ds-628/BaseModules/Hd_CameraModule_HIK_hard/Hd_CameraModule_HIK_hard.cpp

#include "Hd_CameraModule_HIK_hard.h"
#include <QDebug>

#include <QTextCodec>
QByteArray mv_Status = "connected";//0106 新增相机断联报警
long long index = 0;     //相机序号
void* handle;
string Username = "";
bool m_flag = false;
MV_CC_DEVICE_INFO_LIST m_stDevList;//相机设备
bool moduleStatus = true;
QQueue<cv::Mat> queuepic;
//data == "rest_newProductIn"时要结束run；机台报警，取图超时，复位后重新拍的情况。
bool ifBreak = false;
//ifRunning减少ifBreak的判断；"rest_newProductIn"时，Logic_camera_thread框架会结束未处理完的相相机取图
bool ifRunning = false;
QString byteArrayToUnicode(const QByteArray array) {

    // state用于保存转换状态，它的成员invalidChars，可用来判断是否转换成功
    // 如果转换成功，则值为0，如果值大于0，则说明转换失败
    QTextCodec::ConverterState state;
    // 先尝试使用utf-8的方式把QByteArray转换成QString
    QString text = QTextCodec::codecForName("UTF-8")->toUnicode(array.constData(), array.size(), &state);
    // 如果转换时无效字符数量大于0，说明编码格式不对
    if (state.invalidChars > 0)
    {
        // 再尝试使用GBK的方式进行转换，一般就能转换正确(当然也可能是其它格式，但比较少见了)
        text = QTextCodec::codecForName("GBK")->toUnicode(array);
    }
    return text;
}
QMutex* n_mutex = new QMutex();
//cv::Mat srcImage;
//是否为标准通信流程：
//标准通信流程，run函数设置曝光/增益；非标准通信流程（简单通信流程），回调函数设置曝光/增益
bool ifStandard = false;
//相机取图超时时间
int getImageTimeOut = 1000;
//总取图数
int imgIndex = 0;
//曝光值列表
QQueue<float> expourseTimeList;
//增益列表
QQueue<float> gainList;

bool IsColor(MvGvspPixelType enType)
{
    switch (enType)
    {
    case PixelType_Gvsp_RGB8_Packed:
    case PixelType_Gvsp_YUV422_Packed:
    case PixelType_Gvsp_YUV422_YUYV_Packed:
    case PixelType_Gvsp_BayerGR8:
    case PixelType_Gvsp_BayerRG8:
    case PixelType_Gvsp_BayerGB8:
    case PixelType_Gvsp_BayerBG8:
    case PixelType_Gvsp_BayerGB10:
    case PixelType_Gvsp_BayerGB10_Packed:
    case PixelType_Gvsp_BayerBG10:
    case PixelType_Gvsp_BayerBG10_Packed:
    case PixelType_Gvsp_BayerRG10:
    case PixelType_Gvsp_BayerRG10_Packed:
    case PixelType_Gvsp_BayerGR10:
    case PixelType_Gvsp_BayerGR10_Packed:
    case PixelType_Gvsp_BayerGB12:
    case PixelType_Gvsp_BayerGB12_Packed:
    case PixelType_Gvsp_BayerBG12:
    case PixelType_Gvsp_BayerBG12_Packed:
    case PixelType_Gvsp_BayerRG12:
    case PixelType_Gvsp_BayerRG12_Packed:
    case PixelType_Gvsp_BayerGR12:
    case PixelType_Gvsp_BayerGR12_Packed:
        return true;
    default:
        return false;
    }
}
//0106 断线重连
void __stdcall ReconnectDevice(unsigned int nMsgType, void* pUser);
void __stdcall ImageCallBackEx(unsigned char* pData0, MV_FRAME_OUT_INFO_EX* pFrameInfo0, void* pUser0);
//搜索所有设备
int SearchDevice()
{
    memset(&m_stDevList, 0, sizeof(MV_CC_DEVICE_INFO_LIST));
    // ch:枚举子网内所有设备 | en:Enumerate all devices within subnet
    int nRet = MV_CC_EnumDevices(MV_GIGE_DEVICE || MV_USB_DEVICE, &m_stDevList);
    for (int i = 0; i < m_stDevList.nDeviceNum; i++)
    {
        //SN
        unsigned char* name = m_stDevList.pDeviceInfo[i]->SpecialInfo.stGigEInfo.chSerialNumber;
        //userID
        //unsigned char* name=m_stDevList.pDeviceInfo[i]->SpecialInfo.stGigEInfo.chUserDefinedName;
        string userName = static_cast<string>((LPCSTR)name);
        if (Username == userName)
        {
            index = i;
            break;
        }
    }
    if (MV_OK != nRet)
    {
        return 0;
    }
    return -1;
}

bool connctDevice()
{
    index = -1;
    SearchDevice();
    if (index == -1)
    {
        //未匹配到相机
        //qDebug() << "[Waring] " << "Hd_CameraModule_HIK not match --CameraName:" << QString::fromStdString(Username);
        return false;
    }
    unsigned char* name = m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.chUserDefinedName;
    string userName = static_cast<string>((LPCSTR)name);
    qDebug() << "[INFO] " << " start" << "--UserName:" << QString::fromStdString(userName);
    if (handle != NULL)
    {
        MV_CC_StopGrabbing(handle);
        MV_CC_CloseDevice(handle);
        MV_CC_DestroyHandle(handle);
    }

    //打开相机
    MV_CC_CreateHandle(&handle, m_stDevList.pDeviceInfo[index]);
    int nRet = MV_CC_OpenDevice(handle);
    ////触发模式
    //MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_LINE0);
    //MV_CC_SetEnumValue(handle, "TriggerMode", MV_TRIGGER_MODE_ON);
    //   //加载用户集，相机设置应当UserSet1
    nRet = MV_CC_SetEnumValueByString(handle, "UserSetSelector", "UserSet1");
    if (MV_OK != nRet)
    {
        qDebug() << "Set UserSetSelector fail! nRet " << nRet;
    }
    // ch:注册抓图回调 | en:Register image callback
    MV_CC_SetIntValueEx(handle, "GevHeartbeatTimeout", 3000);//心跳日志

    nRet = MV_CC_RegisterImageCallBackEx(handle, ImageCallBackEx, handle);//注册回调
    if (MV_OK != nRet)
        return false;
    nRet = MV_CC_RegisterExceptionCallBack(handle, ReconnectDevice, NULL);//断线重连
    if (MV_OK != nRet)
        return false;
    MV_CC_StartGrabbing(handle);
    return true;
}
void SetExposureTime(float exposureValue)
{
    qDebug() << "[INFO] " << "exposureValue:" << exposureValue;
    MV_CC_SetEnumValue(handle, "ExposureAuto", MV_EXPOSURE_AUTO_MODE_OFF);
    MV_CC_SetFloatValue(handle, "ExposureTime", exposureValue);
}

void SetGain(float GainValue)
{
    qDebug() << "[INFO] " << "GainValue:" << GainValue;
    MV_CC_SetEnumValue(handle, "GainAuto", 0);
    MV_CC_SetFloatValue(handle, "Gain", GainValue);
}

//0518 断线重连
void __stdcall ReconnectDevice(unsigned int nMsgType, void* pUser)
{
    mv_Status = "disconnect";
    qDebug() << "[Error] " << " MV camera disconnects!";
    moduleStatus = false;
    if (nMsgType == MV_EXCEPTION_DEV_DISCONNECT)
    {
        //断开连接
        MV_CC_CloseDevice(handle);
        int nRet = MV_CC_DestroyHandle(handle);
        handle = nullptr;
        BOOL bConnected = FALSE;
        while (1)
        {
            Sleep(100);
            if (connctDevice() == true)
            {
                qWarning() << "[Hd_CameraModule_HIK] " << "  Hd_CameraModule_HIK create success again! ";
                moduleStatus = true;
                break;
            }

        }
    }
}

//0106 断连提示
void _stdcall ExceptionCB(unsigned int nMesgType, void* pUser) {
    mv_Status = "disconnect";
    qDebug() << "[Error] " << " MvCameraTL disconnects!";
}


Hd_CameraModule_HIK_hard* create()
{
    qDebug() << "[INFO] " << "Hd_CameraModule_HIK create success!" ;
    return new Hd_CameraModule_HIK_hard;
}

void destory(Hd_CameraModule_HIK_hard * ptr)
{
    if(ptr)
    {
        delete  ptr;
        ptr = nullptr;
    }
    qDebug() << "[INFO] " << "Hd_CameraModule_HIK  destory success!";
}

//回调函数；
//经测试，相机像素格式Mono8、RGB8是可以正常转换的，YUV422还需要优化；RGB8格式比YUV422帧率低；BGR格式会导致异色问题
void __stdcall ImageCallBackEx(unsigned char* pData0, MV_FRAME_OUT_INFO_EX* pFrameInfo0, void* pUser0)
{
    Q_UNUSED(pUser0)
    int frameNum = 0;
    double time_Start = (double)clock();
    n_mutex->lock();
    cv::Mat srcImage = cv::Mat();
    //qDebug() << "[info]" << __FUNCTION__ << " line:" << __LINE__ << "--- start";
    if (pFrameInfo0)
    {
        //获取的是单通道灰度图
        if (pFrameInfo0->enPixelType == PixelType_Gvsp_Mono8)//获取当前采集到的图像格式
        {
            srcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC1, pData0);
        }
        //获取的是RGB8图
        else if (pFrameInfo0->enPixelType == PixelType_Gvsp_BGR8_Packed)
        {
            srcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3, pData0);

            //cvtColor(srcImage, srcImage, COLOR_RGB2BGR);//导致异色
        }
        else if (IsColor(pFrameInfo0->enPixelType)) //其它格式彩色图
        {
            MvGvspPixelType enDstPixelType = PixelType_Gvsp_Undefined;
            enDstPixelType = PixelType_Gvsp_BGR8_Packed;
            unsigned char* pConvertData = NULL;
            pConvertData = (unsigned char*)malloc(pFrameInfo0->nWidth * pFrameInfo0->nHeight * 3);
            if (NULL == pConvertData)
            {
                printf("malloc pConvertData fail!\n");
            }
            else
            {
                unsigned int nConvertDataSize = 0;
                nConvertDataSize = pFrameInfo0->nWidth * pFrameInfo0->nHeight * 3;

                // ch:像素格式转换 | en:Convert pixel format 
                MV_CC_PIXEL_CONVERT_PARAM stConvertParam = { 0 };

                frameNum = pFrameInfo0->nFrameNum;                 //ch:帧号 | en:frame number
                stConvertParam.nWidth = pFrameInfo0->nWidth;                 //ch:图像宽 | en:image width
                stConvertParam.nHeight = pFrameInfo0->nHeight;               //ch:图像高 | en:image height
                stConvertParam.pSrcData = pData0;                         //ch:输入数据缓存 | en:input data buffer
                stConvertParam.nSrcDataLen = pFrameInfo0->nFrameLen;         //ch:输入数据大小 | en:input data size
                stConvertParam.enSrcPixelType = pFrameInfo0->enPixelType;    //ch:输入像素格式 | en:input pixel format
                stConvertParam.enDstPixelType = enDstPixelType;                         //ch:输出像素格式 | en:output pixel format
                stConvertParam.pDstBuffer = pConvertData;                               //ch:输出数据缓存 | en:output data buffer
                stConvertParam.nDstBufferSize = nConvertDataSize;                       //ch:输出缓存大小 | en:output buffer size
                int nRet = MV_CC_ConvertPixelType(handle, &stConvertParam);

                Mat mysrcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3, stConvertParam.pDstBuffer);
                mysrcImage.copyTo(srcImage);

                free(pConvertData);
                pConvertData = NULL;
                stConvertParam = { 0 };
            }
        }
    }
    if(srcImage.empty())
    {
        srcImage = cv::Mat(5, 5, CV_8UC1).setTo(0);
    }
    if (ifStandard == false)
    {
        imgIndex++;
        if (expourseTimeList.size() > 1 && expourseTimeList[imgIndex % expourseTimeList.size()] != expourseTimeList[(imgIndex - 1) % expourseTimeList.size()])
            SetExposureTime(expourseTimeList[imgIndex % expourseTimeList.size()]);
        if (gainList.size() > 1 && gainList[imgIndex % gainList.size()] != gainList[(imgIndex - 1) % gainList.size()])
            SetGain(gainList[imgIndex % gainList.size()]);
    }
    queuepic.push_back(srcImage.clone());
    m_flag = true;
    n_mutex->unlock();
    pData0 = { 0 };

    double time_End = (double)clock();
    qDebug() << "[INFO] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg getImg,Time:" << (time_End - time_Start) << "ms"
        << "--CameraName:" << QString::fromStdString(Username) << " imgIndex:" << imgIndex << "nFrameNum : " << frameNum;
}

Hd_CameraModule_HIK_hard::Hd_CameraModule_HIK_hard()
{
    //m_thread = new MyThread;
    //m_mutex = new QMutex();
}
//关闭设备
void CloseDevice()
{
    MV_CC_StopGrabbing(handle);
    MV_CC_CloseDevice(handle);
    MV_CC_DestroyHandle(handle);
}
Hd_CameraModule_HIK_hard::~Hd_CameraModule_HIK_hard()
{
    CloseDevice();
    if(n_mutex)
    {
        delete n_mutex;
        n_mutex = nullptr;
    }

    qDebug() << "[INFO] " << " delete success!";
}
//从类中读数据到实例对象
bool Hd_CameraModule_HIK_hard::readData(std::vector<cv::Mat> &mat,QByteArray &data)
{
    if (queuepic.isEmpty())
    {
        //qCritical() << __FUNCTION__ << "   line:" <<__LINE__ << " srcImage is null";
        return false;
    }
    n_mutex->lock();
    cv::Mat img = cv::Mat();
    queuepic.dequeue().copyTo(img);
    mat.push_back(img.clone());
    n_mutex->unlock();

    qDebug() << "[INFO] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData--CameraName:" << QString::fromStdString(Username) << "--imgIndex : " << imgIndex;
    return true;
}

//实例对象把数据写入到类；加载模型后会运行此函数
bool Hd_CameraModule_HIK_hard::writeData(std::vector<cv::Mat> &mat,QByteArray &data)
{
    Q_UNUSED(mat);
    //2024.02.18更新，相机对应的读SN信号时，表示新产品进入，设置初始值
    if (data == "rest_newProductIn")
    {
        //根据实际项目，设置初始值：曝光、增益，ROI区域等
        {
            if (expourseTimeList.size() > 0)
                SetExposureTime(expourseTimeList[0]);
            if (gainList.size() > 0)
                SetGain(gainList[0]);
        }
        if (queuepic.size() > 0)
        {
            n_mutex->lock();
            queuepic.clear();
            n_mutex->unlock();
            std::cout << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << Username << std::endl;
            qWarning() << __FUNCTION__ << "  line: " << __LINE__ << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << QString::fromStdString(Username);
        }
        if (ifRunning == true)
        {
            ifBreak = true;
            Sleep(10);
        }
        imgIndex = 0;
        return true;
    }
    else
    {
        m_flag = false;
        expourseTimeList.clear();
        gainList.clear();
    }
    //Username= data.toStdString();
    return true;
}
//传入initParas函数，格式为：相机key+参数名1#参数值1#参数值2+参数名2#参数值1...
bool Hd_CameraModule_HIK_hard::initParas(QByteArray& initData)
{
    QByteArrayList valueList = initData.split('+');
    Username = valueList[0];
    imgIndex = 0;
    expourseTimeList.clear();
    gainList.clear();
    if (valueList.size() > 1)
        for (int i = 1; i < valueList.size(); i++)
        {
            QString valuei = byteArrayToUnicode(valueList[i]);
            //valuei.prepend(valueList[i]);
            if (valuei.contains("expourseTime"))
            {
                QStringList expourseTimeL = valuei.split('#');
                if (expourseTimeL.size() > 1)
                    for (int j = 1; j < expourseTimeL.size(); j++)
                        expourseTimeList.enqueue(expourseTimeL[j].toFloat());
            }
            if (valuei.contains("gain"))
            {
                QStringList gainL = valuei.split('#');
                if (gainL.size() > 1)
                    for (int j = 1; j < gainL.size(); j++)
                        gainList.enqueue(gainL[j].toFloat());
            }

            if (valuei.contains("是否为标准通信流程"))
            {
                if (valuei.contains("true"))
                    ifStandard = true;
            }
            if (valuei.contains("取图超时"))
            {
                QStringList gainL = valuei.split('#');
                if (gainL.size() > 1)
                    getImageTimeOut = gainL[1].toInt();
                if (getImageTimeOut < 50)
                    getImageTimeOut = 1000;
            }
            if (valuei.contains("OffsetX"))
            {
                QStringList valueL = valuei.split('#');
                if (valueL.size() > 1)
                    if (valueL[1].toInt() >= 0)
                        MV_CC_SetIntValue(handle, "OffsetX", valueL[1].toInt());
            }
            if (valuei.contains("OffsetY"))
            {
                QStringList valueL = valuei.split('#');
                if (valueL.size() > 1)
                    if (valueL[1].toInt() >= 0)
                        MV_CC_SetIntValue(handle, "OffsetY", valueL[1].toInt());
            }
            if (valuei.contains("Width"))
            {
                QStringList valueL = valuei.split('#');
                if (valueL.size() > 1)
                    if (valueL[1].toInt() >= 0)
                        MV_CC_SetIntValue(handle, "Width", valueL[1].toInt());
            }
            if (valuei.contains("Height"))
            {
                QStringList valueL = valuei.split('#');
                if (valueL.size() > 1)
                    if (valueL[1].toInt() >= 0)
                        MV_CC_SetIntValue(handle, "Height", valueL[1].toInt());
            }
        }

    bool ifOk = connctDevice();
    if (ifOk == true)
    {
        if (expourseTimeList.size() > 0)
            SetExposureTime(expourseTimeList[0]);
        if (gainList.size() > 0)
            SetGain(gainList[0]);
    }
    imgIndex = 0;
    return ifOk;
}

bool Hd_CameraModule_HIK_hard::run()
{
    qDebug() << "[INFO] " << " run start" << QString::fromStdString(Username);
    bool result = false;
    ifRunning = true;
    ifBreak = false;
    try
    {
        m_flag = false;
        int mytime = 0;
        while (true)
        {
            if (moduleStatus == false || mytime++ > getImageTimeOut || ifBreak == true)
            {
                result = false;
                break;
            }
            n_mutex->lock(); 
            if (queuepic.size() > 0)
            {
                n_mutex->unlock();
                result = true;
                break;
            }
            n_mutex->unlock();
            Sleep(1);
        }
        //考虑到误触发、漏触发的图，在这里进行设置。
        //需要设置曝光时
        if (ifStandard == true)
        {
            imgIndex++;
            if (expourseTimeList.size() > 1 && expourseTimeList[imgIndex % expourseTimeList.size()] != expourseTimeList[(imgIndex - 1) % expourseTimeList.size()])
                SetExposureTime(expourseTimeList[imgIndex % expourseTimeList.size()]);
            if (gainList.size() > 1 && gainList[imgIndex % gainList.size()] != gainList[(imgIndex - 1) % gainList.size()])
                SetGain(gainList[imgIndex % gainList.size()]);
        }
    }
    catch (QString ev)
    {
        qDebug() << "[Error] " << " ev:" << ev ;
    }
    qDebug() << "[INFO] " << __LINE__ << " run end";
    return result;
}

//相机连接状态：正常连接或断开
bool Hd_CameraModule_HIK_hard::checkStatus()
{
    //status = moduleStatus;
    return moduleStatus;
}