image_framework_ymj/image_framework/plugins/MsgBase.cpp

#include "MsgBase.h"
#include "LibapiThread.h" 
#include "Libapi2D3D.h"

// for test
MsgBase* MsgBase::msg_ptr1 = nullptr;

FuncCallback MsgBase::pCallback = nullptr;

bool MsgBase::bAllRoisConnersCheckIsEnd = false;
bool MsgBase::bCloudProjectIsOk = false;
int MsgBase::iCameraToLidarMsg = CLIENT_MSG_NONE; // 2D第一阶段处理结束0：无回复 1：继续执行 2：重新检测 3：停止检测
int  MsgBase::iClinetMsg = CLIENT_MSG_NONE; // 客户端确认：0：无回复 1：继续执行 2：重新检测 3：停止检测

static std::mutex s_mutex;

void MsgBase::SetMsgPtr1(MsgBase* msg)
{
	MsgBase::msg_ptr1 = msg;
};

MsgBase* MsgBase::GetMsgPtr1()
{
	return MsgBase::msg_ptr1;
};
void MsgBase::SetCallBack(FuncCallback f)
{
	MsgBase::pCallback = f;
}

void MsgBase::Callback(void* data)
{
	if (MsgBase::pCallback != nullptr)
		MsgBase::pCallback(data);
	else assert(0);
}

void MsgBase::Callback(int code, std::string errorInfo)
{
	CallbackInfo cbInfo;
	cbInfo.code = code;
	memset(cbInfo.errorInfo, 0, sizeof(cbInfo.errorInfo));
	memcpy(cbInfo.errorInfo, errorInfo.c_str(), errorInfo.size());
	cbInfo.bGetData = false;
	if (MsgBase::pCallback != nullptr)
		MsgBase::pCallback(&cbInfo);
	//else assert(0);
}

void MsgBase::CallbackWithData(int code, std::string errorInfo)
{
	CallbackInfo cbInfo;
	cbInfo.code = code;
	memset(cbInfo.errorInfo, 0, sizeof(cbInfo.errorInfo));
	memcpy(cbInfo.errorInfo, errorInfo.c_str(), errorInfo.size());
	cbInfo.bGetData = true;
	CMeasureInfo* measureInfo = CMeasureInfo::Get();

	std::vector<std::shared_ptr<CSubRoi>> rois = measureInfo->GetSubRois();
	cbInfo.roi_size = rois.size();
	std::cout << "=====================" << rois.size() << std::endl;
	for (int i = 0; i < rois.size(); ++i)
	{
		std::shared_ptr<CSubRoi> roi = rois[i];
		SubRoiData* cb_roi = &cbInfo.subRois[i];
			
		for (int n = 0; n < (roi.get()->H).total(); ++n)
			cb_roi->H[n] = (roi.get()->H).at<float>(0, n);
		for (int n = 0; n < roi.get()->mRoiPoints.size(); ++n)
		{
			cv::Point2f p2f = roi.get()->mRoiPoints[n];
			cb_roi->mRoiPoints[n * 2] = p2f.x;
			cb_roi->mRoiPoints[n * 2 + 1] = p2f.y;
		}
		for (int n = 0; n < roi.get()->mInnerConners.size(); ++n)
		{
			cv::Point2f p2f = roi.get()->mInnerConners[n];
			cb_roi->mInnerConners[n * 2] = p2f.x;
			cb_roi->mInnerConners[n * 2 + 1] = p2f.y;
		}
		for (int n = 0; n < roi.get()->mInnerConners3D.size(); ++n)
		{
			cv::Point3f p3f = roi.get()->mInnerConners3D[n];
			cb_roi->mInnerConners3D[n * 3] = p3f.x;
			cb_roi->mInnerConners3D[n * 3 + 1] = p3f.y;
			cb_roi->mInnerConners3D[n * 3 + 2] = p3f.z;
		}
		//for (int n = 0; n < roi.get()->mInnerConners3D.size(); ++n)
		//{
		//}

	}

	if (MsgBase::pCallback != nullptr)
		MsgBase::pCallback(&cbInfo);
}

void MsgBase::WaitBool(bool& b)
{
	while (true)
	{
		LibapiThread::delay_second(0.05);
		if (b)
		{
			b = false;
			break;
		}
	}
}

void MsgBase::SetWaitBool(bool& b)
{
	b = true;
}

int MsgBase::WaitInt(int& val)
{
	int rst = 0;
	while (true)
	{
		LibapiThread::delay_second(0.05);
		std::unique_lock<std::mutex> lock(s_mutex);
		if (val != 0)
		{
			rst = val;
			val = 0;
			break;
		}
	}
	return rst;
}

void MsgBase::SetWaitInt(int& it, int val)
{
	std::unique_lock<std::mutex> lock(s_mutex);
	it = val;
}

// 待优化
std::string MsgBase::GetCodeInfo(int code)
{
	if (code == CAL_OK) return "success";

	else if (code == TO_CLIENT_NOTIFY_CAMERA_CAP_START) return "开始采集数据";
	else if (code == TO_CLIENT_NOTIFY_CAMERA_CAP_END) return "采集数据已完成";

	else if (code == TO_CLIENT_NOTIFY_DETECTION_START) return "开始识别预埋件";
	else if (code == TO_CLIENT_NOTIFY_DETECTION_END) return "识别预埋件已完成";

	else if (code == TO_CLIENT_NOTIFY_CONNER2D_START) return "开始检测角点";
	else if (code == TO_CLIENT_NOTIFY_CONNER2D_END) return "检测角点已完成";

	else if (code == TO_CLIENT_NOTIFY_CONNER3D_START) return "开始计算角点3D数据";
	else if (code == TO_CLIENT_NOTIFY_CONNER3D_END) return "角点3D数据计算已完成";

	else if (code == TO_CLIENT_NOTIFY_MEASURE_START) return "开始计算预埋件数据";
	else if (code == TO_CLIENT_NOTIFY_MEASURE_END) return "计算预埋件数据已完成";

	else return "未定义事件";
}