#include #include #include #include #include #include #define debugTesting 1 static correctionStruct* correctionData; void triggerManager::decodeCameraCMD(QByteArray byte) { #if debugTesting //if (checkTrigger(1, 2, byte) == true) { std::shared_ptr data = dManager->insertDetData("Camera1", "Thread3", "TEST", 0); data->correctionData = correctionData; _threadManager->addTask(data);//添加任务 auto camera = _cameraManager->cameras.find("123"); if(camera != _cameraManager->cameras.end()) camera->second->Process(data); } //if (checkTrigger(2, 2, byte) == true) { std::shared_ptr data = dManager->insertDetData("Camera1", "Thread2", "TEST", 0); data->correctionData = correctionData; _threadManager->addTask(data);//添加任务 auto camera = _cameraManager->cameras.find("456"); if (camera != _cameraManager->cameras.end()) camera->second->Process(data); } return; #endif #if debugTesting == 0 if (byte.isEmpty()) return; double cameraData = 0; if (checkTrigger(1, 1, byte) == true) { correctionData = new correctionStruct(); correctionData->in_X_X0Y = { -258.71,-447.8,-447.2 }; correctionData->in_Y_X0Y = { -1099.67,-1133.42,-938.83 }; correctionData->in_Z_X0Y = { 711.77,711.62,711.730000 }; correctionData->in_Z_X0Y_Value = { 63.9795,64.5333,65.859300 }; correctionData->in_X_X0Z = { -402.3,-455.91,-236.75 }; correctionData->in_Y_X0Z = { -539.46,-536.21,-536.2 }; correctionData->in_Z_X0Z = { -418.88,425.12,425.13 }; correctionData->in_Y_X0Z_Value = { 118.15,-228.19,-256.5 }; correctionData->in_X_Y0Z = { 395.250000,395.23,328.34 }; 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 }; std::shared_ptr data = dManager->insertDetData("Camera1", "correctionDataThread", "TEST", 0); data->correctionData = correctionData; _threadManager->addTask(data);//添加任务 correctionData = nullptr; } if (checkTrigger(1, 2, byte) == true) { std::shared_ptr 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) { std::shared_ptr 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 //如产品型号为Product_1且为正面，则上位机发送1至寄存器256，发送0至寄存器257 //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) { 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 //机器人到达激光点位1时，寄存器261至1，264至1，并将机器人在激光点位1坐标XYZ按照定义规则，保存进寄存器265~270 //上位机确认机器人到达点位1(264)时，确认OK后，寄存器262至1，261至0，取点完成后，发送寄存器263至1 if (checkTrigger(261, 1, byte) == true)//读取请求地址 { int armPos = getValue(264, byte); int xValue1 = getValue(265, byte); int xValue2 = getValue(266, byte); int xValue3 = getValue(267, byte); int yValue1 = getValue(268, byte); int yValue2 = getValue(269, byte); int yValue3 = getValue(270, byte); int zValue1 = getValue(271, byte); int zValue2 = getValue(272, byte); int zValue3 = getValue(273, 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 = _cameraManager->cameras.find("相机的名字")->second->getCameraValue(); if (armPos == 1)//第一次 correctionData = new correctionStruct(); if (correctionData != nullptr) { if (armPos <= 3) { correctionData->in_X_X0Y.push_back(xValue); correctionData->in_Y_X0Y.push_back(yValue); correctionData->in_Z_X0Y.push_back(zValue); correctionData->in_Z_X0Y_Value.push_back(rangeData); } else if (armPos <= 6) { correctionData->in_X_X0Z.push_back(xValue); correctionData->in_Y_X0Z.push_back(yValue); correctionData->in_Z_X0Z.push_back(zValue); correctionData->in_Y_X0Z_Value.push_back(rangeData); } else if (armPos <= 9) { correctionData->in_X_Y0Z.push_back(xValue); correctionData->in_Y_Y0Z.push_back(yValue); correctionData->in_Z_Y0Z.push_back(zValue); correctionData->in_X_Y0Z_Value.push_back(rangeData); } } 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) { std::shared_ptr data = dManager->insertDetData("Camera1", "correctionDataThread", "TEST", 0); data->correctionData = correctionData; _threadManager->addTask(data);//添加任务 correctionData = nullptr; } } //机器人到达激光点位9时，寄存器261至1，264至9，并将机器人在激光点位9坐标XYZ按照定义规则，保存进寄存器265~270 if (checkTrigger(300, 1, byte) == true) { 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); } #endif } void triggerManager::init(backEndManager* input) { _backEndManager = input; dManager = _backEndManager->_detDataManager; _cameraManager = _backEndManager->_cameraManager; _threadManager = _backEndManager->_threadManager; _jsonConfiguration = _backEndManager->_jsonConfiguration; triggerFileName = _jsonConfiguration->tcp.moduleName; IpAndPort = _jsonConfiguration->tcp.finstcp_init; //triggerInitStr = QByteArray("sleeptime_%1_readnum_%2_writetype_ushort"); QLibrary* m_lib = new QLibrary(triggerFileName); bool flag = m_lib->load(); if (!m_lib->isLoaded()) { //emit _backEndManager->sendErrorToMainwindow(dllNotFound); emit _backEndManager->sendInitString("找不到"+triggerFileName); return; } if (flag) { CreateFunction createFun = (CreateFunction)m_lib->resolve("create"); ReleaseFunction releaseFun = (ReleaseFunction)m_lib->resolve("destory"); bool initFailure = false; if (createFun && releaseFun) { trigger = createFun(); destory_finstcp = releaseFun; QByteArray initByte = QByteArray::fromStdString("sleeptime_20_readnum_300_writetype_ushort"); trigger->reciveData(vec_mat, QByteArray(IpAndPort.toUtf8())); emit _backEndManager->sendInitString(triggerFileName + "连接到" + IpAndPort); initFailure=trigger->initParas(initByte); } if(initFailure==false) { emit _backEndManager->sendErrorToMainwindow(triggerInitFailure); delete m_lib; m_lib = nullptr; isInit = false; emit _backEndManager->sendInitString(triggerFileName + "初始化失败"); return; } else emit _backEndManager->sendInitString(triggerFileName + "成功"); } 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(byte.at(triggerPos + 1)); return val1 + val2; }