handleaiuinew/HanddleAI/HandleAiUi-new/back/triggerController.cpp

#include <triggerController.h>
#include <backEndController.h>
#include <backStruct.h>
void triggerController::decodeCameraCMD(QByteArray byte)
{
#if 0
    if (byte.isEmpty())
        return;
    double cameraData = 0;
    if (checkTrigger(1, 1, byte) == true)
    {
        correctionData = new correctionStruct();
        correctionData->in_X_X0Y = { -258.71,-447.8,-447.2 };
        correctionData->in_Y_X0Y = { -1099.67,-1133.42,-938.83 };
        correctionData->in_Z_X0Y = { 711.77,711.62,711.730000 };
        correctionData->in_Z_X0Y_Value = { 63.9795,64.5333,65.859300 };

        correctionData->in_X_X0Z = { -402.3,-455.91,-236.75 };
        correctionData->in_Y_X0Z = { -539.46,-536.21,-536.2 };
        correctionData->in_Z_X0Z = { -418.88,425.12,425.13 };
        correctionData->in_Y_X0Z_Value = { 118.15,-228.19,-256.5 };

        correctionData->in_X_Y0Z = { 395.250000,395.23,328.34 };
        correctionData->in_Y_Y0Z = { -1147.29,-1147.28,-940.82 };
        correctionData->in_Z_Y0Z = { 118.15,-228.19,-256.5 };
        correctionData->in_X_Y0Z_Value = { -36.652200,-36.7302,41.0436 };
        detData* data = dController.insertDetData("Camera1", "correctionDataThread", "TEST", 0);
        data->correctionData = correctionData;
        workThread->addTask(data);//添加任务
        correctionData = nullptr;
    }

    //总流程开始，机器人发送1至寄存器259

    //上位机确认OK之后，清零寄存器259，并发送1至寄存器260
    //如产品型号为Product_1且为正面，则上位机发送1至寄存器256，发送0至寄存器257
    //之后机器人确认之后需发送测量点位总数具体值至寄存器258
    if (checkTrigger(259, 1, byte) == true)
    {
        bridge.back.sendFinsMsg("write_short_259_0");//触发信号清零
        bridge.back.sendFinsMsg("write_short_260_1");//开始检测信号
    }

    //机器人激光当前点位	264	1...9
    //机器人到达激光点位1时，寄存器261至1，264至1，并将机器人在激光点位1坐标XYZ按照定义规则，保存进寄存器265~270

    //上位机确认机器人到达点位1(264)时，确认OK后，寄存器262至1，261至0，取点完成后，发送寄存器263至1
    if (checkTrigger(261, 1, byte) == true)//读取请求地址
    {
        int armPos = getValue(264, byte);

        int xValue1 = getValue(265, byte);
        int xValue2 = getValue(266, byte);
        int xValue3 = getValue(267, byte);

        int yValue1 = getValue(268, byte);
        int yValue2 = getValue(269, byte);
        int yValue3 = getValue(270, byte);

        int zValue1 = getValue(271, byte);
        int zValue2 = getValue(272, byte);
        int zValue3 = getValue(273, byte);

        double xValue = (xValue1 == 1 ? 1 : -1) * ((double)xValue2 + ((double)xValue3) / (std::pow(10, to_string(xValue3).length())));
        double yValue = (yValue1 == 1 ? 1 : -1) * ((double)yValue2 + ((double)yValue3) / (std::pow(10, to_string(yValue3).length())));
        double zValue = (zValue1 == 1 ? 1 : -1) * ((double)zValue2 + ((double)zValue3) / (std::pow(10, to_string(zValue3).length())));
        double rangeData = threadlist[0]->getValueFromCamera();

        if (armPos == 1)//第一次
            correctionData = new correctionStruct();
        if (correctionData != nullptr)
        {
            if (armPos <= 3)
            {
                correctionData->in_X_X0Y.push_back(xValue);
                correctionData->in_Y_X0Y.push_back(yValue);
                correctionData->in_Z_X0Y.push_back(zValue);
                correctionData->in_Z_X0Y_Value.push_back(rangeData);
            }
            else if (armPos <= 6)
            {
                correctionData->in_X_X0Z.push_back(xValue);
                correctionData->in_Y_X0Z.push_back(yValue);
                correctionData->in_Z_X0Z.push_back(zValue);
                correctionData->in_Y_X0Z_Value.push_back(rangeData);
            }
            else if (armPos <= 9)
            {
                correctionData->in_X_Y0Z.push_back(xValue);
                correctionData->in_Y_Y0Z.push_back(yValue);
                correctionData->in_Z_Y0Z.push_back(zValue);
                correctionData->in_X_Y0Z_Value.push_back(rangeData);
            }
        }
        bridge.back.sendFinsMsg("write_short_261_0");//清零
        bridge.back.sendFinsMsg("write_short_262_1");
        bridge.back.sendFinsMsg("write_short_263_1");

        //上位机校正完成，将寄存器274置为1，并将结果按照定义XYZ规则放入310~336中
        if (armPos == 9)
        {
            detData* data = dController.insertDetData("Camera1", "correctionDataThread", "TEST", 0);
            data->correctionData = correctionData;
            workThread->addTask(data);//添加任务
            correctionData = nullptr;
        }
    }

    //机器人到达激光点位9时，寄存器261至1，264至9，并将机器人在激光点位9坐标XYZ按照定义规则，保存进寄存器265~270

    if (checkTrigger(300, 1, byte) == true)
    {
        bridge.back.sendFinsMsg("write_short_300_0");//触发信号清零
        bridge.back.sendFinsMsg("write_short_301_1");//开始检测信号
        int Pos = getValue(303, byte);
    }


#endif
}

void triggerController::init(backEndController* input)
{
    _backEndController = input;
    QLibrary* m_lib = new QLibrary(triggerFileName);
    bool flag = m_lib->load();
    if (!m_lib->isLoaded())
    {
        emit _backEndController->sendErrorToMainwindow(dllNotFound);
        return;
    }

    if (flag)
    {
        CreateFunction createFun = (CreateFunction)m_lib->resolve("create");
        ReleaseFunction releaseFun = (ReleaseFunction)m_lib->resolve("destory");
        if (createFun && releaseFun)
        {
            trigger = createFun();
            destory_finstcp = releaseFun;
            QByteArray initByte = QByteArray::fromStdString("sleeptime_20_readnum_300_writetype_ushort");
            std::vector<cv::Mat> dddd;
            trigger->reciveData(dddd, QByteArray::fromStdString("init_127.0.0.1_502_1"));
            trigger->initParas(initByte);
        }
        else
        {
            emit _backEndController->sendErrorToMainwindow(triggerInitFailure);
            delete m_lib;
            m_lib = nullptr;
            return;
        }
    }
    this->start();
}