触发器与相机联动成功

HanddleAI/HandleAiUi-new/back/triggerManager.cpp

@@ -1,9 +1,30 @@
 #include <triggerManager.h>
 #include <backEndManager.h>
+#include <threadPoolManager.h>
 #include <backStruct.h>
+#include <cameraManager.h>
+#include <jsonParsing.h>
+static correctionStruct* correctionData;
 void triggerManager::decodeCameraCMD(QByteArray byte)
 {
-#if 0
+#if 1
+    //if (checkTrigger(1, 2, byte) == true)
+    {
+        detData* data = dManager->insertDetData("Camera1", "Thread3", "TEST", 0);
+        data->correctionData = correctionData;
+        _threadManager->addTask(data);//添加任务
+        auto camera = _cameraManager->cameras.find("123");
+        camera->second->Process(data);
+    }
+    //if (checkTrigger(2, 2, byte) == true)
+    {
+        detData* data = dManager->insertDetData("Camera1", "Thread2", "TEST", 0);
+        data->correctionData = correctionData;
+        _threadManager->addTask(data);//添加任务
+        auto camera = _cameraManager->cameras.find("Vir-CA013-20GC");
+        camera->second->Process(data);
+    }
+    return;
     if (byte.isEmpty())
         return;
     double cameraData = 0;
@@ -24,12 +45,27 @@ void triggerManager::decodeCameraCMD(QByteArray byte)
         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 = dManager.insertDetData("Camera1", "correctionDataThread", "TEST", 0);
+        detData* data = dManager->insertDetData("Camera1", "correctionDataThread", "TEST", 0);
         data->correctionData = correctionData;
-        workThread->addTask(data);//添加任务
+        _threadManager->addTask(data);//添加任务
         correctionData = nullptr;
     }
-
+    if (checkTrigger(1, 2, byte) == true)
+    {
+        detData* data = dManager->insertDetData("Camera1", "Thread3", "TEST", 0);
+        data->correctionData = correctionData;
+        _threadManager->addTask(data);//添加任务
+        auto camera = _cameraManager->cameras.find("123");
+        camera->second -> Process(data);
+    }
+    if (checkTrigger(2, 2, byte) == true)
+    {
+        detData* data = dManager->insertDetData("Camera1", "Thread3", "TEST", 0);
+        data->correctionData = correctionData;
+        _threadManager->addTask(data);//添加任务
+        auto camera = _cameraManager->cameras.find("456");
+        camera->second->Process(data);
+    }
     //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
@@ -37,8 +73,8 @@ void triggerManager::decodeCameraCMD(QByteArray byte)
     //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
+        sendFinsMsg("write_short_259_0");//触发信号清零
+        sendFinsMsg("write_short_260_1");//开始检测信号
     }
 
     //机器人激光当前点位	264	1...9
@@ -64,7 +100,7 @@ void triggerManager::decodeCameraCMD(QByteArray 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();
+        double rangeData = _cameraManager->cameras.find("相机的名字")->second->getCameraValue();
 
         if (armPos == 1)//第一次
             correctionData = new correctionStruct();
@@ -92,16 +128,16 @@ void triggerManager::decodeCameraCMD(QByteArray byte)
                 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");
+        sendFinsMsg("write_short_261_0");//清零
+        sendFinsMsg("write_short_262_1");
+        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 = dManager.insertDetData("Camera1", "correctionDataThread", "TEST", 0);
+            detData* data = dManager->insertDetData("Camera1", "correctionDataThread", "TEST", 0);
             data->correctionData = correctionData;
-            workThread->addTask(data);//添加任务
+            _threadManager->addTask(data);//添加任务
             correctionData = nullptr;
         }
     }
@@ -110,8 +146,8 @@ void triggerManager::decodeCameraCMD(QByteArray byte)
 
     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
+        sendFinsMsg("write_short_300_0");//触发信号清零
+        sendFinsMsg("write_short_301_1");//开始检测信号
         int Pos = getValue(303, byte);
     }
 
@@ -122,6 +158,9 @@ void triggerManager::decodeCameraCMD(QByteArray byte)
 void triggerManager::init(backEndManager* input)
 {
     _backEndManager = input;
+    dManager = _backEndManager->_detDataManager;
+    _cameraManager = _backEndManager->_cameraManager;
+    _threadManager = _backEndManager->_threadManager;
     QLibrary* m_lib = new QLibrary(triggerFileName);
     bool flag = m_lib->load();
     if (!m_lib->isLoaded())
@@ -152,4 +191,14 @@ void triggerManager::init(backEndManager* input)
         }
     }
     this->start();
+}
+
+int triggerManager::getValue(int dmPos, QByteArray byte)
+{
+    int triggerPos = (dmPos - _backEndManager->_jsonConfiguration->tcp.startPos) * 2;
+    if (byte.size() / 2 < triggerPos)
+        return false;
+    int val1 = byte.at(triggerPos) * 256;
+    int val2 = static_cast<unsigned char>(byte.at(triggerPos + 1));
+    return val1 + val2;
 }