160 lines
4.3 KiB
C++
Executable File
160 lines
4.3 KiB
C++
Executable File
#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";
|
||
} |