备份

HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h

@@ -347,9 +347,9 @@ void ALGO_Correction(std::shared_ptr <detData> data)
 	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;
 
-	double baseOffsetX = data->_productDataStruct.basePos[0] - resultPoints.OriginX;
-	double baseOffsetY = data->_productDataStruct.basePos[1] - resultPoints.OriginY;
-	double baseOffsetZ = data->_productDataStruct.basePos[2] - resultPoints.OriginZ;
+	data->pointsOffsetStruct_.baseOffsetX = data->_productDataStruct.basePos[0] - resultPoints.OriginX;
+	data->pointsOffsetStruct_.baseOffsetY = data->_productDataStruct.basePos[1] - resultPoints.OriginY;
+	data->pointsOffsetStruct_.baseOffsetZ = data->_productDataStruct.basePos[2] - resultPoints.OriginZ;
 
 	//double offsetRx = data->_productDataStruct.baseRad[0] - point.x;
 	//double offsetRy = data->_productDataStruct.baseRad[1] - point.y;
@@ -369,12 +369,12 @@ void ALGO_Correction(std::shared_ptr <detData> data)
 	//offsetRy = doubleLmit(offsetRy, 3);
 	//offsetRz = doubleLmit(offsetRz, 3);
 
-	std::cout << "offsetX:" << baseOffsetX << "offsetY:" << baseOffsetY << "offsetZ:" << baseOffsetZ << std::endl;
+	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, baseOffsetX,data);
-	createModbusStrs(313, baseOffsetY, data);
-	createModbusStrs(316, baseOffsetZ, data);
+	createModbusStrs(310, data->pointsOffsetStruct_.baseOffsetX,data);
+	createModbusStrs(313, data->pointsOffsetStruct_.baseOffsetY, data);
+	createModbusStrs(316, data->pointsOffsetStruct_.baseOffsetZ, data);
 
 	//createModbusStrs(319, offsetRx, data);
 	//createModbusStrs(322, offsetRy, data);

HanddleAI/HandleAiUi-new/algo/templateAlgo.h

@@ -8,7 +8,7 @@ double templateMatchAndAngle(const cv::Mat& img, const cv::Mat& templ) {
 
     // 执行模板匹配
     cv::matchTemplate(img, templ, result, cv::TM_CCOEFF_NORMED);
-
+        
     // 通过 minMaxLoc 查找最佳匹配位置
     double minVal, maxVal;
     cv::Point minLoc, maxLoc;

HanddleAI/HandleAiUi-new/back/detData.h

@@ -29,6 +29,7 @@ public:
     int algoThreadIndex = -1;
 
     //检测参数
+    pointsOffsetStruct pointsOffsetStruct_;
     correctionStruct laserData;
     int armPos = -1;
     int productType = -1;

HanddleAI/HandleAiUi-new/back/threadPoolManager.cpp

@@ -66,8 +66,10 @@ void detThreadManager::process()
 }
 void detThreadManager::resultHandle(std::shared_ptr <detData> data)
 {
-	for (auto func : resultHandleCallbacks)
-		func(data);
+	//for (auto func : resultHandleCallbacks)
+	//	func(data);
+	if (data->algoThreadIndex < resultHandleCallbacks.size())
+		resultHandleCallbacks[data->algoThreadIndex](data);
 }
 void detThreadManager::run()
 {

HanddleAI/HandleAiUi-new/detProcess.hpp

@@ -18,7 +18,6 @@ public:
 		_cameraManager.initialization();
 		_triggerManager.initialization(this);
         detProcessCallbackRegister();
-
 	}
     //初始化
 	void run()
@@ -99,6 +98,7 @@ public:
         _triggerManager.registerCallback(361, 2, [this](QByteArray& byteArray) {detectionSwitch2(byteArray); }, "检测结束1");
         _triggerManager.registerCallback(362, 1, [this](QByteArray& byteArray) {detectionEnd(byteArray); }, "检测结束2");
 
+        _threadManager.registerCallback([this](std::shared_ptr<detData>data) {correctionResultHandle(data); });
         _threadManager.registerCallback([this](std::shared_ptr<detData>data) {detectionResultHandle(data); });
     }
     //检测程序是否在运行
@@ -106,6 +106,7 @@ public:
     int backArmIndex = -1;
     bool currentBack = false;
     //激光校准数据缓存 //SN 数据
+    pointsOffsetStruct lastPointsOffsetStruct_;
     correctionStruct laserDataCache;    
     //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
@@ -331,6 +332,11 @@ public:
         }
         
     }
+    //校准结果处理
+    void correctionResultHandle(std::shared_ptr<detData>data)
+    {
+        lastPointsOffsetStruct_ = data->pointsOffsetStruct_;
+    }
     //检测结果处理
     void detectionResultHandle(std::shared_ptr<detData>data)
     {
@@ -442,6 +448,22 @@ public slots:
             currentBack = true;
             _triggerManager.sendFinsMsg("write_short_350_" + QString::number(backArmIndex));//清零
             _triggerManager.sendFinsMsg("write_short_351_1");
+            qDebug() << "运行背后检测程序";
+
+            _triggerManager.sendFinsMsg("write_short_310_" + QString::number(lastPointsOffsetStruct_.baseOffsetX < 0 ? 2 : 1));
+            _triggerManager.sendFinsMsg("write_short_311_"+QString::number(abs(static_cast<int>(lastPointsOffsetStruct_.baseOffsetX))));
+            double pvalueX = lastPointsOffsetStruct_.baseOffsetX - static_cast<int>(lastPointsOffsetStruct_.baseOffsetX);
+            _triggerManager.sendFinsMsg("write_short_312_" + QString::number(static_cast<int>(abs(pvalueX * 100))));
+
+            _triggerManager.sendFinsMsg("write_short_313_" + QString::number(lastPointsOffsetStruct_.baseOffsetY < 0 ? 2 : 1));
+            _triggerManager.sendFinsMsg("write_short_314_" + QString::number(abs(static_cast<int>(lastPointsOffsetStruct_.baseOffsetY))));
+            double pvalueY = lastPointsOffsetStruct_.baseOffsetY - static_cast<int>(lastPointsOffsetStruct_.baseOffsetY);
+            _triggerManager.sendFinsMsg("write_short_315_" + QString::number(static_cast<int>(abs(pvalueY * 100))));
+
+            _triggerManager.sendFinsMsg("write_short_316_" + QString::number(lastPointsOffsetStruct_.baseOffsetZ < 0 ? 2 : 1));
+            _triggerManager.sendFinsMsg("write_short_317_" + QString::number(abs(static_cast<int>(lastPointsOffsetStruct_.baseOffsetZ))));
+            double pvalueZ = lastPointsOffsetStruct_.baseOffsetZ - static_cast<int>(lastPointsOffsetStruct_.baseOffsetZ);
+            _triggerManager.sendFinsMsg("write_short_318_" +  QString::number(static_cast<int>(abs(pvalueZ * 100))));
         }
     }
 	void writeArmStartSignal(int productTypeIn, QString SN)

HanddleAI/HandleAiUi-new/globalStruct.h

@@ -61,6 +61,12 @@ struct imageDoubleCheckPack
     int armPos;
     int type;//1 halcon 2ai
 };
+struct pointsOffsetStruct
+{
+    double baseOffsetX;
+    double baseOffsetY;
+    double baseOffsetZ;
+};
 static QImage cvMatToQImage(cv::Mat& src)
 {
     if (src.channels() == 1) { // if grayscale image