316 lines
10 KiB
C++
316 lines
10 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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#include <utility>
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#include <algorithm>
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#include <cstring>
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// 包含公共配置结构体
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#include "VrCommonConfig.h"
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/**
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* @brief 离群点滤波参数
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*/
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struct VrOutlierFilterParam
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{
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double continuityTh = 20.0; // 连续性阈值，噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声
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double outlierTh = 5.0; // 离群点判断阈值，若长度小于此值，视为噪声
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};
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/**
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* @brief 线段分割参数
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*/
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struct VrLineSegParam
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{
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double distScale = 3.0; // 计算方向角的窗口比例因子
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double segGapTh_y = 3.0; // Y方向间隔阈值，大于此值认为是分段
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double segGapTh_z = 10.0; // Z方向间隔阈值，大于此值认为是分段
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};
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/**
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* @brief 树生长参数
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*/
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struct VrTreeGrowParam
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{
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int maxLineSkipNum = 10; // 生长时允许跳过的最大线条数
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double yDeviation_max = 10.0; // 生长时允许的最大Y偏差
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double maxSkipDistance = 10.0; // 最大跳跃距离
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double zDeviation_max = 10.0; // 生长时允许的最大Z偏差
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double minLTypeTreeLen = 100.0; // L型树的最小长度
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double minVTypeTreeLen = 100.0; // V型树的最小长度
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};
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/**
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* @brief 工件孔参数
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*/
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struct VrWorkpieceHoleParam
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{
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int workpieceType = 0; // 工件类型
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double holeDiameter = 6.0; // 孔直径 (mm)
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double holeDist_L = 40.0; // 孔间距_长 (mm)
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double holeDist_W = 32.0; // 孔间距_宽 (mm)
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};
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/**
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* @brief 手眼标定矩阵
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*/
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struct VrHandEyeCalibMatrix
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{
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double matrix[16] = {
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0
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};
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int eulerOrder = 11; // 欧拉角顺序，默认11=sZYX（外旋ZYX）
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};
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/**
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* @brief PLC Modbus 寄存器地址配置
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*
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* 汇川 PLC D 寄存器映射到 Modbus 保持寄存器地址：
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* D寄存器 + 40001 = Modbus地址
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* 代码协议地址 = D寄存器 + 1
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*
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* 示例：
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* D1000 -> Modbus 41001 -> 代码协议地址 1001
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* D1002 -> Modbus 41003 -> 代码协议地址 1003
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* D2000 -> Modbus 42001 -> 代码协议地址 2001
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*/
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struct VrPlcRegisterConfig
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{
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int addrPhotoRequest = 1001; // D1000: 拍照请求寄存器地址（读：=1触发拍照）
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int addrDataComplete = 1003; // D1002: 数据输出完成标志寄存器地址（写：=1完成）
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int addrCoordDataStart = 2002; // D2000: 坐标数据起始寄存器地址
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// 显式赋值构造函数
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VrPlcRegisterConfig& operator=(const VrPlcRegisterConfig& other) {
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if (this != &other) {
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addrPhotoRequest = other.addrPhotoRequest;
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addrDataComplete = other.addrDataComplete;
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addrCoordDataStart = other.addrCoordDataStart;
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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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VrPlcRegisterConfig(const VrPlcRegisterConfig& other)
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: addrPhotoRequest(other.addrPhotoRequest)
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, addrDataComplete(other.addrDataComplete)
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, addrCoordDataStart(other.addrCoordDataStart) {
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}
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// 默认构造函数
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VrPlcRegisterConfig() = default;
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};
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/**
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* @brief 姿态输出顺序枚举
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*
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* 定义机械臂姿态数据的输出顺序
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*/
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enum VrPoseOutputOrder
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{
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POSE_ORDER_RPY = 0, // Roll, Pitch, Yaw（默认）
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POSE_ORDER_RYP = 1, // Roll, Yaw, Pitch
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POSE_ORDER_PRY = 2, // Pitch, Roll, Yaw
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POSE_ORDER_PYR = 3, // Pitch, Yaw, Roll
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POSE_ORDER_YRP = 4, // Yaw, Roll, Pitch
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POSE_ORDER_YPR = 5 // Yaw, Pitch, Roll
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};
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/**
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* @brief 方向向量反向配置枚举
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*
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* 定义机械臂方向向量的反向配置
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* 用于调整相机坐标系到机械臂坐标系的方向向量转换
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*/
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enum VrDirVectorInvert
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{
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DIR_INVERT_NONE = 0, // 不反向
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DIR_INVERT_XY = 1, // X和Y方向反向
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DIR_INVERT_XZ = 2, // X和Z方向反向
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DIR_INVERT_YZ = 3 // Y和Z方向反向（默认，兼容原有行为）
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};
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/**
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* @brief PLC和机械臂服务端配置
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*
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* 默认值参考 Doc/porotol.jpg 协议文档：
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* - 汇川PLC-easy320: 192.168.0.88:502
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* - 配天机械臂: 192.168.0.90:502
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*/
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struct VrPlcRobotServerConfig
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{
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std::string plcServerIp = "192.168.0.88"; // PLC服务端IP地址（汇川PLC-easy320）
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int plcServerPort = 502; // PLC服务端端口（Modbus TCP默认502）
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std::string robotServerIp = "192.168.0.90"; // 机械臂服务端IP地址（配天机械臂）
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int robotServerPort = 502; // 机械臂服务端端口（Modbus TCP默认502）
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VrPlcRegisterConfig registerConfig; // PLC 寄存器地址配置
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int poseOutputOrder = POSE_ORDER_RPY; // 姿态输出顺序，默认RPY
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int dirVectorInvert = DIR_INVERT_YZ; // 方向向量反向配置，默认YZ反向（兼容原有行为）
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// 显式赋值构造函数
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VrPlcRobotServerConfig& operator=(const VrPlcRobotServerConfig& other) {
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if (this != &other) {
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plcServerIp = other.plcServerIp;
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plcServerPort = other.plcServerPort;
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robotServerIp = other.robotServerIp;
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robotServerPort = other.robotServerPort;
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registerConfig = other.registerConfig;
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poseOutputOrder = other.poseOutputOrder;
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dirVectorInvert = other.dirVectorInvert;
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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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VrPlcRobotServerConfig(const VrPlcRobotServerConfig& other)
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: plcServerIp(other.plcServerIp)
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, plcServerPort(other.plcServerPort)
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, robotServerIp(other.robotServerIp)
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, robotServerPort(other.robotServerPort)
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, registerConfig(other.registerConfig)
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, poseOutputOrder(other.poseOutputOrder)
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, dirVectorInvert(other.dirVectorInvert) {
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}
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// 默认构造函数
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VrPlcRobotServerConfig() = default;
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};
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/**
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* @brief 算法参数配置结构
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*/
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struct VrAlgorithmParams
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{
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VrOutlierFilterParam filterParam; // 离群点滤波参数
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VrLineSegParam lineSegParam; // 线段分割参数
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VrTreeGrowParam growParam; // 树生长参数
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VrPlaneCalibParam planeCalibParam; // 平面校准参数
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VrWorkpieceHoleParam workpieceHoleParam; // 工件孔参数
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// 显式赋值构造函数，确保正确的深拷贝
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VrAlgorithmParams& operator=(const VrAlgorithmParams& other) {
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if (this != &other) {
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filterParam = other.filterParam;
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lineSegParam = other.lineSegParam;
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growParam = other.growParam;
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planeCalibParam = other.planeCalibParam;
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workpieceHoleParam = other.workpieceHoleParam;
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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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: filterParam(other.filterParam)
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, lineSegParam(other.lineSegParam)
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, growParam(other.growParam)
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, planeCalibParam(other.planeCalibParam)
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, workpieceHoleParam(other.workpieceHoleParam) {
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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;
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std::vector<DeviceInfo> deviceList;
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VrAlgorithmParams algorithmParams; // 算法参数
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VrHandEyeCalibMatrix handEyeCalibMatrix; // 手眼标定矩阵
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VrDebugParam debugParam; // 调试参数
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SerialConfig serialConfig; // 串口配置
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VrPlcRobotServerConfig plcRobotServerConfig; // PLC和机械臂服务端配置
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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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deviceList = other.deviceList;
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algorithmParams = other.algorithmParams;
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handEyeCalibMatrix = other.handEyeCalibMatrix;
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debugParam = other.debugParam;
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serialConfig = other.serialConfig;
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plcRobotServerConfig = other.plcRobotServerConfig;
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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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, deviceList(other.deviceList)
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, algorithmParams(other.algorithmParams)
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, handEyeCalibMatrix(other.handEyeCalibMatrix)
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, debugParam(other.debugParam)
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, serialConfig(other.serialConfig)
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, plcRobotServerConfig(other.plcRobotServerConfig) {
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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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