20220528_Pallet_Struct.h

 //#ifndef PALLET_STRUCT_H
//#define PALLET_STRUCT_H

//#endif // PALLET_STRUCT_H

#pragma once
#include <cstdint>

typedef struct
{
    uint32_t ElapsedTime;
    uint32_t PalletX;
    uint32_t PalletY;
    uint32_t PalletZ;

    uint32_t LeftPocketX;
    uint32_t LeftPocketY;
    uint32_t LeftPocketZ;
    uint32_t RightPocketX;
    uint32_t RightPocketY;
    uint32_t RightPocketZ;
    uint32_t Roll;
    uint32_t Pitch;
    uint32_t Yaw;
}pallet_pose;


typedef struct
{
    char     head[4];                 //4字节  ("s" "t" "a" "r")
    uint32_t CommandID;               //4字节  1:getPalletRequest
    uint32_t ArgsLen;                 //4字节  7
    uint16_t PalletType;              //2字节
    char     DepthHint[4];            //4字节
    char     FilterMask;              //1字节
    char     tail[6];                 //6字节  ("s" "t" "o" "p" "\r" "\n")
}getPalletRequest;


typedef struct
{
    char     head[4];                 //4字节  ("s" "t" "a" "r")
    uint32_t CommandID;               //4字节  1:getPalletRequest
    uint32_t ErrorCode;               //4字节  7
    uint32_t Len;                     //4字节
    float ElapsedTime;                //4字节
    float Confidence;                 //4字节   //24

    uint32_t pallet_center_hole_x;       //4字节
    uint32_t pallet_center_hole_y;       //4字节
    uint32_t pallet_center_hole_z;       //4字节

    uint32_t pallet_left_hole_x;         //4字节
    uint32_t pallet_left_hole_y;         //4字节
    uint32_t pallet_left_hole_z;         //4字节

    uint32_t pallet_right_hole_x;        //4字节
    uint32_t pallet_right_hole_y;        //4字节
    uint32_t pallet_right_hole_z;        //4字节  //36

    float Roll;                       //4字节 Rotation of pallet about the x-axis
    float Pitch;                      //4字节 Rotation of pallet about the y-axis
    float Yaw;                        //4字节 Rotation of pallet about the z-axis

    char     tail[6];                 //6字节  ("s" "t" "o" "p" "\r" "\n")
}getPalletResponse_success;           //共78字节

typedef struct
{
    char     head[4];                 //4字节  ("s" "t" "a" "r")
    uint32_t CommandID;               //4字节  1:getPalletRequest
    uint32_t ErrorCode;               //4字节  7
    uint32_t Len;                     //4字节
    char     tail[6];                 //6字节  ("s" "t" "o" "p" "\r" "\n")
}getPalletResponse_failure;           //共22字节