221 lines
8.7 KiB
C++
221 lines
8.7 KiB
C++
#include <triggerManager.h>
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#include <backEndManager.h>
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#include <threadPoolManager.h>
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#include <backStruct.h>
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#include <cameraManager.h>
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#include <jsonParsing.h>
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#define debugTesting 1
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static correctionStruct* correctionData;
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void triggerManager::initialization(backEndManager* input)
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{
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_backEndManager = input;
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dManager = _backEndManager->_detDataManager;
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_cameraManager = _backEndManager->_cameraManager;
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_threadManager = _backEndManager->_threadManager;
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_jsonConfiguration = _backEndManager->_jsonConfiguration;
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triggerFileName = _jsonConfiguration->tcp.moduleName;
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IpAndPort = _jsonConfiguration->tcp.finstcp_init;
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//triggerInitStr = QByteArray("sleeptime_%1_readnum_%2_writetype_ushort");
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QLibrary* m_lib = new QLibrary(triggerFileName);
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bool flag = m_lib->load();
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if (!m_lib->isLoaded())
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{
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//emit _backEndManager->sendErrorToMainwindow(dllNotFound);
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emit _backEndManager->sendInitString("找不到" + triggerFileName);
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return;
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}
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if (flag)
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{
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CreateFunction createFun = (CreateFunction)m_lib->resolve("create");
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ReleaseFunction releaseFun = (ReleaseFunction)m_lib->resolve("destory");
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bool initFailure = false;
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if (createFun && releaseFun)
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{
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trigger = createFun();
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destory_finstcp = releaseFun;
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QByteArray initByte = QByteArray::fromStdString("sleeptime_20_readnum_300_writetype_ushort");
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trigger->reciveData(vec_mat, QByteArray(IpAndPort.toUtf8()));
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emit _backEndManager->sendInitString(triggerFileName + "连接到" + IpAndPort);
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initFailure = trigger->initParas(initByte);
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}
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if (initFailure == false)
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{
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emit _backEndManager->sendErrorToMainwindow(triggerInitFailure);
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delete m_lib;
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m_lib = nullptr;
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emit _backEndManager->sendInitString(triggerFileName + "初始化失败");
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return;
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}
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else
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{
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initFlag = true;
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emit _backEndManager->sendInitString(triggerFileName + "成功");
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}
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}
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}
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void triggerManager::decodeCameraCMD(QByteArray byte)
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{
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#if debugTesting
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//if (checkTrigger(1, 2, byte) == true)
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{
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//std::shared_ptr <detData> data = dManager->insertDetData("Camera1" , "TEST", 0 , 0);
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//data->correctionData = correctionData;
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//_threadManager->addTask(data);//添加任务
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//auto camera = _cameraManager->getCamera("123");
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//if(camera != nullptr)
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// camera->captureImage(data);
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}
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//if (checkTrigger(2, 2, byte) == true)
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{
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std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "TEST", 1, 1);
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data->correctionData = correctionData;
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data->oriImgs.push_back(cv::imread("E://Cisco2-2024//TestImg//HFFGG6534_1_1_Battlestar20240326_180201.bmp",-1));
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_threadManager->addTask(data);//添加任务
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//auto camera = _cameraManager->getCamera("123");
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//if (camera != nullptr)
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// camera->captureImage(data);
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}
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return;
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#endif
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#if debugTesting == 0
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if (byte.isEmpty())
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return;
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double cameraData = 0;
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if (checkTrigger(1, 1, byte) == true)
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{
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correctionData = new correctionStruct();
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correctionData->in_X_X0Y = { -258.71,-447.8,-447.2 };
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correctionData->in_Y_X0Y = { -1099.67,-1133.42,-938.83 };
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correctionData->in_Z_X0Y = { 711.77,711.62,711.730000 };
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correctionData->in_Z_X0Y_Value = { 63.9795,64.5333,65.859300 };
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correctionData->in_X_X0Z = { -402.3,-455.91,-236.75 };
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correctionData->in_Y_X0Z = { -539.46,-536.21,-536.2 };
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correctionData->in_Z_X0Z = { -418.88,425.12,425.13 };
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correctionData->in_Y_X0Z_Value = { 118.15,-228.19,-256.5 };
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correctionData->in_X_Y0Z = { 395.250000,395.23,328.34 };
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correctionData->in_Y_Y0Z = { -1147.29,-1147.28,-940.82 };
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correctionData->in_Z_Y0Z = { 118.15,-228.19,-256.5 };
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correctionData->in_X_Y0Z_Value = { -36.652200,-36.7302,41.0436 };
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std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "correctionDataThread", "TEST", 0);
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data->correctionData = correctionData;
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_threadManager->addTask(data);//添加任务
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correctionData = nullptr;
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}
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if (checkTrigger(1, 2, byte) == true)
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{
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std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "Thread3", "TEST", 0);
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data->correctionData = correctionData;
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_threadManager->addTask(data);//添加任务
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auto camera = _cameraManager->cameras.find("123");
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camera->second -> Process(data);
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}
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if (checkTrigger(2, 2, byte) == true)
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{
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std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "Thread3", "TEST", 0);
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data->correctionData = correctionData;
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_threadManager->addTask(data);//添加任务
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auto camera = _cameraManager->cameras.find("456");
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camera->second->Process(data);
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}
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//总流程开始，机器人发送1至寄存器259
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//上位机确认OK之后，清零寄存器259，并发送1至寄存器260
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//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
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//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
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if (checkTrigger(259, 1, byte) == true)
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{
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sendFinsMsg("write_short_259_0");//触发信号清零
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sendFinsMsg("write_short_260_1");//开始检测信号
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}
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//机器人激光当前点位 264 1...9
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//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
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//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
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if (checkTrigger(261, 1, byte) == true)//读取请求地址
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{
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int armPos = getValue(264, byte);
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int xValue1 = getValue(265, byte);
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int xValue2 = getValue(266, byte);
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int xValue3 = getValue(267, byte);
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int yValue1 = getValue(268, byte);
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int yValue2 = getValue(269, byte);
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int yValue3 = getValue(270, byte);
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int zValue1 = getValue(271, byte);
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int zValue2 = getValue(272, byte);
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int zValue3 = getValue(273, byte);
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double xValue = (xValue1 == 1 ? 1 : -1) * ((double)xValue2 + ((double)xValue3) / (std::pow(10, to_string(xValue3).length())));
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double yValue = (yValue1 == 1 ? 1 : -1) * ((double)yValue2 + ((double)yValue3) / (std::pow(10, to_string(yValue3).length())));
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double zValue = (zValue1 == 1 ? 1 : -1) * ((double)zValue2 + ((double)zValue3) / (std::pow(10, to_string(zValue3).length())));
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double rangeData = _cameraManager->cameras.find("相机的名字")->second->getCameraValue();
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if (armPos == 1)//第一次
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correctionData = new correctionStruct();
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if (correctionData != nullptr)
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{
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if (armPos <= 3)
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{
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correctionData->in_X_X0Y.push_back(xValue);
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correctionData->in_Y_X0Y.push_back(yValue);
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correctionData->in_Z_X0Y.push_back(zValue);
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correctionData->in_Z_X0Y_Value.push_back(rangeData);
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}
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else if (armPos <= 6)
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{
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correctionData->in_X_X0Z.push_back(xValue);
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correctionData->in_Y_X0Z.push_back(yValue);
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correctionData->in_Z_X0Z.push_back(zValue);
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correctionData->in_Y_X0Z_Value.push_back(rangeData);
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}
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else if (armPos <= 9)
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{
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correctionData->in_X_Y0Z.push_back(xValue);
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correctionData->in_Y_Y0Z.push_back(yValue);
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correctionData->in_Z_Y0Z.push_back(zValue);
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correctionData->in_X_Y0Z_Value.push_back(rangeData);
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}
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}
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sendFinsMsg("write_short_261_0");//清零
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sendFinsMsg("write_short_262_1");
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sendFinsMsg("write_short_263_1");
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//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
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if (armPos == 9)
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{
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std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "correctionDataThread", "TEST", 0);
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data->correctionData = correctionData;
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_threadManager->addTask(data);//添加任务
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correctionData = nullptr;
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}
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}
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//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
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if (checkTrigger(300, 1, byte) == true)
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{
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sendFinsMsg("write_short_300_0");//触发信号清零
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sendFinsMsg("write_short_301_1");//开始检测信号
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int Pos = getValue(303, byte);
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}
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#endif
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}
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int triggerManager::getValue(int dmPos, QByteArray byte)
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{
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int triggerPos = (dmPos - _backEndManager->_jsonConfiguration->tcp.startPos) * 2;
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if (byte.size() / 2 < triggerPos)
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return false;
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int val1 = byte.at(triggerPos) * 256;
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int val2 = static_cast<unsigned char>(byte.at(triggerPos + 1));
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return val1 + val2;
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} |