Merge pull request #14 from drawal001/dev

代码重构，添加第二个相机模块

Author: drawal001

CMakeLists.txt

@@ -8,25 +8,45 @@ project(D5RC VERSION 0.2)
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 
+# 设置 OpenCV 的搜索路径
+set(OpenCV_DIR "${CMAKE_CURRENT_SOURCE_DIR}/lib/Galaxy/lib/OpenCV_4_10") # 若使用 Mingw，则需要正确设置 OpenCV_DIR, 并将库地址添加到环境变量中
+
+add_compile_definitions(ROOT_DIR="${CMAKE_CURRENT_SOURCE_DIR}") # 定义项目根目录
+
 add_subdirectory(lib/RMD)
 add_subdirectory(lib/Nator)
 add_subdirectory(lib/Galaxy)
 
+# 五自由度机器人类
 add_library(D5Robot src/D5Robot.cpp)
-target_include_directories(D5Robot PUBLIC "${PROJECT_SOURCE_DIR}" "${PROJECT_SOURCE_DIR}/include" "${PROJECT_SOURCE_DIR}/lib/RMD" "${PROJECT_SOURCE_DIR}/lib/Nator" "${PROJECT_SOURCE_DIR}/lib/Galaxy")
+target_include_directories(D5Robot PUBLIC
+    "${PROJECT_SOURCE_DIR}"
+    "${PROJECT_SOURCE_DIR}/include"
+    "${PROJECT_SOURCE_DIR}/lib/RMD"
+    "${PROJECT_SOURCE_DIR}/lib/Nator"
+    "${PROJECT_SOURCE_DIR}/lib/Galaxy"
+
+    # "${PROJECT_SOURCE_DIR}/lib/Galaxy/include"
+    "${CMAKE_SOURCE_DIR}/global")
 target_link_libraries(D5Robot PUBLIC RMDMotor)
 target_link_libraries(D5Robot PUBLIC NatorMotor)
 target_link_libraries(D5Robot PUBLIC Camera)
 
+# 导出 DllAPI
 add_library(D5RbotApi SHARED src/DllApi.cpp)
 target_include_directories(D5RbotApi PUBLIC "${PROJECT_SOURCE_DIR}" "${PROJECT_SOURCE_DIR}/include")
 target_link_libraries(D5RbotApi D5Robot)
 target_compile_definitions(D5RbotApi PUBLIC "D5R_EXPORTS")
 
+# 测试程序
 add_executable(test test.cpp)
 target_link_libraries(test D5Robot)
 target_link_libraries(test D5RbotApi)
 
 add_executable(TestKineHelper "test/TestKineHelper.cpp")
 target_include_directories(TestKineHelper PUBLIC "${PROJECT_SOURCE_DIR}/include")
-target_link_libraries(TestKineHelper D5Robot)
+target_link_libraries(TestKineHelper D5Robot)
+
+add_executable(Match "test/Match.cpp")
+target_include_directories(Match PUBLIC "${PROJECT_SOURCE_DIR}/include")
+target_link_libraries(Match D5Robot)

README.md

@@ -16,13 +16,20 @@ enum ErrorCode {
     SerialClearBufferError,
     NatorError = 300,
     NatorInitError = 301,
+    NatorSetError,
+    NatorGetError,
+    NatorMoveError,
     RMDError = 400,
     RMDInitError = 401,
     RMDGetPIError = 402,
     RMDFormatError,
     RMDChecksumError,
+    RMDMoveError,
     D5RError = 500,
     D5RMoveError,
+    D5RNatorNotInitialized,
+    D5RRMDMotorNotInitialized,
+    D5RCameraNotInitialized,
     CameraError = 600,
     CameraInitError,
     CameraReadError

include/ErrorCode.h renamed to global/ErrorCode.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#include "ErrorCode.h"
+#include "LogUtil.h"
+#include <exception>
+#include <string>
+
+namespace D5R {
+
+class RobotException : public std::exception {
+  public:
+    ErrorCode code;
+    std::string msg;
+    RobotException() noexcept {};
+    RobotException(ErrorCode code) noexcept { this->code = code; }
+    RobotException(ErrorCode code, std::string msg) noexcept {
+        this->code = code;
+        this->msg = msg;
+    }
+    RobotException(const RobotException &other) noexcept : code(other.code) {}
+    RobotException &operator=(const RobotException &other) noexcept {
+        this->code = other.code;
+        return *this;
+    }
+
+    const char *what() const noexcept {
+        std::string whatInfo;
+        if (!this->msg.empty()) {
+            whatInfo = (this->msg + " Errorcode: " + std::to_string(this->code));
+        } else {
+            whatInfo = ("The Error code: " + std::to_string(this->code)); // 注意这里的字符串不能以 e/E 开头，否则可能会乱码，原因不明
+        }
+
+        return whatInfo.c_str();
+    }
+};
+
+} // namespace D5R