348 lines
9.0 KiB
C++
348 lines
9.0 KiB
C++
// OPERATION.h
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#ifndef OPERATION_H
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#define OPERATION_H
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#include <string>
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#include <vector>
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#include <cmath>
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#include <nlohmann/json.hpp>
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using json = nlohmann::json;
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// 毫米转米函数
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inline double MMToM(double MM)
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{
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return std::round(MM / 1000.0 * 100000.0) / 100000.0; // 保留5位小数
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}
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// 帧内容类
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class C_ObjStates
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{
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public:
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std::string i = ""; // 模型代码
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std::string tx = ""; // tx
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std::string ty = ""; // ty
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std::string tz = ""; // tz
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std::string qx = ""; // qx
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std::string qy = ""; // qy
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std::string qz = ""; // qz
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std::string qw = ""; // qw
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};
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NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(C_ObjStates, i, tx, ty, tz, qx, qy, qz, qw)
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// 工艺类
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class C_Craft
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{
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public:
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std::string CraftCode;
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std::string CraftValue;
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};
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NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(C_Craft, CraftCode, CraftValue)
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// 帧信号类
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class C_Signalwrite
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{
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public:
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std::string TagID;
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std::string TagValue;
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};
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NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(C_Signalwrite, TagID, TagValue)
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// 可见性类
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class C_Visible
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{
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public:
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std::string ModelCode;
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std::string Visible;
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};
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NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(C_Visible, ModelCode, Visible)
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// 旋转类
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class C_Rotation
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{
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public:
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std::string ModelCode;
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std::string Axis;
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int Rate = 0;
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};
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NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(C_Rotation, ModelCode, Axis, Rate)
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// 等待类
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class C_Wait
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{
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public:
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std::string WaitStr;
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};
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NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(C_Wait, WaitStr)
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// 附加类
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class C_Attach
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{
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public:
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std::string AttachToModelCode = "";
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std::string AttachToModelName = "";
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bool IsTwoWay = false;
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bool IsAttach = false;
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};
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NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(C_Attach, AttachToModelCode, AttachToModelName, IsTwoWay, IsAttach)
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// 帧类
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class C_Frames
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{
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public:
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std::string time = "0.01"; // 帧时间
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std::vector<C_ObjStates> objStates;
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std::vector<C_Craft> crafts;
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std::vector<C_Signalwrite> signalwrites;
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std::vector<C_Visible> visibles;
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std::vector<C_Rotation> rotations;
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std::vector<C_Wait> waits;
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std::vector<C_Attach> attachs;
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};
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NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(C_Frames, time, objStates, crafts, signalwrites,
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visibles, rotations, waits, attachs)
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// 操作类（帧集合）
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class C_OPERATION
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{
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public:
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std::vector<C_Frames> frames;
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};
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NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(C_OPERATION, frames)
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// 项目操作类
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class P_OPERATION
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{
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public:
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C_OPERATION OPERATION;
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};
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NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(P_OPERATION, OPERATION)
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// 功能类
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class P_OPERATION_Func
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{
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public:
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/**
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* 生成线框播放数据
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* @param PP_FrameValue 帧率值
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* @param modelCode 模型代码
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* @param ptQList 点位置和四元数列表 [x, y, z, qx, qy, qz, qw]
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* @return 帧列表
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*/
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static std::vector<C_Frames> _MakeCraftPlayData_Line_Frame(
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int PP_FrameValue,
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const std::string &modelCode,
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const std::vector<std::vector<double>> &ptQList)
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{
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std::vector<C_Frames> frames;
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for (size_t i = 0; i < ptQList.size(); i++)
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{
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const auto &currQ = ptQList[i];
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if (currQ.size() < 7)
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{
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// 数据不足，跳过
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continue;
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}
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// 创建对象状态
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C_ObjStates objState;
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objState.i = modelCode;
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objState.tx = std::to_string(MMToM(currQ[0]));
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objState.ty = std::to_string(MMToM(currQ[1]));
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objState.tz = std::to_string(MMToM(currQ[2]));
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objState.qx = std::to_string(currQ[3]);
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objState.qy = std::to_string(currQ[4]);
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objState.qz = std::to_string(currQ[5]);
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objState.qw = std::to_string(currQ[6]);
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// 创建帧
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C_Frames frame;
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frame.time = std::to_string(PP_FrameValue * i / 1000.0);
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frame.objStates.push_back(objState);
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frames.push_back(frame);
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}
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return frames;
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}
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/**
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* 生成线框播放数据（简化版本）
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* @param frameRate 帧率
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* @param modelCode 模型代码
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* @param positions 位置数组 [x, y, z] (毫米)
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* @param quaternions 四元数数组 [qx, qy, qz, qw]
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* @return 帧列表
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*/
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static std::vector<C_Frames> MakeCraftPlayData_Simple(
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int frameRate,
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const std::string &modelCode,
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const std::vector<std::vector<double>> &positions,
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const std::vector<std::vector<double>> &quaternions)
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{
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if (positions.size() != quaternions.size())
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{
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// 数据长度不匹配，返回空列表
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return {};
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}
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std::vector<C_Frames> frames;
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for (size_t i = 0; i < positions.size(); i++)
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{
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if (positions[i].size() < 3 || quaternions[i].size() < 4)
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{
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continue;
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}
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// 创建对象状态
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C_ObjStates objState;
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objState.i = modelCode;
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objState.tx = std::to_string(MMToM(positions[i][0]));
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objState.ty = std::to_string(MMToM(positions[i][1]));
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objState.tz = std::to_string(MMToM(positions[i][2]));
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objState.qx = std::to_string(quaternions[i][0]);
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objState.qy = std::to_string(quaternions[i][1]);
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objState.qz = std::to_string(quaternions[i][2]);
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objState.qw = std::to_string(quaternions[i][3]);
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// 创建帧
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C_Frames frame;
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frame.time = std::to_string(i / static_cast<double>(frameRate));
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frame.objStates.push_back(objState);
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frames.push_back(frame);
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}
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return frames;
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}
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/**
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* 生成完整的操作对象
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* @param frameRate 帧率
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* @param modelCode 模型代码
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* @param positions 位置数组
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* @param quaternions 四元数数组
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* @return P_OPERATION对象
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*/
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static P_OPERATION MakeOperation(
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int frameRate,
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const std::string &modelCode,
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const std::vector<std::vector<double>> &positions,
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const std::vector<std::vector<double>> &quaternions)
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{
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auto frames = MakeCraftPlayData_Simple(frameRate, modelCode, positions, quaternions);
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P_OPERATION operation;
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operation.OPERATION.frames = frames;
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return operation;
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}
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/**
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* 添加信号写入到帧
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* @param frame 目标帧
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* @param tagID 标签ID
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* @param tagValue 标签值
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*/
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static void AddSignalWrite(C_Frames &frame, const std::string &tagID, const std::string &tagValue)
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{
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C_Signalwrite signal;
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signal.TagID = tagID;
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signal.TagValue = tagValue;
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frame.signalwrites.push_back(signal);
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}
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/**
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* 添加工艺命令到帧
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* @param frame 目标帧
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* @param craftCode 工艺代码
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* @param craftValue 工艺值
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*/
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static void AddCraft(C_Frames &frame, const std::string &craftCode, const std::string &craftValue)
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{
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C_Craft craft;
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craft.CraftCode = craftCode;
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craft.CraftValue = craftValue;
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frame.crafts.push_back(craft);
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}
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/**
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* 添加可见性控制到帧
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* @param frame 目标帧
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* @param modelCode 模型代码
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* @param visible 是否可见 ("true" 或 "false")
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*/
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static void AddVisible(C_Frames &frame, const std::string &modelCode, const std::string &visible)
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{
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C_Visible visibleCmd;
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visibleCmd.ModelCode = modelCode;
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visibleCmd.Visible = visible;
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frame.visibles.push_back(visibleCmd);
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}
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/**
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* 添加旋转控制到帧
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* @param frame 目标帧
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* @param modelCode 模型代码
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* @param axis 旋转轴 ("x", "y", "z")
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* @param rate 旋转速率
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*/
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static void AddRotation(C_Frames &frame, const std::string &modelCode,
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const std::string &axis, int rate)
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{
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C_Rotation rotation;
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rotation.ModelCode = modelCode;
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rotation.Axis = axis;
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rotation.Rate = rate;
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frame.rotations.push_back(rotation);
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}
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/**
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* 添加等待命令到帧
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* @param frame 目标帧
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* @param waitStr 等待字符串
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*/
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static void AddWait(C_Frames &frame, const std::string &waitStr)
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{
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C_Wait wait;
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wait.WaitStr = waitStr;
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frame.waits.push_back(wait);
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}
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/**
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* 添加附加命令到帧
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* @param frame 目标帧
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* @param attachToModelCode 附加目标模型代码
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* @param attachToModelName 附加目标模型名称
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* @param isTwoWay 是否双向附加
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* @param isAttach 是否附加（true=附加，false=分离）
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*/
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static void AddAttach(C_Frames &frame, const std::string &attachToModelCode,
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const std::string &attachToModelName,
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bool isTwoWay, bool isAttach)
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{
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C_Attach attach;
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attach.AttachToModelCode = attachToModelCode;
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attach.AttachToModelName = attachToModelName;
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attach.IsTwoWay = isTwoWay;
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attach.IsAttach = isAttach;
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frame.attachs.push_back(attach);
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}
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};
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#endif // OPERATION_H
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