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

#include <cameraManager.h>
#include <qlibrary.h>
#include <windows.h>
#include <MvCameraControl.h>
#include <CameraParams.h>
#include <appCore.hpp>
static QByteArray MV_CC_DeviceInfoListToQByteArray(const MV_CC_DEVICE_INFO_LIST& deviceInfoList) {
	QByteArray byteArray;
	byteArray.resize(sizeof(MV_CC_DEVICE_INFO_LIST));
	memcpy(byteArray.data(), &deviceInfoList, sizeof(MV_CC_DEVICE_INFO_LIST));
	return byteArray;
}
static MV_CC_DEVICE_INFO_LIST QByteArrayToMV_CC_DeviceInfoList(const QByteArray& byteArray) {
	MV_CC_DEVICE_INFO_LIST deviceInfoList;
	if (byteArray.size() == sizeof(MV_CC_DEVICE_INFO_LIST)) {
		memcpy(&deviceInfoList, byteArray.constData(), sizeof(MV_CC_DEVICE_INFO_LIST));
	}
	else {
		qDebug() << "Invalid size of QByteArray for MV_CC_DEVICE_INFO_LIST!";
	}
	return deviceInfoList;
}
static MV_CC_DEVICE_INFO_LIST searchMvDevice()
{
	MV_CC_DEVICE_INFO_LIST m_stDevList;
	memset(&m_stDevList, 0, sizeof(MV_CC_DEVICE_INFO_LIST));
	int nRet = MV_CC_EnumDevices(MV_GIGE_DEVICE || MV_USB_DEVICE, &m_stDevList);
	return m_stDevList;
}

camera::camera(cameraModule cameraModulePtrIn, int indexIn)
{
	cameraModulePtr = cameraModulePtrIn;
	cameraName = cameraModulePtr.key;
	index = indexIn;
	lastUpdateTime.start();
	this->start();
}
void camera::run()
{
	QThread::msleep(2000);
	std::vector<cv::Mat>camera_mat;
	while (runFlag)
	{
		int queueSize = requestQueue.size() ;
		if (queueSize >0)
		{
			mutex.lock();
			std::shared_ptr <detData>data = requestQueue.dequeue();
			trigger();
			data->oriImgMutex.lock();
			const unsigned long long timeCode = data->timeCode;
			while(1)
			{
				getCameraImg(data->oriImgs);
				if (data->oriImgs.size() >= data->imgAmountMin)
				{
					qDebug() << data->timeCode << " Min:" << data->imgAmountMin << " Get:" << data->oriImgs.size();
					if (lastUpdateTime.elapsed() > 200)//显示在界面
					{
						lastUpdateTime.start(); // 记录本次更新时间
						QPixmap pixmap;
						cvMatToQPixMap(data->oriImgs[0], pixmap);
						showImgPack* pack = new showImgPack();
						pack->img = pixmap;
						pack->type = imgWidgetOri;
						pack->index = data->oriShowIndex;
						emit _core._qtFunc.sendPixmapImageWidget(pack);
					}
					else
					{
						showLost++;
						qDebug() << cameraModulePtr.moduleName << "Lost show";
					}
					data->oriImgMutex.unlock();
					mutex.unlock();
					break;
				}
				QThread::msleep(1);
			}

		}
		QThread::msleep(100);
	}
}

cameraManager::~cameraManager()
{
	for (auto camera : cameras)
	{
		delete camera.second;
	}
	for (auto module : camerasVec)
	{
		Base* base_ptr = module.module_ptr;
		delete base_ptr;
	}

	
}
void cameraManager::initialization()
{	
#pragma region 加载相机dll
	for (auto val = 0; val < _core._appConfig._cameraStructs.size(); val++)
	{
		QString camera_key = QString::fromStdString(_core._appConfig._cameraStructs[val].connectionName);
		QString moduleName = QString::fromStdString(_core._appConfig._cameraStructs[val].moduleName);// 相机模块名
		QString triggerMode = QString::fromStdString(_core._appConfig._cameraStructs[val].triggerMode);// 相机模块名
		QVector<QString> surfaceVec;
		QByteArray init_Byte;
		// 加载相机模块
		if (!loadModule(camera_key, moduleName, triggerMode, init_Byte))
		{
			qCritical() << "[Error] " << " moduleName:" << moduleName << " load camera module failed! ";
			return;
		}
	}
#pragma endregion

	//非海康相机可跳过
	MV_CC_DEVICE_INFO_LIST m_stDevList = searchMvDevice();
	QByteArray mvDevices = MV_CC_DeviceInfoListToQByteArray(m_stDevList);

	for (auto i = 0; i < camerasVec.size(); i++)
	{
		cameraModule m_module = camerasVec.at(i);
		QString moduleName = m_module.moduleName;
		QString key = m_module.key;
		//传递初始化参数
		QByteArray  initByte = m_module.m_initByte;
		QByteArray m_keyByte = key.toUtf8();
		//遍历是否有相同key的相机，如果有直接复制指针
		for (int count = 0; count < camerasVec.size(); count++)
			if (!camerasVec[count].key.compare(m_module.key) && count < i)
				m_module.module_ptr = camerasVec[count].module_ptr;
		m_module.module_ptr->reciveData(vec_mat, m_keyByte);    //初始化相机

		//非海康相机可跳过
		for (int i = 0; i < m_stDevList.nDeviceNum; i++)
		{
			std::string userDefineName = static_cast<std::string>((LPCSTR)m_stDevList.pDeviceInfo[i]->SpecialInfo.stGigEInfo.chUserDefinedName);
			std::string serialNumber = static_cast<std::string>((LPCSTR)m_stDevList.pDeviceInfo[i]->SpecialInfo.stGigEInfo.chSerialNumber);
			if (!serialNumber.compare(m_module.key.toStdString()) || !userDefineName.compare(m_module.key.toStdString()))
			{
				m_module.module_ptr->reciveData(vec_mat, mvDevices);
				break;
			}
		}
		

	}

}
void cameraManager::run()
{
	if (initFlag == true)
		return;
	status = NotInit;
	bool initReuslt = true;
	for (auto i = 0; i < camerasVec.size(); i++)
	{
		cameraModule m_module = camerasVec.at(i);
		if (m_module.init == true)
			continue;
		QByteArray  initByte = m_module.m_initByte;
		if (m_module.module_ptr->initParas(initByte))
		{
			camera* _camera = new camera(m_module, cameras.size());
			cameras.insert(std::make_pair(m_module.key.toStdString(), _camera));
			emit _core._qtFunc.sendInitString("相机"+m_module.key + "初始化成功");
			qDebug() << "[INFO] " << " initParas success!";
			m_module.init = true;
		}
		else
		{
			QByteArray errorStr("getStatus");
			m_module.module_ptr->sendData(vec_mat, errorStr);
			initReuslt = false;
			qCritical() << "[Error] " << " moduleName:" << m_module.moduleName << " initParas failed!";
			emit _core._qtFunc.sendInitString("相机" + m_module.key + "初始化失败->"+ errorStr);
		}
	}
	if (initReuslt == true)
	{
		initFlag = true;
		status = InitOK;
	}
	else
		status = InitFailure;
}
bool cameraManager::loadModule(
	QString keyName, 
	QString moduleName, 
	QString triggerMode,
	QByteArray initByte)
{
	QString task_thread_index = 0;
	try
	{
		QString module_path = "./" + moduleName;
		qDebug() << "[INFO] " << " module_path:" << module_path;

		///////       自动拷贝重用dll
		if (QString(module_path.at(module_path.size() - 1)).toInt() > 0) {
			//命名格式： 模块名+1/2/3...
			QString path_model = module_path.mid(0, module_path.size() - 1);
			if (QFile::exists(path_model + ".dll")) {
				QFile::remove(module_path + ".dll");
				QFile::copy(path_model + ".dll", module_path + ".dll");

				qDebug() << "[INFO] " << "copy dll " << module_path;
			}

		}
		/// 动态加载dll

		QLibrary* m_lib = new QLibrary(module_path);
		lib_list.append(m_lib);
		bool flag = m_lib->load();
		if (!m_lib->isLoaded())
		{

			qDebug() << "[Error] " << "  Loaded error:" << m_lib->errorString();
			return false;
		}

		CreateFunction createFun = (CreateFunction)m_lib->resolve("create");
		ReleaseFunction releaseFun = (ReleaseFunction)m_lib->resolve("destory");
		if (createFun && releaseFun)
		{
			cameraModule  m_module;
			m_module.key = keyName;
			m_module.m_initByte = initByte;
			m_module.moduleName = moduleName;
			m_module.triggerMode = moduleName;
			m_module.module_ptr = createFun();
			m_module.destory_ptr = releaseFun;

			if (!task_thread_index.isEmpty())
				m_module.task_thread_index = task_thread_index;

			camerasVec.push_back(m_module);
		}
		else
		{
			delete m_lib;
			m_lib = nullptr;
			return false;
		}
	}
	catch (QString event)
	{
		qCritical() << "[Error] " << " event:" << event;
		return false;
	}
	return true;
}