diff --git a/HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h b/HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h index ccbf1a6c..3a4477ff 100644 --- a/HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h +++ b/HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h @@ -330,10 +330,14 @@ bool simpleCorrection(correctionStruct* correctionData, CorrectionPoints& result sum += yData; result.OriginY = sum / 3; } + if (result.OriginZ < -1000 || result.OriginX < -1000 || result.OriginY < -1000) + return false; return true; } void ALGO_Correction(std::shared_ptr data) { + data->writeBack("short", 274, "1"); + return; CorrectionPoints resultPoints; if (simpleCorrection(&data->laserData, resultPoints) == false) { @@ -342,10 +346,10 @@ void ALGO_Correction(std::shared_ptr data) } Point3d point = getRPY(resultPoints); - std::cout << "ox:" << resultPoints.Origin[0] << "oy:" << resultPoints.Origin[1] << "oz:" << resultPoints.Origin[2] << std::endl; - std::cout << "Rx:" << point.x << "Ry:" << point.y << "Rz:" << point.z << std::endl; - qDebug() << "productIndex:"<< data->productType <<"ox:" << resultPoints.Origin[0] << "oy : " << resultPoints.Origin[1] << "oz : " << resultPoints.Origin[2]; - qDebug() << "Rx:" << point.x << "Ry:" << point.y << "Rz:" << point.z; + //std::cout << "ox:" << resultPoints.Origin[0] << "oy:" << resultPoints.Origin[1] << "oz:" << resultPoints.Origin[2] << std::endl; + //std::cout << "Rx:" << point.x << "Ry:" << point.y << "Rz:" << point.z << std::endl; + //qDebug() << "productIndex:"<< data->productType <<"ox:" << resultPoints.Origin[0] << "oy : " << resultPoints.Origin[1] << "oz : " << resultPoints.Origin[2]; + //qDebug() << "Rx:" << point.x << "Ry:" << point.y << "Rz:" << point.z; data->pointsOffsetStruct_.baseOffsetX = data->_productDataStruct.basePos[0] - resultPoints.OriginX; data->pointsOffsetStruct_.baseOffsetY = data->_productDataStruct.basePos[1] - resultPoints.OriginY; @@ -372,9 +376,9 @@ void ALGO_Correction(std::shared_ptr data) std::cout << "offsetX:" << data->pointsOffsetStruct_.baseOffsetX << "offsetY:" << data->pointsOffsetStruct_.baseOffsetY << "offsetZ:" << data->pointsOffsetStruct_.baseOffsetZ << std::endl; //std::cout << "offsetRx:" << offsetRx << "offsetRy:" << offsetRy << "offsetRz:" << offsetRz << std::endl; - createModbusStrs(310, data->pointsOffsetStruct_.baseOffsetX,data); + /*createModbusStrs(310, data->pointsOffsetStruct_.baseOffsetX,data); createModbusStrs(313, data->pointsOffsetStruct_.baseOffsetY, data); - createModbusStrs(316, data->pointsOffsetStruct_.baseOffsetZ, data); + createModbusStrs(316, data->pointsOffsetStruct_.baseOffsetZ, data);*/ //createModbusStrs(319, offsetRx, data); //createModbusStrs(322, offsetRy, data); diff --git a/HanddleAI/HandleAiUi-new/appCoreQtFunction.h b/HanddleAI/HandleAiUi-new/appCoreQtFunction.h index 3f01141a..6e810abd 100644 --- a/HanddleAI/HandleAiUi-new/appCoreQtFunction.h +++ b/HanddleAI/HandleAiUi-new/appCoreQtFunction.h @@ -25,6 +25,9 @@ signals: void uiModuleSummaryDataManager_SetSummaryResultText(QString text, Qt::GlobalColor color); void uiModuleSummaryDataManager_Reset(); + void uiModulestartDetBtn_disable(); + void uiModulestartDetBtn_enable(); + void uiModuleBackContinueDetDialog_show(); void uiModuleBackContinueDetDialog_hide(); diff --git a/HanddleAI/HandleAiUi-new/detProcess.hpp b/HanddleAI/HandleAiUi-new/detProcess.hpp index 9d8401c5..ddcaf033 100644 --- a/HanddleAI/HandleAiUi-new/detProcess.hpp +++ b/HanddleAI/HandleAiUi-new/detProcess.hpp @@ -158,7 +158,7 @@ public: cameraPtr->trigger(); double rangeData1 = cameraPtr->getCameraValue(); } - for (int i = 0; i < 100; i++) + for (int i = 0; i < 70; i++) { cameraPtr->trigger(); double rangeData1 = cameraPtr->getCameraValue(); @@ -228,7 +228,7 @@ public: //拍照并检测 300 void captureImageAndDetection(QByteArray& byteArray) { - detMutex.lock(); + //detMutex.lock(); _lightSourceManager.getLightSourcePtr("COM9")->setValue(lightSourceChannel::DChannel, 255); QThread::msleep(2000);//延时等待机械臂停稳 _triggerManager.sendFinsMsg("write_short_300_0");//触发信号清零 @@ -253,7 +253,7 @@ public: QThread::msleep(1000);//延时一秒完成拍照，后续改成拍完直接发送 _triggerManager.sendFinsMsg("write_short_302_1");//开始检测信号 - detMutex.unlock(); + //detMutex.unlock(); } //机械臂状态切换 361 1 空闲 void detectionSwitch1(QByteArray& byteArray) @@ -282,14 +282,7 @@ public: { _simpleSiemensTcp.writeDM100FALSE(); _lightSourceManager.getLightSourcePtr("COM9")->setValue(lightSourceChannel::DChannel, 0); - int currentProductIndex = _core._appConfig._switchProductWidgetDataPtr.currentProductIndex; - if (currentBack == true) - currentBack = false; - else if (_core._appConfig.productDatas[currentProductIndex].isBackExist == true) - { - backArmIndex = _core._appConfig.productDatas[currentProductIndex].backArmIndex; - emit emit _core._qtFunc.uiModuleBackContinueDetDialog_show(); - } + bool result = true; if (armIsRunning == true) { armIsRunning = false; @@ -304,7 +297,6 @@ public: //先查询数据库 auto sqlData = _core._appConfig._sqlManager.selectRowData(currentSn); - bool result = true; if (sqlData.rowDatas.size() > 1) for (auto data : sqlData.rowDatas[0]) if (!data.key.compare("detResult")) @@ -330,12 +322,24 @@ public: } std::cout << "detprocess runEnd" << std::endl; } - + //是否继续运行背面检测 + int currentProductIndex = _core._appConfig._switchProductWidgetDataPtr.currentProductIndex; + if (currentBack == true) + currentBack = false; + else if (_core._appConfig.productDatas[currentProductIndex].isBackExist == true && result == true) + { + backArmIndex = _core._appConfig.productDatas[currentProductIndex].backArmIndex; + emit _core._qtFunc.uiModuleBackContinueDetDialog_show(); + emit _core._qtFunc.uiModulestartDetBtn_disable(); + } } //校准结果处理 void correctionResultHandle(std::shared_ptrdata) { lastPointsOffsetStruct_ = data->pointsOffsetStruct_; + //写入plc + for (auto writeBackStr : data->writeBackData) + _triggerManager.sendFinsMsg(writeBackStr); } //检测结果处理 void detectionResultHandle(std::shared_ptrdata) @@ -384,9 +388,9 @@ public: emit _core._qtFunc.uiModuleImageDoubleCheckQdialog_ShowWindows(pack); pack.type = 2; } + if(data->halconOK == true) emit _core._qtFunc.addDashBoardData(0, data->halconOK); - else if (data->resultImgs.size() >= 2) { imageDoubleCheckPack pack; @@ -398,13 +402,12 @@ public: if (finalOk == true) emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(data->armPos,2); - auto productData = _core._productDataCache.get(currentSn); - if (finalOk == false) - productData->ngCount++; + 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)}); } @@ -477,6 +480,7 @@ public slots: currentSn = SN.toStdString(); _triggerManager.sendFinsMsg("write_short_350_" + QString::number(_core._appConfig.productDatas[productTypeIn].indexOfArm)); _triggerManager.sendFinsMsg("write_short_351_1"); + qDebug() << "SN:" << SN << "开始运行，型号->" << QString::fromStdString(_core._detGlobalData.productTypeStr); } //人工复判按下NG void uiModuleImageDoubleCheckQdialog_pressNG(int armPos,int type)//1 halcon 2ai @@ -486,8 +490,11 @@ public slots: else if (type == 2) emit _core._qtFunc.addDashBoardData(1, false); emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(armPos, 3); + emit _core._qtFunc.uiModulestartDetBtn_enable(); _triggerManager.sendFinsMsg("write_short_363_1"); - detMutex.unlock(); + auto productData = _core._productDataCache.get(currentSn); + productData->ngCount++; + //detMutex.unlock(); } //人工复判按下OK void uiModuleImageDoubleCheckQdialog_pressOK(int armPos, int type)//1 halcon 2ai @@ -497,7 +504,8 @@ public slots: else if (type == 2) emit _core._qtFunc.addDashBoardData(1, true); emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(armPos, 2); - detMutex.unlock(); + emit _core._qtFunc.uiModulestartDetBtn_enable(); + //detMutex.unlock(); } }; #pragma once \ No newline at end of file diff --git a/HanddleAI/HandleAiUi-new/main.cpp b/HanddleAI/HandleAiUi-new/main.cpp index 035d5375..6ab37447 100644 --- a/HanddleAI/HandleAiUi-new/main.cpp +++ b/HanddleAI/HandleAiUi-new/main.cpp @@ -121,6 +121,11 @@ void connectSignalAndSlots(MainWindow* front, appCore* _core, detProcess* _detPr QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleSummaryDataManager_Reset, front, [=]() {front->_displayWidget->_summaryDataManager->resetAllValue(); }); + QObject::connect(&_core->_qtFunc, &qtFunction::uiModulestartDetBtn_disable, + front, [=]() {front->_displayWidget->_switchProductWidget->startBtn->setDisabled(true); }); + QObject::connect(&_core->_qtFunc, &qtFunction::uiModulestartDetBtn_enable, + front, [=]() {front->_displayWidget->_switchProductWidget->startBtn->setEnabled(true); }); + QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleBackContinueDetDialog_show, front, [=]() {front->_backContinueDetDialog->show(); }); QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleBackContinueDetDialog_hide, diff --git a/HanddleAI/HandleAiUi-new/uiModule/components/fancyDialog.h b/HanddleAI/HandleAiUi-new/uiModule/components/fancyDialog.h index c2374c58..743c2c87 100644 --- a/HanddleAI/HandleAiUi-new/uiModule/components/fancyDialog.h +++ b/HanddleAI/HandleAiUi-new/uiModule/components/fancyDialog.h @@ -17,6 +17,7 @@ public: }; QPushButton* closeBtn = new QPushButton(this); fancyButtonText* continueBtn = new fancyButtonText(120,60,"继续","继续"); + fancyButtonText* cancelBtn = new fancyButtonText(120, 60, "取消", "取消"); fancyWarnWindow(type typeIn,QString title,QString detail,bool Show) { QPalette paletteWhite, paletteRed, paletteGreen; @@ -110,9 +111,11 @@ public: QHBoxLayout* funcBtnLayout = new QHBoxLayout(); funcBtnLayout->addWidget(continueBtn, 3, 0); + funcBtnLayout->addWidget(cancelBtn, 3, 0); layout->addLayout(funcBtnLayout, 3, 0); QObject::connect(continueBtn, &QPushButton::clicked, this, &QDialog::close); + QObject::connect(cancelBtn, &QPushButton::clicked, this, &QDialog::close); this->setWindowFlags(this->windowFlags() | Qt::WindowStaysOnTopHint); if (Show == true) this->show(); diff --git a/HanddleAI/HandleAiUi-new/uiModule/uiModule_backContinueDetDialog.h b/HanddleAI/HandleAiUi-new/uiModule/uiModule_backContinueDetDialog.h index 2fc4a80d..8ec1c8b3 100644 --- a/HanddleAI/HandleAiUi-new/uiModule/uiModule_backContinueDetDialog.h +++ b/HanddleAI/HandleAiUi-new/uiModule/uiModule_backContinueDetDialog.h @@ -14,18 +14,24 @@ public: _fancyWarnWindow = new fancyWarnWindow(fancyWarnWindow::tip, "是否继续背面检测", "", false); _fancyWarnWindow->disableHideAfterClicked(); _fancyWarnWindow->hide(); + _fancyWarnWindow->closeBtn->hide(); QObject::connect(_fancyWarnWindow->continueBtn, &QPushButton::clicked, this, &backContinueDetDialog::continueClicked); - + QObject::connect(_fancyWarnWindow->cancelBtn, &QPushButton::clicked, this, &backContinueDetDialog::cancelClicked); } private: public slots: + void cancelClicked() + { + qDebug() << "点击了取消检测背面"; + } void continueClicked() { timer->start(10000); emit continueClickedSignal(); _fancyWarnWindow->continueBtn->setDisabled(true); QObject::connect(timer, &QTimer::timeout, this, [=]() {_fancyWarnWindow->continueBtn->setEnabled(true); }); + qDebug() << "点击运行背面"; } void show() {