ds-628/BaseModules/Hd_LogicDll_module/Logic_camera_thread.cpp

#include "Logic_camera_thread.h"
//QMap<QString, bool>  Logic_camera_thread::Map_getImageflag;

void Logic_camera_thread::adddataIntegrationThread(Logic_hdataintegration* mythread)
{
    mydataIntegrationThread.enqueue( mythread);
    ifMissImage_mutex = new QMutex;
}

Logic_camera_thread::~Logic_camera_thread()
{
    Sleep(100);
    wait(100);
    exit();
    qDebug() << __FUNCTION__ << "  line:" << __LINE__   << " m_name:" << m_name << " delete thread success! ";
}
//设置相机key、取图超时、模块、拍照面描述、触发方式
bool Logic_camera_thread::setModule( QString station_name,MyModule module,QJsonObject obj)
{
    //相机SN或usrID
    m_name = obj.value("相机key").toString();
    m_type = "camera";// camera_obj.value("camera_type").toString();
    getImgTimeout = obj.value("取图超时").toString().toInt();
    if (m_name.isEmpty() || m_type.isEmpty())
    {
        qCritical() << "[Error] " << " camera_key or camera_type is null";
        return false;
    }
    QJsonArray SurfaceArray = obj.value("拍照面描述").toArray();
    for (int i = 0; i < SurfaceArray.size(); i++)
        cameraProductSurface.enqueue(SurfaceArray[i].toString());

    if (getImgTimeout < 10)
        getImgTimeout = 1000;
    //m_name        = name;
   // m_type        = type;
    m_Module      = module;
    m_moduleobj   = obj;
    m_stationName = station_name;
   // getImgTimeout = ImgTimeout;
    m_missImgae_add = obj.value("缺图时，补图宽高-张数-图像格式").toString();
    if (  m_type == "camera" )
    {
        m_triggermodel = m_moduleobj.value("触发方式").toString();
        if ( m_triggermodel.isEmpty() )
        {
            qCritical() << __FUNCTION__ << " line:" << __LINE__ << " trigger_mod is null ! ";
            return false;
        }
    }

    QJsonArray read_sn_format = m_moduleobj.value("获取SN方式列表").toArray();
    for (int i = 0; i < read_sn_format.size(); i++)
    {
        QJsonObject obj = read_sn_format.at(i).toObject();
        QString     read_sn_area_index = obj.value("读哪个上料通道的SN").toString();
        QString trggier_signals_access = obj.value("触发信号").toString();
        //触发信号检查
        if (!trggier_signals_access.isEmpty())//&& !read_sn_start_data_queue.isEmpty())
        {
            SN_signalList.append(trggier_signals_access);
        }
    }
    return true;
}

//设置ifMissImage；Logic_myiothread要进行设置，加锁
void Logic_camera_thread::set_ifMissImage(bool flage)
{
    QMutexLocker locker(ifMissImage_mutex);  // 加锁
    ifMissImage = flage;
}

void Logic_camera_thread::set_m_stoprun(bool val)
{
    QMutexLocker locker(ifMissImage_mutex);  // 加锁
    m_stoprun = val;
}
void Logic_camera_thread::run()
{
    while (ifRun)
    {
        Sleep(2);
        if (getImgNums == 0)
            continue;
        m_stoprun = false;
        getImg_faileNums = 0;
        ifsaveImage = false;
        //set_ifMissImage(false);
        cu_runNum = 0;
        int last_addImageNums = addImageNums;
        maxTime_start = clock();
        try
        {
            //QString tmpDate = QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz");
            qCritical() << __FUNCTION__ << " line:" << __LINE__ <<  "runCameraModule::" << runCameraModuleNums++ << "  cameraKey::"<< m_Module.module_key <<"  getImgNums::"<< getImgNums;
            if (m_type == "camera")
            {
                for (int i = 0; i < getImgNums; i++)
                {
                    if (!runCameraModule())
                    {
                        qCritical() << __FUNCTION__ << " line:" << __LINE__ << "runCameraModule run failed! ";
                        getImg_faileNums++;
                        //return;
                    }
                    maxTime_stop = clock();
                    if (maxTime_stop - maxTime_start > maxCheckTime)
                    {
                        qCritical() << __FUNCTION__ << " line:" << __LINE__ << "maxTime_stop - maxTime_start > maxCheckTime! " << m_Module.module_key;
                        std::cout << "maxTime_stop - maxTime_start > maxCheckTime! " << m_Module.module_key.toStdString() << std::endl;
                        //break;
                    }
                }
                    
                //qCritical() << "camera_name::" << m_name << "  addImageNums::" << addImageNums <<"  thisNums::"<< addImageNums- last_addImageNums ;
                //判断有无取图失败情况
                if (addImageNums - last_addImageNums < getImgNums)
                    qCritical() << __FUNCTION__ << " line:" << __LINE__ << " err add Img::" << m_Module.module_key << "  " << addImageNums - last_addImageNums;
                for (int i = 0; i < mydataIntegrationThread.size(); i++)
                {
                    mydataIntegrationThread[i]->wait();
                }
                trigger_signal = "";
                getImgNums = 0;
                std::vector<cv::Mat> vec_mat; //无数据，拿来充函数的参数
                if (send_byte.split('_').size() < 2) //为空分割size为1，不崩溃
                {
                    //一个开始拍照对应多个相机的，回复的信号只保留一个，后面的不发了。
                    if (send_byte != "pass")
                        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "feedback_signal err: " << send_byte;
                }
                else 
                {
                    QMutexLocker locker(m_iomutex);
                    if (!finstcp_ptr->writeData(vec_mat, send_byte))
                    {
                        qCritical() << __FUNCTION__ << "line:" << __LINE__ << " finstcp_ptr reciveData error! ";
                        return;
                    }
                    else
                    {
                        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "feedback_signal: " << send_byte;
                    }
                }
                send_byte.clear();
                //break;
            }
        }
        catch (QString ev)
        {
            qCritical() << __FUNCTION__ << " line:" << __LINE__ << "catch ev:" << ev;
            return;
        }
    }
}

int Logic_camera_thread::matType(QString qstype)
{
    int baseN = -1;
    if (qstype.contains("CV_8U"))
        baseN = 0;
    else if (qstype.contains("CV_8S"))
        baseN = 1;
    else if (qstype.contains("CV_16U"))
        baseN = 2;
    else if (qstype.contains("CV_16S"))
        baseN = 3;
    else if (qstype.contains("CV_32S"))
        baseN = 4;
    else if (qstype.contains("CV_32F"))
        baseN = 5;
    else if (qstype.contains("CV_64F"))
        baseN = 6;
    else if (qstype.contains("CV_16F"))
        baseN = 7;
    int lastN = 0;
    if (qstype.contains("C1"))
        lastN = 1;
    else if (qstype.contains("C2"))
        lastN = 2;
    else if (qstype.contains("C3"))
        lastN = 3;
    else if (qstype.contains("C4"))
        lastN = 4;

    if (baseN == -1 || lastN == 0)
        qCritical() << __FUNCTION__ << " line:" << __LINE__ << "type err:" << m_missImgae_add;
    return (lastN - 1) * 8 + baseN;
}

//缺图补图
void Logic_camera_thread::missImgae_addImage(std::vector<cv::Mat>& camera_mat)
{
    set_ifMissImage(true);
    //"100*100*2*CV_8SC1#CV_8SC3",
    QStringList missList = m_missImgae_add.split("*");
    if (missList.size() < 4)
    {
        qCritical() << __FUNCTION__ << " line:" << __LINE__ << "data err:" << m_missImgae_add;
        return;
    }
    if(missList[3].split("#").size()< missList[2].toInt())
    {
        qCritical() << __FUNCTION__ << " line:" << __LINE__ << "data3 err:" << m_missImgae_add;
        return;
    }
    for (int i = 0; i < missList[2].toInt(); i++)
    {
        cv::Mat tmpType;
        int type = matType(missList[3].split("#")[i]);
        if (type < 0)
            return;
        tmpType = cv::Mat::zeros(cv::Size(missList[0].toInt(), missList[1].toInt()), type);
        camera_mat.push_back(tmpType);
    }
}


bool Logic_camera_thread::runCameraModule()
{
    clock_t start, stop;
    start = clock();
    // 判断触发模式
    if ( m_triggermodel.contains("software") )
    {
        QByteArray task_name;
        std::vector<cv::Mat>  camera_mat;
        if ( m_Module.module_ptr->run() ){
            if ( !m_Module.module_ptr->readData(camera_mat,task_name) )
            {
                qCritical() << __FUNCTION__ << "  line:" << __LINE__ << "  camera_mat is error! ";
                missImgae_addImage(camera_mat);
            }
        }else{
            qCritical() << __FUNCTION__  << " line:"<< __LINE__ <<  " m_name:" <<  m_name << " get image is error failed!";
            missImgae_addImage(camera_mat);
        }
        //stop = clock();
        //qDebug() << "m_Module.module_key::" << m_Module.module_key << "  runCameraModule get image Time ::" << stop - start;
        if ( camera_mat.empty() )
        {
            qCritical() << __FUNCTION__ << " line:" << __LINE__ << " camera_mat is null! ";
            missImgae_addImage(camera_mat);
        }
        //int de = camera_mat[0].rows * camera_mat[0].cols * camera_mat[0].channels() * camera_mat[0].depth() / 8;
        //图像检查
        //for (int i = 0; i < camera_mat.size(); i++)
        //    if ((camera_mat[i].dataend - camera_mat[i].datastart) < camera_mat[i].rows * camera_mat[i].cols * camera_mat[i].channels()) //尝试能否解决mtx内容异常问题
        //    {
        //        camera_mat[i] = cv::Mat::zeros(camera_mat[i].rows, camera_mat[i].cols, camera_mat[i].type());
        //        qCritical() << __FUNCTION__ << " line:" << __LINE__ << " camera_mat[i] data err!  zeros";
        //    }
        //保存图片到容器，并运行对应的条件判断
        saveImage(camera_mat); //最大耗时30-40ms；
        
        // 界面传输图片来显示
        if (ifshowSoureImg == true) //task_thread_num < 1 没有检测任务时，显示原图
            if ((camera_mat.at(0).cols > 0) && (camera_mat.at(0).rows > 0) )
            {
                sendDataCommond(m_type, camera_mat.at(0), "");
            }
        //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "  m_name: " << m_name << " software get mat is success! camera_mat len:" << camera_mat.size();
        camera_mat.clear();
        return true;
    }
    else if ( m_triggermodel.contains("hardware") )   // 硬触发  hardware_trigger
    {
         myTime = 0;
        while (true)
        {
            if (CommunicationProcessLevel == 2)
            {
                maxTime_stop = clock();
                /*if (maxTime_stop - maxTime_start > maxCheckTime)
                {
                    qCritical() << __FUNCTION__ << " line:" << __LINE__ << "maxCheckTime! hardware" << m_Module.module_key;
                    std::cout << " maxCheckTime! " << m_Module.module_key.toStdString() << std::endl;
                    return true;
                }*/
            }
            if (!ifRun || m_stoprun == true)
            {
                qCritical() << __FUNCTION__ << " line:" << __LINE__ << " !ifRun || m_stoprun == true"<< m_Module.module_key;
                return true;
            }

            //QMutexLocker locker(ifMissImage_mutex);  // 加锁
            QByteArray task_name;
            std::vector<cv::Mat>  camera_mat;
            if (CommunicationProcessLevel == 2 && waitenum++%100==0)
            {
                //missImgae_addImage(camera_mat);
                qCritical() << __FUNCTION__ << " line:" << __LINE__ << " m_name:" << m_name << " waite trigger!"<< waitenum;
            }
            if (CommunicationProcessLevel == 2 && maxTime_stop - maxTime_start > maxCheckTime)
            {
                qCritical() << __FUNCTION__ << " line:" << __LINE__ << "maxCheckTime! add img, hardware" << m_Module.module_key;
                missImgae_addImage(camera_mat);
            }
            else
            {
                if (m_Module.module_ptr->run())
                {
                    if (!m_Module.module_ptr->readData(camera_mat, task_name))
                    {
                        Sleep(10);
                        qApp->processEvents();
                        myTime += 10; 
                        if (myTime % 1000 == 0)
                        {
                            if (CommunicationProcessLevel == 2)
                            {
                                //missImgae_addImage(camera_mat);
                                qCritical() << __FUNCTION__ << " line:" << __LINE__ << " m_name:" << m_name << " waite trigger!";
                            }
                        }
                        if (myTime > maxCheckTime)
                        {
                            if (CommunicationProcessLevel == 2)
                            {
                                missImgae_addImage(camera_mat);
                                qCritical() << __FUNCTION__ << " line:" << __LINE__ << " m_name:" << m_name << " get image is getImgTimeout failed!";
                            }
                        }
                        else continue;
                    }
                }
                /*else
                {
                    if (CommunicationProcessLevel == 2)
                    {
                        qCritical() << __FUNCTION__ << " line:" << __LINE__ << " m_name:" << m_name << " get image is error failed!";
                        missImgae_addImage(camera_mat);
                    }
                }*/
            }

            if (camera_mat.empty())
            {
                Sleep(2);
                continue;
            }
            ////图像检查
            //for (int i = 0; i < camera_mat.size(); i++)
            //    if ((camera_mat[i].dataend - camera_mat[i].datastart) < camera_mat[i].rows * camera_mat[i].cols * camera_mat[i].channels()) //尝试能否解决mtx内容异常问题;camera_mat[i].depth()不是8的倍数
            //    {
            //        camera_mat[i] = cv::Mat::zeros(camera_mat[i].rows, camera_mat[i].cols, camera_mat[i].type());
            //        qCritical() << __FUNCTION__ << " line:" << __LINE__ << " camera_mat[i] data err!  zeros";
            //    }

            //保存图片到容器，并运行对应的条件判断
            saveImage(camera_mat);
            if (ifshowSoureImg == true) //task_thread_num < 1 没有检测任务时，显示原图
                if ((camera_mat.at(0).cols > 0) && (camera_mat.at(0).rows > 0))
                {
                    sendDataCommond(m_type, camera_mat.at(0), "");
                }
            //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "  m_name: " << m_name << " hardware get mat is success! get_mat len:" << camera_mat.size();
            camera_mat.clear();
            m_stoprun = false;
            if (CommunicationProcessLevel == 2)//标准通信流程
                break;//注意，硬触发有开始信号的，取图完返回;
            else if(m_Module.moduleName.contains("readImage"))
                Sleep(1000);
            else 
                Sleep(2);
        }
    }
    return true;
}
//保存图片到容器，并运行对应的条件判断
bool Logic_camera_thread::saveImage(std::vector<cv::Mat> camera_mat)
{
    clock_t start, stop;
    start = clock();
    HCameraData *cameraPtr = station_list.value(m_stationName)->getCameraData(m_name);
    if ( cameraPtr )
    {
        // 获取当前相机容器的下标
        int camera_index = cameraPtr->getCameraIndex();//addImageData函数camera_index加一
        // 根据相机下标获取sn码容器中的sn码
        QVector<QString> vector_sn = getSnData(camera_index);
        QString channel_index = nullptr;

        //拍照面描述
        QString Surface;
        if(cameraProductSurface.size()>0)
            Surface = cameraProductSurface[camera_index% cameraProductSurface.size()]; 
        //camera_index，0,1,2；cameraProductSurface，tp1,tp2;对应，tp1,tp2,tp1;
        //qDebug() << "m_Module.module_key::" << m_Module.module_key << "  saveImage  getCameraData Time ::" << stop - start;
        //添加到容器SnCameraData
        cameraPtr->addImageData(channel_index,vector_sn,camera_mat,Surface);

        for (int i = 0; i < mydataIntegrationThread.size(); i++)
        {
             mydataIntegrationThread[i]->run();//一个mydataIntegrationThread对应多个相机
        }
        stop = clock();
        //if((stop - start)>20)
        //    qDebug() << "m_Module.module_key::" << m_Module.module_key << "  saveImage  mydataIntegrationThread Time ::" << stop - start;
        start = clock();
        addImageNums++;
        //std::cout <<"camera_name::" << m_name.toStdString() << "  addImageNums::" << addImageNums++ << std::endl;

    }else{
        qCritical() << __FUNCTION__ << " line:" << __LINE__ << " cameraPtr is null  saveImage failed!";
        return false;
    }
    ifsaveImage = true;
    camera_mat.clear();
    return true;
}
//index为图片序号
QVector<QString> Logic_camera_thread::getSnData(int index)
{
    HSnData* m_sndata = nullptr;
    QString  m_sn_key = nullptr;               // 获取下标对应的sn key
    //QString  read_sn_num = nullptr;            // 读取sn的方式
    QString  my_read_sn_area_index = nullptr;  // 属于哪个区域的sn
    QString  delete_sn = nullptr;              // 是否删除sn 931 -3 使用
    //m_moduleobj为当前相机的配置文件
    QJsonArray read_sn_format = m_moduleobj.value("获取SN方式列表").toArray();
    for ( int i = 0; i < read_sn_format.size(); i++ )
    {
        QJsonObject obj = read_sn_format.at(i).toObject();
        QString     read_sn_area_index = obj.value("读哪个上料通道的SN").toString();
        QString trggier_signals_access = obj.value("触发信号").toString();
        //触发信号检查
        if (!trggier_signals_access.isEmpty())//&& !read_sn_start_data_queue.isEmpty())
        {
            if (trggier_signals_access != SN_signal)
            {
                continue;
            }
        }
        QJsonArray  sn_data_array = obj.value("SN数据列表").toArray();
        for (int vvv = 0; vvv < sn_data_array.size(); vvv++)
        {
            QJsonObject sn_obj = sn_data_array.at(vvv).toObject();
            QString sn_key = sn_obj.value("哪个SN").toString();             // 下标对应的 sn key
            QJsonArray sn_vaule_array = sn_obj.value("第几张图").toArray();
            for (int ggg = 0; ggg < sn_vaule_array.size(); ggg++)
            {
                QString value = sn_vaule_array.at(ggg).toString();
                if (!value.isEmpty())
                {
                    if (value.toInt() == index) //相机第几张图，对应sn_data的value值，
                    {
                        my_read_sn_area_index = read_sn_area_index;
                        m_sn_key = sn_key;
                        break;
                    }
                }
            }
        }
    }

    if (!my_read_sn_area_index.isEmpty()){
        m_sndata = station_list.value(m_stationName)->getSnInfoData(my_read_sn_area_index.toInt());  // 获取相应区域SN
    }else{
        m_sndata = station_list.value(m_stationName)->getSnInfoData(0); // 默认只有一个区域
    }
    QVector<QString> vector_sn;
    if ( m_sndata )
    {
        if (!m_sn_key.isEmpty())
        {
            int sn_index = 0;
            QString snsnsn = m_sn_key.split("sn")[1]; //5-2:sn1,sn2
            if (!snsnsn.isEmpty())
            {
                sn_index = m_sn_key.split("sn")[1].toInt();
            }
            QVector<QString> mVec_sn = m_sndata->getFirstValue();
            if (sn_index - 1 < mVec_sn.size() && sn_index > 0)
            {
                vector_sn.push_back(mVec_sn.at(sn_index - 1));
            }
        }
    }
    return vector_sn;
}

void Logic_camera_thread::setMutex(QMutex *mutex)
{
    if (m_mutex == nullptr)
        m_mutex = new QMutex;// mutex;
}

bool Logic_camera_thread::sendDataCommond( QString m_type,cv::Mat mat,QByteArray byte )
{
    QMutexLocker locker(m_mutex);
    dataPack m_pack;
    m_pack.mat         = mat;
    m_pack.byte        = byte;
    m_pack.retFlag     = m_type;
    m_pack.cameraName  = m_name;

    if (ifshowSoureImg == true) //task_thread_num < 1 没有检测任务时，显示原图
    {
        // 界面显示包
        camera_ImageDataPack.enqueue(m_pack);
    }
    return  true;
}

void Logic_camera_thread::degressSnIndex()
{
    QMutexLocker locker(m_mutex);
    if (m_sn_index == 0)
        return;
    m_sn_index--;
}

//获取一个数据包，并删除列表的头一个
dataPack Logic_camera_thread::getdataPack()
{
    QMutexLocker locker(m_mutex);  // 加锁
    dataPack m_pack = camera_ImageDataPack.dequeue();
    return m_pack;
}

int Logic_camera_thread::dataPack_size()
{
    QMutexLocker locker(m_mutex);  // 加锁
    return camera_ImageDataPack.size();
}