189 lines
7.5 KiB
C++
189 lines
7.5 KiB
C++
#ifndef Logic_myiothread_H
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#define Logic_myiothread_H
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#include <QMap>
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#include <QSet>
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#include <QTimer>
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#include "Logic_camera_thread.h"
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#pragma execution_character_set("utf-8")
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//extern QList<Logic_camera_thread*> camerathreadlist;
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extern bool Tcp_Connect_Status;
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// 信号触发包
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typedef struct
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{
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int trigger_reentry_signal; // 触发信号防重入
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QString clear_camera_startpos_flag; // 是否是清除当前点位的信号
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QString trigger_signal_condition = ""; // 算法需要用到触发信号，作为执行条件
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QJsonArray read_clear_plc_startpos_array;
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QJsonArray clear_plc_data_msg_array;
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QVector<QString> vector_trigger_feedback_signal; // 反馈信号
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QVector<QString> vector_camera; // 存储触发相机的名称容器
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QString trigger_getImgNum = "";
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QString m_startpos = "";
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int sleep_time = 10;//
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}trigger_signal_pack;
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// 运行并检查相机是否取图完成的线程
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// 一个信号取多张的情况，取图时间长，和通信线程分开。
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class runAndCheck_cameraThread : public QThread
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{
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Q_OBJECT
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public:
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explicit runAndCheck_cameraThread(QObject* parent = nullptr);
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~runAndCheck_cameraThread();
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void run();
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void setRunFlag(bool flag) { runflag = flag; }
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void run_camera_module(QStringList cameraKeyS_runNumS);
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QByteArray checkCamerasFinish_feedbackSignal(trigger_signal_pack pack);
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//工站的相机线程列表；获取到拍照信号后，设置取图次数，Logic_camera_thread开线程运行
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QList<Logic_camera_thread*> station_camerathreadlist;
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bool runflag = true;
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bool ifTaskDoneFlag = false; //是否检查任务完成标志（按照SN容器是否为空）
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//要运行的相机key_取图次数
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QQueue<QStringList> runCameraKey_num;
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QMap<QString, trigger_signal_pack> map_trigger_signal_pack; // 相机信号触发包
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//相机拍照完成检查包
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QQueue< trigger_signal_pack> check_pack;
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QMutex* commond_pack_lock = new QMutex;
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private:
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QObject* read_obj;
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QMap<QString, int> Map_getImageNum;
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std::vector<cv::Mat> vec_mat; //无数据，拿来充函数的参数
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};
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// IO线程
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class Logic_myiothread : public QThread
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{
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Q_OBJECT
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public:
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explicit Logic_myiothread(QObject* parent = nullptr);
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~Logic_myiothread();
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void run();
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void setCommunicationPtr(Base* finsPtr){ finstcp_ptr = finsPtr; }
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void setRunFlag(bool flag){ io_runflag = flag;}
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void setIOMutex(QMutex * iomutex, QMutex* write_mutex);
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void setReadAllCmd(QString cmd, QString restSignal, QString restSignalBack); // 设置 从起始位开始都读取的指令，示例：readAll_DM100_50
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void setOverAllCmd(QString cmd, QString restSignal, QString programNum, QString restSignalBack,QString programNumBack);//设置全局指令
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void setTriggerCmd(QJsonObject station_obj);
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void readSnInfo(QVector<int>,QByteArray); // 从plc获取sn码信息
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void readEmergencyStopSignal(QVector<int>); // 读取紧急停止信号
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void checkReentrySign(QVector<int>); // 防重入检查标识符
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void checkTriggerCamera(QVector<int>); // 触发相机检查
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void clearPlcData(QVector<int>); // 清理plc中的数据
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void reciveCommond();
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void writeCommond();
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void decodeCameraCMD(QByteArray byte);
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void send_Result_TimeoutA();
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void send_Result_TimeoutB();
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QString getSn(QString errorinfo,QString area,QByteArray byte);
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QString snHex(QString sn);
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bool clearSnCameraAlgorithmData(int areaIndex,QJsonObject obj);
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//void checkCamerasFinish_feedbackSignal(trigger_signal_pack pack,
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// QString trigger_getImgNum,QString m_startpos, int sleep_time);
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//void run_camera_module(QStringList cameraKey_runNum,QString trigger_signal);
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void setStationKey(QString stationKey) { m_stationKey = stationKey; }
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void setStationObject(QJsonObject camera_obj);
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void setCommunication_Type(QString Type) { Communication_Type = Type; }
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void set_camerathreadlist(QList<Logic_camera_thread*> camerathreadlist) {
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m_runAndCheck_cameraThread->station_camerathreadlist = camerathreadlist;
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}
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void setheartCmd(QString heartCmd) { m_heartCmd = heartCmd; }
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void setheartTime(QString heartTime)
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{ m_heartTime = heartTime.toInt(); }
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void setType(QString io_type) { m_IoType = io_type; }
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/*void setMap_getImageflag(QString, int getImageNum);
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int getMap_getImageflag(QString m_name);*/
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//工站根据信号运行的算法，对应的条件判断列表
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QList<Logic_hdataintegration*> station_trigger_signal_dataIntegrationThread_list;
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// 触发算法检查
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void checkTriggerAlgorithm(QVector<int>);
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//运行算法对应的条件判断
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void run_Algorithm_hdataintegration(QString trigger_signal_num);
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void setSN_hdataintegration(QString read_sn_startpos, int index,QString sn_value);
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QJsonObject loadJsonCfg(QString json_cfg_file_path);
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bool initStationCameraAndAlgorithm();
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bool initStationsModule(MyModule cameraOrAlgorithm_module);
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QByteArray initCameraParam(QString key, QJsonArray array);
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QList<Logic_taskthread*> station_task_thread_list;
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// 工站结束校验（缺图重拍）
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void checkEndSingnal(QVector<int>);
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//返回的数据包
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int dataPack_size();
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dataPack getdataPack();
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//项目通信流程,1简单流程，2标准流程；
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int CommunicationProcessLevel = 0;
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//发送的数据是否自动拼接PLC指令头
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bool ifAddCmdHead = true;
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QString CmdHeadShort = "write_short_";
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QString CmdHeadString= "write_string_";
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private:
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QQueue<QByteArray> IoCommondPack; // 读取
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bool emergency_stop_state = true;
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int trigger_startpos = 0 ; // finstcp 触发的起始位置
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bool io_runflag = true;
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Base *finstcp_ptr = nullptr;
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QObject *mm_obj = nullptr;
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QMutex *m_iomutex = nullptr;
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QMutex* write_data_mutex = nullptr;
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QMutex* sendProcess_mutex = nullptr;
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QString readAll_cmd = "";
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QString rest_signal = nullptr;
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QString rest_signal_back = nullptr;
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QString program_Num = nullptr;
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QString program_Num_back = nullptr;
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QString m_stationName = nullptr;
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QJsonArray m_cameralist;
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QJsonArray m_algorithmlistArray;
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std::vector<cv::Mat> vec_mat;
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QMap<QString,QJsonArray> map_sn_area_array; // 站名_读取区域,存储sn的信息
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QMap<QString,QString> map_camera_feedback_sleep_time; // 相机反馈延迟时间
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QMap<QString, QString> map_algorithm_feedback_sleep_time; // 算法反馈延迟时间
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QMap<QString, trigger_signal_pack> map_algorithm_trigger_signal_pack; // 算法信号触发包
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QMap<QString,QVector<bool>> map_read_sn_reentry_vector_flag; // 读取sn码放重入标识符
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int count = 0;
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double A_time_Start = 0;
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double B_time_Start = 0;
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//IO通信类型
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QString m_IoType = "";
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//工站号
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QString m_stationKey;
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QString Communication_Type;
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//工站的相机线程列表
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//QList<Logic_camera_thread*> station_camerathreadlist;
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//运行相机Logic_camera_thread取图及检查完成情况
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runAndCheck_cameraThread* m_runAndCheck_cameraThread;
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//心跳指令
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QString m_heartCmd;
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//心跳时间
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int m_heartTime;
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//QFuture<void> mufuture;
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QMap<QString, QJsonObject> map_endSingnal_backObj; //工站结束效验信号(重拍)，工站结束效验信号-回复obj
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QQueue< dataPack> sendProcessTask;
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QByteArray readsnByte ;
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QVector<int> vec_value;
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signals:
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};
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#endif // Logic_myiothread_H
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