RCiRoot
97462c8aab
增加halconGuard类，用于防止halcon算法的输入输出和程序不一致而引起的报错，并且会检查算法文件是否存在，如不存在则会弹窗提示。 增加handleAiGpuThreadGuard类，用于防止因重复调用同一个模型而引起的报错，并且支持不停机更新模型，支持初始化时检测模型文件是否存在。 增加内存占用显示控件。 用户管理增加root权限，默认密码为dseuiroot，模型热更新时需要此权限。 支持缓存界面上的检测数据。 相机模块新增在回调后的指定时间没有取图时则清空容器的功能。 增加等待结果汇总功能，在启用时同一个SN的图片会等待总结果后再进行存图。 存图线程修改为多线程编码，单线程储存，提高IO效率。并且增加根据内存占用的百分比更新存图逻辑的功能，默认占用超过70%不储存OK原图，超过80%不储存原图，超过90%时不储存所有图片。
309 lines
16 KiB
C++
309 lines
16 KiB
C++
#pragma once
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#include <missionBase.hpp>
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#include <detCallbackChain.hpp>
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#include <share.h>
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#include <QObject>
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#include <opencvPaintAlgo.hpp>
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#include <halconGuard.h>
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#include <paramSpecifications.h>
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#pragma region 基础函数
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#define CATCH_EXCEPTIONS \
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catch (HDevEngineCpp::HDevEngineException& ex) { \
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std::cout << "HDevEngineException: " << ex.Message() << std::endl; \
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qCritical() << "HDevEngineException: " << ex.Message(); \
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} \
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catch (HalconCpp::HException& ex) { \
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std::cout << "Halcon Exception Caught!" << std::endl; \
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std::cout << "Error Code: " << ex.ErrorCode() << std::endl; \
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std::cout << "Error Message: " << ex.ErrorMessage() << std::endl; \
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qCritical() << "Halcon Exception Caught!"; \
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qCritical() << "Error Code: " << ex.ErrorCode(); \
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qCritical() << "Error Message: " << ex.ErrorMessage(); \
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} \
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catch (const std::exception& e) { \
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std::cout << "Caught exception: " << e.what() << std::endl; \
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qCritical() << "Caught exception: " << e.what(); \
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}\
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catch (...) {\
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std::cout << "Caught exception: unexcepted"; \
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qCritical() << "Caught exception: unexcepted"; \
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}
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struct yh_581_address {
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int triggerAddr = -1;
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int snAddr = -1;
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QByteArray completeAddr = "-1";
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QByteArray resultAddr = "-1";
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int valueOffsetAddr = -1;
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int index = -1;
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};
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static yh_581_address generateYh581Address(int startAddr, int offset) {//INPUT:开始地址/电芯地址偏移(0~3)
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return yh_581_address{
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startAddr + offset * 2,
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startAddr + 10 + offset * 22 ,
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QByteArray::number(startAddr + 98 + offset * 2),
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QByteArray::number(startAddr + 106 + offset * 2),
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startAddr + 114 + offset * 20,
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offset
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};
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}
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static std::map<int, yh_581_address> generateYh581AddressMap(int startAddr, int cnt) {//INPUT:开始地址/0~3) 数量
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std::map<int, yh_581_address> result;
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for (auto i = 0; i < cnt; i++) {
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result[i] = generateYh581Address(startAddr, i);
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}
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return result;
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}
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class detParams {
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public:
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};
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#pragma endregion
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//算法回调函数需要包含完整的算法流程以及发送信号,发送ui图表，捕获异常，处理异常等操作
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//并且注意 异常可能会导致运行不到发送信号的函数，请在处理异常时发送异常结果
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void generalExceptionResume(std::shared_ptr<detData> data, yh_581_address address, QString why = "") {
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qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode) << why;
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cv::Mat Paint;
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data->getOriImg(0).copyTo(Paint);
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if (Paint.channels() == 1)
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cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
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TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
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textPainter.putText(Paint, why.toStdString(), cv::Point(500, 50), cv::Scalar(0, 255, 0));
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cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
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data->insertResultImg(Paint);
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if (data->service->_paramSyncManager->get("通用设置", "强制OK", false).toBool())
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data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//结果反馈
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else
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data->service->_triggerManager->writeShort("D" + address.resultAddr + "_2");//结果反馈
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}
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static bool generalAlgoTest(std::shared_ptr <detData> data, detParams* _detParams, yh_581_address address) {
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try {
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qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
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std::vector < std::string> defects = {"测试"};
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///////////////////取图//处理//////////////////
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if (data->getOriImgSize() < 1)
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{
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qCritical() << "图片数量不满足要求：" << data->getOriImgSize();
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return false;
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}
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if (data->getOriImg(0).rows == 100) {
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cv::Mat Paint;
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data->getOriImg(0).copyTo(Paint);
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cv::putText(Paint, "time out", cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 2);
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return false;
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}
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cv::Mat Paint;
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QMutex paintMutex;
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clock_t start, finish;
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start = clock();
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cv::Mat src1 = data->getOriImg(0);
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if (src1.channels() != 3)
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cv::cvtColor(src1, Paint, cv::COLOR_GRAY2BGR);
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else
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src1.copyTo(Paint);
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TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
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textPainter.putText(Paint, "OK", cv::Point(10,10), cv::Scalar(0, 255, 0));
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data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_0.123");//发送数据1
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data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2)+ "_0.456");//发送数据2
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data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送结果
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data->service->_missionResultHandle->toBarChart(data->SNcode, defects);//发送图标操作
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data->insertResultImg(Paint);
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return true;
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}
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CATCH_EXCEPTIONS
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data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送异常结果
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return false;
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}
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template <typename paramTemplte>
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//此类适用于单相机多触发地址需要联合判断的情况的情况 比如顶盖焊，包膜，入壳机台
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//例触发地址有4个，输入信号为 1 0 0 1 则触发1和4的地址拍照检测，2和3拍照取图并废弃
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class _581_Union_triggerTemplate {
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public:
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paramTemplte* _detParams;
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detCallbackChain<paramTemplte, yh_581_address>* generalDet;
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std::string cameraName;
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QString viewerName;
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std::map<int, yh_581_address>address;
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int oneTriggerCaptrueTimes = 1;
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/// <summary>
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/// 初始化
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/// </summary>
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/// <param name="cameraNameIn">相机名</param>
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/// <param name="viewerNameIN">窗口名</param>
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/// <param name="startAddr">开始地址</param>
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/// <param name="triggerCount">触发信号数</param>
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/// <param name="oneTriggerCaptrueTimes">单次触发调用几次相机模块</param>
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/// <param name="detParamsIn">参数输入</param>
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/// <param name="_serviceManagerIn">默认</param>
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/// <param name="bridgeIn">默认</param>
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/// <param name="_processAlgoCallback">算法函数</param>
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/// <param name="resultHandlerIn"></param>
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void init(std::string cameraNameIn, QString viewerNameIN, int startAddr, int triggerCount,int oneTriggerCaptrueTimesIN,
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paramTemplte* detParamsIn, ServiceManager* _serviceManagerIn, bSignalHub* bridgeIn,
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typename detCallbackChain<paramTemplte, yh_581_address>::processAlgoCallback _processAlgoCallback,
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QString saveObjectNameIN = "") {
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viewerName = viewerNameIN;
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cameraName = cameraNameIn;
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_serviceManager = _serviceManagerIn;
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_detParams = detParamsIn;
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bridge = bridgeIn;
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oneTriggerCaptrueTimes = oneTriggerCaptrueTimesIN;
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saveObjectName = saveObjectNameIN;
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generalDet = new detCallbackChain<paramTemplte, yh_581_address>(_serviceManager, _detParams, bridge);
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generalDet->registerProcessAlgoCallback(_processAlgoCallback);
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address = generateYh581AddressMap(startAddr, triggerCount);
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//联合触发器条件
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std::vector<std::pair<int, int>> conditions;
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for (int i = 0; i < triggerCount; i++) {
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conditions.push_back(std::make_pair(address[i].triggerAddr, 1));
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//注册清除完成信号触发器 任意触发地址归零时触发一次
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_serviceManager->_triggerManager->registerCallback(address[i].triggerAddr, 0, [this, i](int triggerPos, int triggerValue, QByteArray& byteArray)
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{_serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_0"); }, "D" + address[0].completeAddr.toStdString() + "清零");
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}
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//注册联合触发器 任意触发地址置1时触发
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_serviceManager->_triggerManager->registerUnionCallback(conditions, triggerManager::conditionMode::or ,[this](std::vector<std::pair<int, int>> vals, QByteArray& byteArray){
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int cnt = 0;
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for (auto& val : vals) {
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if (val.second == 1)
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evaluate(cnt, byteArray);
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else
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captrueAndDiscard(cnt, byteArray);
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cnt++;
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}
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}, "");
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for (int i = 0; i < address.size(); i++) {
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_serviceManager->_triggerManager->registerPlcValueViewer(viewerNameIN + "_" + QString::number(i),
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{ {QString::number(address[i].triggerAddr) + "触发",address[i].triggerAddr,finsShort },
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{address[i].completeAddr + "反馈",address[i].completeAddr.toInt(),finsShort},
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{address[i].resultAddr + "结果",address[i].resultAddr.toInt(),finsShort},
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{QString::number(address[i].valueOffsetAddr) + "数值1",address[i].valueOffsetAddr,finsFloat},
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{QString::number(address[i].valueOffsetAddr + 2) + "数值2",address[i].valueOffsetAddr + 2,finsFloat},
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{QString::number(address[i].valueOffsetAddr + 4) + "数值3",address[i].valueOffsetAddr + 4,finsFloat} });
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}
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}
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//获取图片并进行检测
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void evaluate(int batteryOffset, QByteArray& byteArray) {
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std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, -1);
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auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
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camera->clearCache();
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std::shared_ptr <detData> data = _serviceManager->_detDataManager->createDetData(
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QString::fromStdString(cameraName), sn, oneTriggerCaptrueTimes, camera->config.oriSaveFormat);//创建数据包
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data->saveObjectName = saveObjectName;
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camera->captureImage(data);//拍照
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generalDet->asyncProcess(data, address[batteryOffset]);//处理算法
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data->resultImgShowSet.push_back(showImgPack(viewerName, "结果图"));
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_serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_1");//完成信号 固定只发在第0位
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qDebug() << data->uuid << "bind->" << QString::fromStdString(cameraName) << "|" << QString::fromStdString(sn) << "|" << address[batteryOffset].triggerAddr;
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}
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//获取图片然后废弃 一般为进站NG
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void captrueAndDiscard(int batteryOffset, QByteArray& byteArray) {
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std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, -1);
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auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
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camera->clearCache();
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std::shared_ptr <detData> data = _serviceManager->_detDataManager->createDetData(QString::fromStdString(cameraName), sn, oneTriggerCaptrueTimes, camera->config.oriSaveFormat);//创建数据包
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camera->captureImage(data);//拍照
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qDebug() <<"sn" << QString::fromStdString(sn) << "uuid" << data->uuid << "将取图并丢弃";
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_serviceManager->_detDataManager->deleteDetDataLater(data->uuid);
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_serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_1");//完成信号 固定只发在第0位
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_serviceManager->_triggerManager->writeShort("D" + address[batteryOffset].resultAddr + "_2");//发个2防止报警
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}
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private:
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QString saveObjectName = "";
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bSignalHub* bridge;
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ServiceManager* _serviceManager = nullptr;
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};
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template <typename paramTemplte2>
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//此类适用于单相机多触发地址单次判断的情况，比如密封钉，三协机台
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//例触发地址有4个，输入信号为 1 0 0 1 则按顺序触发1和4的地址拍照检测，2和3不做处理
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class _581_Single_triggerTemplate {
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public:
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paramTemplte2* _detParams;
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detCallbackChain<paramTemplte2, yh_581_address>* generalDet;
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std::string cameraName;
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QString viewerName;
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std::map<int, yh_581_address>address;
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int oneTriggerCaptrueTimes = 1;
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/// <summary>
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/// 初始化
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/// </summary>
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/// <param name="cameraNameIn">相机名</param>
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/// <param name="viewerNameIN">窗口名</param>
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/// <param name="startAddr">开始地址</param>
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/// <param name="triggerCount">触发信号数</param>
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/// <param name="oneTriggerCaptrueTimes">单次触发调用几次相机模块</param>
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/// <param name="detParamsIn">参数输入</param>
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/// <param name="_serviceManagerIn">默认</param>
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/// <param name="bridgeIn">默认</param>
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/// <param name="_processAlgoCallback">算法函数</param>
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/// <param name="resultHandlerIn"></param>
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void init(std::string cameraNameIn, QString viewerNameIN, int startAddr, int triggerCount, int oneTriggerCaptrueTimesIN,
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paramTemplte2* detParamsIn, ServiceManager* _serviceManagerIn, bSignalHub* bridgeIn,
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typename detCallbackChain<paramTemplte2, yh_581_address>::processAlgoCallback _processAlgoCallback,
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QString saveObjectNameIN = "") {
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viewerName = viewerNameIN;
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cameraName = cameraNameIn;
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_serviceManager = _serviceManagerIn;
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_detParams = detParamsIn;
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bridge = bridgeIn;
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oneTriggerCaptrueTimes = oneTriggerCaptrueTimesIN;
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saveObjectName = saveObjectNameIN;
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generalDet = new detCallbackChain<paramTemplte2, yh_581_address>(_serviceManager, _detParams, bridge);
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generalDet->registerProcessAlgoCallback(_processAlgoCallback);
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address = generateYh581AddressMap(startAddr, triggerCount);
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//单次触发器条件
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for (int i = 0; i < triggerCount; i++) {
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//注册单触发器 触发地址置1时触发
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_serviceManager->_triggerManager->registerCallback(address[i].triggerAddr, 1, [this, i](int triggerPos, int triggerValue, QByteArray& byteArray) {
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evaluate(i, byteArray);}, "");
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//注册清除完成信号触发器 任意触发地址归零时触发一次
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_serviceManager->_triggerManager->registerCallback(address[i].triggerAddr, 0, [this, i](int triggerPos, int triggerValue, QByteArray& byteArray) {
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_serviceManager->_triggerManager->writeShort("D" + address[i].completeAddr + "_0"); }, "D" + address[0].completeAddr.toStdString() + "清零");
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}
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for (int i = 0; i < address.size(); i++) {
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_serviceManager->_triggerManager->registerPlcValueViewer(viewerNameIN + "_" + QString::number(i),
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{ {QString::number(address[i].triggerAddr) + "触发",address[i].triggerAddr,finsShort },
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{address[i].completeAddr + "反馈",address[i].completeAddr.toInt(),finsShort},
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{address[i].resultAddr + "结果",address[i].resultAddr.toInt(),finsShort},
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{QString::number(address[i].valueOffsetAddr) + "数值1",address[i].valueOffsetAddr,finsFloat},
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{QString::number(address[i].valueOffsetAddr + 2) + "数值2",address[i].valueOffsetAddr + 2,finsFloat},
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{QString::number(address[i].valueOffsetAddr + 4) + "数值3",address[i].valueOffsetAddr + 4,finsFloat} });
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}
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}
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//获取图片并进行检测
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void evaluate(int batteryOffset, QByteArray& byteArray) {
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std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, -1);
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auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
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camera->clearCache();
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std::shared_ptr <detData> data = _serviceManager->_detDataManager->createDetData(
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QString::fromStdString(cameraName), sn, oneTriggerCaptrueTimes, camera->config.oriSaveFormat);//创建数据包
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data->saveObjectName = saveObjectName;
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data->resultImgShowSet.push_back(showImgPack(viewerName, "结果图"));
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camera->captureImage(data);//拍照
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generalDet->asyncProcess(data, address[batteryOffset]);//处理算法
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_serviceManager->_triggerManager->writeShort("D" + address[batteryOffset].completeAddr + "_1");//完成信号 根据偏移发送
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qDebug() << data->uuid << "bind->" << QString::fromStdString(cameraName) << "|" << QString::fromStdString(sn) << "|" << address[batteryOffset].triggerAddr;
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}
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private:
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QString saveObjectName = "";
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bSignalHub* bridge;
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ServiceManager* _serviceManager = nullptr;
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}; |