112 lines
3.2 KiB
C++
Executable File
112 lines
3.2 KiB
C++
Executable File
#ifndef MSG1_H
|
||
#define MSG1_H
|
||
|
||
#include <string>
|
||
#include <opencv2/opencv.hpp>
|
||
#include "LibapiMsg.h"
|
||
|
||
#define PARAM_POS_SRC_IMAGE 0
|
||
#define PARAM_POS_ROI_IMAGE 1
|
||
#define PARAM_POS_ENHANCE_IMAGE 2
|
||
#define PARAM_POS_LIDAR_DATA 4
|
||
#define PARAM_POS_LIDAR_2D3D 5
|
||
#define PARAM_POS_CMeasureInfo 6
|
||
#define PARAM_POS_MOTION_DETECTION_DATA 33
|
||
|
||
// 客户端到主任务的消息定义
|
||
#define CLIENT_MSG_NONE 0
|
||
#define CLIENT_MSG_CONTINUE 1
|
||
#define CLIENT_MSG_RESTART_DETECTION 2
|
||
#define CLIENT_MSG_STOP_DETECTION 3
|
||
|
||
// 发送到客户端得消息定义
|
||
#define TO_CLIENT_NOTIFY_BASE 1000
|
||
#define TO_CLIENT_NOTIFY_CAMERA_CAP_START 1 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_CAMERA_CAP_END 2 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_LIDAR_CAP_START 3 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_LIDAR_CAP_END 4 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_DETECTION_START 5 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_DETECTION_END 6 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_CONNER2D_START 7 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_CONNER2D_END 8 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_CONNER3D_START 9 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_CONNER3D_END 10 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_MEASURE_START 11 + TO_CLIENT_NOTIFY_BASE
|
||
#define TO_CLIENT_NOTIFY_MEASURE_END 12 + TO_CLIENT_NOTIFY_BASE
|
||
|
||
#define DoCallback(ret) \
|
||
MsgBase::Callback(ret, MsgBase::GetCodeInfo(ret));\
|
||
|
||
#define DoCallbackWithData(ret) \
|
||
MsgBase::CallbackWithData(ret, MsgBase::GetCodeInfo(ret));\
|
||
|
||
typedef void (*FuncCallback)(void* returnMeasureInfo);
|
||
struct MsgBase : public LibapiMsg
|
||
{
|
||
public:
|
||
// for test
|
||
static MsgBase* msg_ptr1;
|
||
public:
|
||
static bool bAllRoisConnersCheckIsEnd; // 所有的ROI边缘检测，角点检测结束
|
||
static bool bCloudProjectIsOk; // 3D投影结束
|
||
static int iCameraToLidarMsg; // 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
|
||
static int iClinetMsg; // 客户端确认：0：无回复 1：继续执行 2：重新检测 3：停止检测
|
||
private:
|
||
static FuncCallback pCallback;
|
||
public:
|
||
std::string mLog;
|
||
int mRoiCounts;
|
||
int mRoiIndex;
|
||
std::string mMsgType;
|
||
|
||
public:
|
||
// for test
|
||
static void SetMsgPtr1(MsgBase* msg);
|
||
static MsgBase* GetMsgPtr1();
|
||
public:
|
||
static void SetCallBack(FuncCallback f);
|
||
static void Callback(void* data);
|
||
static void Callback(int code, std::string errorInfo);
|
||
static void CallbackWithData(int code, std::string errorInfo);
|
||
static void WaitBool(bool& b);
|
||
static void SetWaitBool(bool& b);
|
||
static int WaitInt(int& val);
|
||
static void SetWaitInt(int& it, int val);
|
||
static std::string GetCodeInfo(int code);
|
||
};
|
||
|
||
// 给回调函数使用
|
||
typedef struct tagSubRoi
|
||
{
|
||
public:
|
||
long mPparentId;
|
||
long mId;
|
||
char mInfo[256];
|
||
bool isGood;
|
||
float vpOffset[2];
|
||
float mRoiPoints[4 * 2];
|
||
float mInnerConners[4 * 2];
|
||
float mInnerConners3D[4 * 3];
|
||
float edges[4];
|
||
float center[2];
|
||
int cloud_size;
|
||
float* mVc2D;
|
||
float* mVc3D;
|
||
float H[9];
|
||
}SubRoiData;
|
||
|
||
typedef struct tagCallbakInfo
|
||
{
|
||
public:
|
||
int code; // 0：返回数据；1-99999 返回消息
|
||
char errorInfo[256];
|
||
bool bGetData;
|
||
long mId;
|
||
char mInfo[256];
|
||
char mImPath[256];
|
||
char mIm2D3DPtr[256];
|
||
int roi_size;
|
||
SubRoiData subRois[16];
|
||
}CallbackInfo;
|
||
|
||
#endif |