
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(void)dHeight;
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return SUCCESS;
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}
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int CGlLineLaserDevice::GetFilterHeight(double& dHeight)
|
||
{
|
||
dHeight = 0.0;
|
||
return SUCCESS;
|
||
}
|
||
|
||
// ============ 摆动机构相关（线激光不支持）============
|
||
|
||
int CGlLineLaserDevice::GetSwingSpeed(float& fSpeed)
|
||
{
|
||
fSpeed = 0.0f;
|
||
return SUCCESS;
|
||
}
|
||
|
||
int CGlLineLaserDevice::SetSwingSpeed(float& fSpeed)
|
||
{
|
||
(void)fSpeed;
|
||
return SUCCESS;
|
||
}
|
||
|
||
int CGlLineLaserDevice::SetSwingAngle(float& fMin, float& fMax)
|
||
{
|
||
(void)fMin;
|
||
(void)fMax;
|
||
return SUCCESS;
|
||
}
|
||
|
||
int CGlLineLaserDevice::GetSwingAngle(float& fMin, float& fMax)
|
||
{
|
||
fMin = 0.0f;
|
||
fMax = 0.0f;
|
||
return SUCCESS;
|
||
}
|
||
|
||
int CGlLineLaserDevice::SetWorkRange(double& dMin, double& dMax)
|
||
{
|
||
(void)dMin;
|
||
(void)dMax;
|
||
return SUCCESS;
|
||
}
|
||
|
||
int CGlLineLaserDevice::GetWorkRange(double& dMin, double& dMax)
|
||
{
|
||
// 从设备信息获取工作范围
|
||
dMin = m_modelInfo.zRangmin;
|
||
dMax = m_modelInfo.zRangmax;
|
||
return SUCCESS;
|
||
}
|
||
|
||
// ============ GL线激光专用接口实现 ============
|
||
|
||
int CGlLineLaserDevice::GetProfileDataWidth()
|
||
{
|
||
return m_nProfileWidth;
|
||
}
|
||
|
||
double CGlLineLaserDevice::GetXPitch()
|
||
{
|
||
return m_dXPitch;
|
||
}
|
||
|
||
double CGlLineLaserDevice::GetYPitch()
|
||
{
|
||
return m_dYPitch;
|
||
}
|
||
|
||
int CGlLineLaserDevice::SetYPitch(double pitch)
|
||
{
|
||
if (pitch <= 0) {
|
||
return ERR_CODE(DEV_ARG_INVAILD);
|
||
}
|
||
m_dYPitch = pitch;
|
||
return SUCCESS;
|
||
}
|
||
|
||
int CGlLineLaserDevice::SetBatchLines(unsigned int batchLines)
|
||
{
|
||
if (batchLines == 0) {
|
||
return ERR_CODE(DEV_ARG_INVAILD);
|
||
}
|
||
m_nBatchLines = batchLines;
|
||
|
||
// 重新分配缓存
|
||
m_profileBuffer.resize(static_cast<size_t>(m_nProfileWidth) * m_nBatchLines);
|
||
m_intensityBuffer.resize(static_cast<size_t>(m_nProfileWidth) * m_nBatchLines);
|
||
|
||
return SUCCESS;
|
||
}
|
||
|
||
unsigned int CGlLineLaserDevice::GetBatchLines()
|
||
{
|
||
return m_nBatchLines;
|
||
}
|
||
|
||
int CGlLineLaserDevice::SwitchProgram(int programNo)
|
||
{
|
||
int ret = GLX8_2_SwitchProgram(m_nDeviceId, programNo);
|
||
if (ret != 0) {
|
||
LOG_ERROR("GLX8_2_SwitchProgram failed: %d\n", ret);
|
||
return ERR_CODE(DEV_CTRL_ERR);
|
||
}
|
||
return SUCCESS;
|
||
}
|
||
|
||
int CGlLineLaserDevice::GetModelInfo(char* model, char* serialNumber)
|
||
{
|
||
if (model) {
|
||
strcpy(model, m_modelInfo.Model);
|
||
}
|
||
if (serialNumber) {
|
||
strcpy(serialNumber, m_modelInfo.HeaderSerial);
|
||
}
|
||
return SUCCESS;
|
||
}
|
||
|
||
int CGlLineLaserDevice::GetMeasureRange(double& xMin, double& xMax, double& zMin, double& zMax)
|
||
{
|
||
xMin = m_modelInfo.xRangmin;
|
||
xMax = m_modelInfo.xRangmax;
|
||
zMin = m_modelInfo.zRangmin;
|
||
zMax = m_modelInfo.zRangmax;
|
||
return SUCCESS;
|
||
}
|
||
|
||
// ============ 工厂方法实现 ============
|
||
// 注意：IVrEyeDevice::CreateObject 在 VrEyeDevice 中实现，创建 VzNLSDK 设备
|
||
// GlLineLaserDevice 只提供 IGlLineLaserDevice::CreateGlLineLaserObject 工厂方法
|
||
|
||
int IGlLineLaserDevice::CreateGlLineLaserObject(IGlLineLaserDevice** ppDevice)
|
||
{
|
||
CGlLineLaserDevice* p = new CGlLineLaserDevice();
|
||
*ppDevice = p;
|
||
return SUCCESS;
|
||
}
|