From 2ce0d7b876947f502414d2ce051d357d2b336758 Mon Sep 17 00:00:00 2001 From: RCi <15089880081@163.com> Date: Fri, 30 Aug 2024 17:36:15 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=94=B9=E4=BA=86=E7=82=B9=E6=BF=80?= =?UTF-8?q?=E5=85=89=E5=8F=96=E5=80=BC=E6=96=B9=E5=BC=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ...Hd_3DCameraLMI_module_PointLazer_Range.cpp | 18 +- .../appConfig/sqlManager/sqlManager.cpp | 2 +- HanddleAI/HandleAiUi-new/detProcess.hpp | 185 ++++++++++-------- lib/Hd_3DCameraLMI_module_PointLazer.exp | Bin 772 -> 798 bytes lib/Hd_3DCameraLMI_module_PointLazer.lib | Bin 2276 -> 2276 bytes lib/Hd_DalsaCamera_module.exp | Bin 751 -> 777 bytes lib/Hd_DalsaCamera_module.lib | Bin 2120 -> 2120 bytes lib/Hd_FinsTcp_module.exp | Bin 743 -> 769 bytes lib/Hd_FinsTcp_module.lib | Bin 2064 -> 2064 bytes lib/Hd_MvCamera_module_GENTL.exp | Bin 756 -> 782 bytes lib/Hd_MvCamera_module_GENTL.lib | Bin 2164 -> 2164 bytes lib/Hd_MvCamera_module_GIGE.exp | Bin 755 -> 781 bytes lib/Hd_MvCamera_module_GIGE.lib | Bin 2148 -> 2148 bytes lib/Hd_ResultsSummary_module.exp | Bin 756 -> 782 bytes lib/Hd_ResultsSummary_module.lib | Bin 2164 -> 2164 bytes lib/Hd_SocketModule_ModbusTcp.exp | Bin 1501 -> 1527 bytes lib/Hd_SocketModule_ModbusTcp.lib | Bin 3446 -> 3446 bytes 17 files changed, 121 insertions(+), 84 deletions(-) diff --git a/BaseModules/Hd_3DCameraLMI_module_PointLazer/Hd_3DCameraLMI_module_PointLazer_Range.cpp b/BaseModules/Hd_3DCameraLMI_module_PointLazer/Hd_3DCameraLMI_module_PointLazer_Range.cpp index a6177a52..e051e9ec 100644 --- a/BaseModules/Hd_3DCameraLMI_module_PointLazer/Hd_3DCameraLMI_module_PointLazer_Range.cpp +++ b/BaseModules/Hd_3DCameraLMI_module_PointLazer/Hd_3DCameraLMI_module_PointLazer_Range.cpp @@ -217,10 +217,16 @@ bool Hd_3DCameraLMI_module::sendData(std::vector& vecPic, QByteArray &d if(dataVec.size()>0) { m_mutex->lock(); - double rangeData = dataVec[dataVec.size()-1]; + double avgData = 0; + for (auto data : dataVec) + { + avgData += data; + } + avgData /= dataVec.size(); + //double rangeData = dataVec[dataVec.size()-1]; dataVec.clear(); m_mutex->unlock(); - data = QByteArray::number(rangeData); + data = QByteArray::number(avgData); } return true; @@ -261,17 +267,18 @@ bool Hd_3DCameraLMI_module::initParas(QByteArray &) bool Hd_3DCameraLMI_module::run() { + dataVec.clear(); + for(auto i = 0 ;i<20000;i++) GoSensor_Trigger(sensor); bool result = false; //qDebug() << "[info]" << __FUNCTION__ << " line:" << __LINE__ << " run start" << id; try { int timeOut = 0; - dataVec.clear(); - while (timeOut < 10000) + while (timeOut < 2000) { m_mutex->lock(); - if (dataVec.size() > 0) + if (dataVec.size() >= 9000) { result = true; m_mutex->unlock(); @@ -281,6 +288,7 @@ bool Hd_3DCameraLMI_module::run() timeOut += 10; QThread::msleep(10); } + std::cout << "size" << dataVec.size() << std::endl; } catch (QString ev) { diff --git a/HanddleAI/HandleAiUi-new/appConfig/sqlManager/sqlManager.cpp b/HanddleAI/HandleAiUi-new/appConfig/sqlManager/sqlManager.cpp index c16ff3e8..24afe956 100644 --- a/HanddleAI/HandleAiUi-new/appConfig/sqlManager/sqlManager.cpp +++ b/HanddleAI/HandleAiUi-new/appConfig/sqlManager/sqlManager.cpp @@ -148,7 +148,7 @@ bool sqlManager::updateData(std::string SN,sqlRowDatas data) dbPtr->Update(getCurrentDate(), data, "SN", SN); } mutex.unlock(); - + return true; } //将数据存入数据库 bool sqlManager::addData(std::string SN,std::vector data) diff --git a/HanddleAI/HandleAiUi-new/detProcess.hpp b/HanddleAI/HandleAiUi-new/detProcess.hpp index 14814b5c..2687a263 100644 --- a/HanddleAI/HandleAiUi-new/detProcess.hpp +++ b/HanddleAI/HandleAiUi-new/detProcess.hpp @@ -11,17 +11,17 @@ class detProcess : public QThread { public: - detProcess() - { - _threadManager.initialization(this); - _manualDetThread.initialization(this); - _cameraManager.initialization(); - _triggerManager.initialization(this); + detProcess() + { + _threadManager.initialization(this); + _manualDetThread.initialization(this); + _cameraManager.initialization(); + _triggerManager.initialization(this); detProcessCallbackRegister(); - } + } //ʼ - void run() - { + void run() + { _cameraManager.start(); _handleAiModelManager.start(); _lightSourceManager.start(); @@ -35,16 +35,16 @@ public: _triggerManager.start(); res3 = waitrForInitResult(&_triggerManager); } - std::cout << "_cameraManager-initReuslt-->" << std::to_string(res1) << "\n" + std::cout << "_cameraManager-initReuslt-->" << std::to_string(res1) << "\n" << "_handleAiModelManager-initReuslt-->" << std::to_string(res2) << "\n" << "_triggerManager-initReuslt-->" << std::to_string(res3) << "\n" << std::endl; - if(res1 == true&&res2 == true && res3 == true) + if (res1 == true && res2 == true && res3 == true) emit _core._qtFunc.sendInitFinished(InitOK); else emit _core._qtFunc.sendInitFinished(InitFailure); - } + } //ȴ񷵻OK/NGֱʱ - bool waitrForInitResult(serviceModule* ptr,int timeout=-1) + bool waitrForInitResult(serviceModule* ptr, int timeout = -1) { if (timeout == -1)//ᳬʱ { @@ -52,7 +52,7 @@ public: { if (ptr->status == InitFailure) return false; - else if(ptr->status == InitOK) + else if (ptr->status == InitOK) return true; QThread::msleep(100); } @@ -75,18 +75,18 @@ public: } } simpleSiemensTcp _simpleSiemensTcp; - detDataManager _detDataManager;//е Ҫʼ - imgSaveThreadManager _imgSaveThreadManager;//ͼ߳ Ҫʼ - detThreadManager _threadManager;//첽߳ Ҫʼ - - handleAiModelManager _handleAiModelManager;//ģ - cameraManager _cameraManager;// - lightSourceManager _lightSourceManager;//Դ + detDataManager _detDataManager;//е Ҫʼ + imgSaveThreadManager _imgSaveThreadManager;//ͼ߳ Ҫʼ + detThreadManager _threadManager;//첽߳ Ҫʼ - triggerManager _triggerManager;//MODBUS - manualDetThread _manualDetThread;//ֶ߳ + handleAiModelManager _handleAiModelManager;//ģ + cameraManager _cameraManager;// + lightSourceManager _lightSourceManager;//Դ - /////////////////////////////// + triggerManager _triggerManager;//MODBUS + manualDetThread _manualDetThread;//ֶ߳ + + /////////////////////////////// bool startDet = false; QMutex detMutex; std::string currentSn; @@ -99,7 +99,8 @@ public: _triggerManager.registerCallback(361, 2, [this](QByteArray& byteArray) {detectionSwitch2(byteArray); }, "1"); _triggerManager.registerCallback(362, 1, [this](QByteArray& byteArray) {detectionEnd(byteArray); }, "2"); _triggerManager.registerCallback(364, 1, [this](QByteArray& byteArray) {frontBackDet(); }, ""); - + _triggerManager.registerCallback(369, 1, [this](QByteArray& byteArray) {testFunc(); }, ""); + _threadManager.registerCallback([this](std::shared_ptrdata) {correctionResultHandle(data); }); _threadManager.registerCallback([this](std::shared_ptrdata) {detectionResultHandle(data); }); } @@ -109,7 +110,7 @@ public: bool currentBack = false; //У׼ݻ //SN pointsOffsetStruct lastPointsOffsetStruct_; - correctionStruct laserDataCache; + correctionStruct laserDataCache; //̿ʼ˷1Ĵ259 //λȷOK֮Ĵ2591Ĵ260 //ƷͺΪProduct_1Ϊ棬λ1Ĵ2560Ĵ257 @@ -132,12 +133,12 @@ public: //λȷϻ˵λ1(264)ʱȷOK󣬼Ĵ26212610ȡɺ󣬷ͼĴ2631 //У׼ 261 void calibrationFunc(QByteArray& byteArray) - { + { QThread::msleep(3000); int armPos = _triggerManager.getValue(264, byteArray); int xValue1 = _triggerManager.getValue(265, byteArray); - int xValue2 = _triggerManager.getValue(266, byteArray); + int xValue2 = _triggerManager.getValue(266, byteArray); int xValue3 = _triggerManager.getValue(267, byteArray); int yValue1 = _triggerManager.getValue(268, byteArray); @@ -154,31 +155,33 @@ public: auto cameraPtr = _cameraManager.getCamera("181964"); if (cameraPtr == nullptr) return; - std::vector values; - for (int i = 0; i < 10; i++)// - { - cameraPtr->trigger(); - double rangeData1 = cameraPtr->getCameraValue(); - } - for (int i = 0; i < 70; i++) - { - cameraPtr->trigger(); - double rangeData1 = cameraPtr->getCameraValue(); - values.push_back(rangeData1); - } + cameraPtr->trigger(); + double rangeData = cameraPtr->getCameraValue(); + //std::vector values; + //for (int i = 0; i < 10; i++)// + //{ + // cameraPtr->trigger(); + // double rangeData1 = cameraPtr->getCameraValue(); + //} + //for (int i = 0; i < 70; i++) + //{ + // cameraPtr->trigger(); + // double rangeData1 = cameraPtr->getCameraValue(); + // values.push_back(rangeData1); + //} - double avgData = 0; - for (auto data : values) - { - avgData += data; - } - avgData /= values.size(); + //double avgData = 0; + //for (auto data : values) + //{ + // avgData += data; + //} + //avgData /= values.size(); - double maxData = *std::max_element(values.begin(), values.end()); - double minData = *std::min_element(values.begin(), values.end()); - double rangeData = avgData; - qDebug() << " max:" << maxData << " min:" << minData << " avg:" << avgData; - std::cout << " max:" << maxData << " min:" << minData << " avg:" << avgData << std::endl; + //double maxData = *std::max_element(values.begin(), values.end()); + //double minData = *std::min_element(values.begin(), values.end()); + //double rangeData = avgData; + /*qDebug() << " max:" << maxData << " min:" << minData << " avg:" << avgData; + std::cout << " max:" << maxData << " min:" << minData << " avg:" << avgData << std::endl;*/ qDebug() << "jiaozhun xValue:" << xValue << " yValue:" << yValue << " zValue:" << zValue << " rangeData:" << rangeData; std::cout << "jiaozhun xValue:" << xValue << " yValue:" << yValue << " zValue:" << zValue << " rangeData:" << rangeData << std::endl; if (rangeData == 0) @@ -205,13 +208,13 @@ public: laserDataCache.in_X_Y0Z_Value.push_back(rangeData); } else if (armPos <= 9) - { + { laserDataCache.in_X_X0Z.push_back(xValue); laserDataCache.in_Y_X0Z.push_back(yValue); laserDataCache.in_Z_X0Z.push_back(zValue); laserDataCache.in_Y_X0Z_Value.push_back(rangeData); } - + _triggerManager.sendFinsMsg("write_short_261_0");// _triggerManager.sendFinsMsg("write_short_262_1"); _triggerManager.sendFinsMsg("write_short_263_1"); @@ -226,7 +229,7 @@ public: _threadManager.addTask(data);// laserDataCache = correctionStruct(); } - } + } //ղ 300 void captureImageAndDetection(QByteArray& byteArray) { @@ -237,7 +240,7 @@ public: _triggerManager.sendFinsMsg("write_short_300_0");//ź _triggerManager.sendFinsMsg("write_short_301_1");//ʼź int Pos = _triggerManager.getValue(303, byteArray); - emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(Pos,1); + emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(Pos, 1); std::cout << "arm @Pos:" << Pos; std::shared_ptr data = _detDataManager.insertDetData("Camera1", currentSn, 1, 1); @@ -306,17 +309,17 @@ public: if (!data.value.compare("NG")) result = false; //ݿΪfalseʱ ݵǰж - if(result == false) + if (result == false) { emit _core._qtFunc.uiModuleSummaryDataManager_SetSummaryResultText("NG", Qt::red); return; } //ݿΪtrueûвѯʱʱ ж - if(productData->ngPinCount >0 || productData->ngCount>0)//NG + if (productData->ngPinCount > 0 || productData->ngCount > 0)//NG { emit _core._qtFunc.uiModuleSummaryDataManager_SetSummaryResultText("NG", Qt::red); - _core._appConfig._sqlManager.updateData(currentSn, {{"detResult","NG"}}); + _core._appConfig._sqlManager.updateData(currentSn, { {"detResult","NG"} }); } else { @@ -330,7 +333,7 @@ public: if (currentBack == true) currentBack = false; else if ( - _core._appConfig.productDatas[currentProductIndex].isBackExist == true + _core._appConfig.productDatas[currentProductIndex].isBackExist == true && result == true && startDet == true) { @@ -352,7 +355,7 @@ public: void detectionResultHandle(std::shared_ptrdata) { data->sqlVec.push_back({ "SN",data->SNcode }); - data->sqlVec.push_back({ "ARMPOS",std::to_string(data->armPos)}); + data->sqlVec.push_back({ "ARMPOS",std::to_string(data->armPos) }); //ͼƬ if (data->resultImgs.size() > 0) { @@ -396,7 +399,7 @@ public: pack.type = 2; } - if(data->halconOK == true) + if (data->halconOK == true) emit _core._qtFunc.addDashBoardData(0, data->halconOK); else if (data->resultImgs.size() >= 2) { @@ -407,16 +410,16 @@ public: pack.type = 1; } if (finalOk == true) - emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(data->armPos,2); + emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(data->armPos, 2); + - perConnector _perConnectorData; _perConnectorData.aiOk = data->aiDetOK; _perConnectorData.halconOk = data->halconOK; _perConnectorData.maxPinDetValue = data->maxPinDetValue; auto productData = _core._productDataCache.get(currentSn); productData->connectorResults.push_back(_perConnectorData); - data->sqlVec.push_back({ "Result",std::to_string(finalOk)}); + data->sqlVec.push_back({ "Result",std::to_string(finalOk) }); } //ctԼ͵ auto totalCt = std::chrono::duration_cast(data->halconEndTime - data->algoStartTime); @@ -451,28 +454,54 @@ public: //ʹõ㼤ǷΪ棬ûݾ void frontBackDet() { - _triggerManager.sendFinsMsg("write_short_364_1"); + QThread::msleep(1000); + _triggerManager.sendFinsMsg("write_short_364_0"); + _triggerManager.sendFinsMsg("write_short_365_0"); auto cameraPtr = _cameraManager.getCamera("181964"); if (cameraPtr == nullptr) return; - for (int i = 0; i < 10; i++)// + //for (int i = 0; i < 10; i++)// + //{ + // cameraPtr->trigger(); + // cameraPtr->getCameraValue(); + //} + //for (int i = 0; i < 100; i++)//Ƿ + //{ + // cameraPtr->trigger(); + // if (cameraPtr->getCameraValue() > -100)// Ƿ + // { + // _triggerManager.sendFinsMsg("write_short_365_2"); + // break; + // } + //} + + //1棬2Ƿ棬Զ + + cameraPtr->trigger(); + double value = cameraPtr->getCameraValue(); + std::cout << "camera value" << value; + if (value > -100)// Ƿ { - cameraPtr->trigger(); - cameraPtr->getCameraValue(); - } - for (int i = 0; i < 100; i++)//Ƿ - { - cameraPtr->trigger(); - if (cameraPtr->getCameraValue() > -100)// Ƿ - { - _triggerManager.sendFinsMsg("write_short_365_2"); - break; - } + _triggerManager.sendFinsMsg("write_short_365_2"); + return; } _triggerManager.sendFinsMsg("write_short_365_1");// + //淴Ƿ⣬ڻе۽űо } - + void testFunc() + { + auto cameraPtr = _cameraManager.getCamera("181964"); + if (cameraPtr == nullptr) + return; + std::vector values; + for (int i = 0; i < 1000; i++) + { + cameraPtr->trigger(); + double v = cameraPtr->getCameraValue(); + std::cout << v << std::endl; + } + } public slots: void runBackDet() { diff --git a/lib/Hd_3DCameraLMI_module_PointLazer.exp b/lib/Hd_3DCameraLMI_module_PointLazer.exp index c128f721899e1a2fd5f5ffe10a0335da718ee8af..97d8b87b5a54ed11f0f0bf06624e98e39c3ad3b0 100644 GIT binary patch delta 186 zcmZo+o5#kP(#FK_9|)W#aym20P4vCbE5yjaV9UTL$N&V+lPwv&>NOYyS{N97Gn0$* zi}TY;6f}Y~6?{DXyct>B@_vx-U1EKbgM%+CzXjL9!8iAgHW%t?ubB+ng&(A52@eKwt4NdfnE%c0y4UG+Ak}~sRJo1Z6 YfI30CV{$U{Cd)ACF=aJQ_F=jN01gQ^4FCWD diff --git a/lib/Hd_3DCameraLMI_module_PointLazer.lib b/lib/Hd_3DCameraLMI_module_PointLazer.lib index b506c2adaff32453f920896da4a99bad9470fc31..36c75b149f315b6d9f39a25471404d60a91a35ae 100644 GIT binary patch delta 118 zcmaDN_(X8S0VbAS@rnN@A7MJqqQM~0GP$3*m6ylW|Qx-^}tjrLsf2`#qPxj05HBKZU6uP delta 118 zcmaDN_(X8S0VWpXY46@lKEiaIMU5e=adJO%F%yuQ#V)m3j>UkH^Ptn_hnE-_7?>uX wWRjj-#99wirapNBI|o$hWCyl5&b6m&4}62FG@E>vtp}!38LD#gEOswO00)UE^Z)<= diff --git a/lib/Hd_DalsaCamera_module.exp b/lib/Hd_DalsaCamera_module.exp index d51dd3479f00019389da4252121bf314da3584cb..ab118790922bdf283ca963bb9e26af2406b92951 100644 GIT binary patch delta 164 zcmaFQ+R4V5(#FK_9|&|Oayl~!Gfwoo!pqLcz+l9{D98W=&Xe^S?Ugkc1X>svd^3}a z@{9A+N)$ALG!=Y2{k$1k8Egd^lFL(o>LxNuy9cG_q$U=pGNe|dGB{hs1O)lJ2RYUm z#`tQ*oMS@r^K*)0e1m~ZLlYB&Izv5UV~fc*8J(B} KS|-afT>=2WYcBEt delta 138 zcmeBVd(X<5(#FK_9|(jeaym2pWSHo8h4(E31A`F*qacuCaGR{pXs@iskk!b*;G3CT zlwX{mR-&L0q^aQJ>F3Rm&0s6YkX)VuR5y`PTGu5tsWhD-wIY?l#VRJO*vP=hC??D~ lCL}*Ur#Qwp7|1j<(KEKtGd4CfHkkaG(TORmak4qnB>*V3D4hTR diff --git a/lib/Hd_DalsaCamera_module.lib b/lib/Hd_DalsaCamera_module.lib index c271a24edcc0cf6762f83aa447cf44b73e509d54..cc2d36e5dd6097c8d1dffea4f0e34dc019fb0ad6 100644 GIT binary patch delta 109 zcmX>ha6({12NTODh23{1_b}~Y(O?j0ne4-y&IF|7*`+q0XO?DUVSi@ub@DrwDKJ^} s$!l3TpeiO`WQ}DF@!xsr_2l;~@{`vvNl(sYYlNv(hN|2w&#uV`01D?LO#lD@ delta 109 zcmX>ha6({12NR3#l2yki_b}~YQDewzob1D#&IF|7*`+q0XO?DU5oOG{G5Hsvd^3}a z@{9A+N)$ALG!=Y2{k$1k8Egd^lFL(o>N**v-GfqdQWJ|)8B!}!8Jw+R0)qVAgBouQtwvBl(zj804f KEt5r=E&%|cvo5Lt delta 138 zcmZoF3Rm&0s6YkX)VuRM*KUt?QDSRGQ9^T9L}&ViglsY-C_$6cgqg l6Ox~wQyk+P3}hOb=owq+85|Xqg}QqQyqQ^; 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