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V20260105-2.3.4

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进一步优化rpcFIns的boost模块性能(测试)。
对赢合取图丢弃的逻辑进行了更改。
This commit is contained in:
RCiRoot
2026-01-05 01:05:56 +08:00
parent 3c5e6487f4
commit 95fd2cd89b
19 changed files with 1127 additions and 95 deletions
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include/global.h
+2 -2
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@@ -2,7 +2,7 @@
#include <qpixmap.h>
#include <opencv.hpp>
#include <qdebug.h>
#include <memory>
#include <memory>，。
#include <iostream>
#include <thread>
#include <vector>
@@ -11,7 +11,7 @@
#include <QDir>
#pragma execution_character_set("utf-8")
const std::string softwareVersion = "20251231-2.3.3";
const std::string softwareVersion = "20260105-2.3.4";
const std::string euiJsonVersion = "1.0.6";
#define savePathToDataBase true
#define GigaByte 1073741824
include/sxGlobal.h
+16 -12
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@@ -7,19 +7,23 @@
#define CATCH_EXCEPTIONS \
catch (HDevEngineCpp::HDevEngineException& ex) { \
std::cout << "HDevEngineException: " << ex.Message() << std::endl; \
qDebug() << "HDevEngineException: " << ex.Message(); \
qCritical() << "HDevEngineException: " << ex.Message(); \
} \
catch (HalconCpp::HException& ex) { \
std::cout << "Halcon Exception Caught!" << std::endl; \
std::cout << "Error Code: " << ex.ErrorCode() << std::endl; \
std::cout << "Error Message: " << ex.ErrorMessage() << std::endl; \
qDebug() << "Halcon Exception Caught!"; \
qDebug() << "Error Code: " << ex.ErrorCode(); \
qDebug() << "Error Message: " << ex.ErrorMessage(); \
qCritical() << "Halcon Exception Caught!"; \
qCritical() << "Error Code: " << ex.ErrorCode(); \
qCritical() << "Error Message: " << ex.ErrorMessage(); \
} \
catch (const std::exception& e) { \
std::cout << "Caught exception: " << e.what() << std::endl; \
qDebug() << "Caught exception: " << e.what(); \
qCritical() << "Caught exception: " << e.what(); \
}\
catch (...) {\
std::cout << "Caught exception: unexcepted"; \
qCritical() << "Caught exception: unexcepted"; \
}
struct sx_581_address {
int triggerAddr = -1;
@@ -112,7 +116,7 @@ public:
address = addressIN;
saveObjectName = saveObjectNameIN;
oneTriggerCaptrueTimes = oneTriggerCaptrueTimesIN;
generalDet = new detCallbackChain<paramTemplte, sx_581_address>(_serviceManager, _detParams, bridge, &_serviceManagerIn->_chainWatcher);
generalDet = new detCallbackChain<paramTemplte, sx_581_address>(_serviceManager, _detParams, bridge);
generalDet->registerProcessAlgoCallback(_processAlgoCallback);
//单次触发器条件
for (int i = 0; i < addressIN.size(); i++) {
@@ -122,12 +126,12 @@ public:
}
for (int i = 0; i < address.size(); i++) {
_serviceManager->_triggerManager->registerPlcValueViewer(viewerNameIN + "_" + QString::number(i),
{ {"触发",address[i].triggerAddr },
{"反馈",address[i].completeAddr.toInt()},
{"结果",address[i].resultAddr.toInt()},
{"数值1",address[i].valueOffsetAddr},
{"数值2",address[i].valueOffsetAddr + 2},
{"数值3",address[i].valueOffsetAddr + 4} });
{ {QString::number(address[i].triggerAddr) + "触发",address[i].triggerAddr },
{address[i].completeAddr + "反馈",address[i].completeAddr.toInt()},
{address[i].resultAddr + "结果",address[i].resultAddr.toInt()},
{QString::number(address[i].valueOffsetAddr) + "数值1",address[i].valueOffsetAddr},
{QString::number(address[i].valueOffsetAddr + 2) + "数值2",address[i].valueOffsetAddr + 2},
{QString::number(address[i].valueOffsetAddr + 4) + "数值3",address[i].valueOffsetAddr + 4} });
}
}
//获取图片并进行检测
include/yhGlobal.h
+33 -26
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@@ -8,19 +8,23 @@
#define CATCH_EXCEPTIONS \
catch (HDevEngineCpp::HDevEngineException& ex) { \
std::cout << "HDevEngineException: " << ex.Message() << std::endl; \
qDebug() << "HDevEngineException: " << ex.Message(); \
qCritical() << "HDevEngineException: " << ex.Message(); \
} \
catch (HalconCpp::HException& ex) { \
std::cout << "Halcon Exception Caught!" << std::endl; \
std::cout << "Error Code: " << ex.ErrorCode() << std::endl; \
std::cout << "Error Message: " << ex.ErrorMessage() << std::endl; \
qDebug() << "Halcon Exception Caught!"; \
qDebug() << "Error Code: " << ex.ErrorCode(); \
qDebug() << "Error Message: " << ex.ErrorMessage(); \
qCritical() << "Halcon Exception Caught!"; \
qCritical() << "Error Code: " << ex.ErrorCode(); \
qCritical() << "Error Message: " << ex.ErrorMessage(); \
} \
catch (const std::exception& e) { \
std::cout << "Caught exception: " << e.what() << std::endl; \
qDebug() << "Caught exception: " << e.what(); \
qCritical() << "Caught exception: " << e.what(); \
}\
catch (...) {\
std::cout << "Caught exception: unexcepted"; \
qCritical() << "Caught exception: unexcepted"; \
}
struct yh_581_address {
int triggerAddr = -1;
@@ -153,7 +157,7 @@ public:
oneTriggerCaptrueTimes = oneTriggerCaptrueTimesIN;
saveObjectName = saveObjectNameIN;
generalDet = new detCallbackChain<paramTemplte, yh_581_address>(_serviceManager, _detParams, bridge, &_serviceManagerIn->_chainWatcher);
generalDet = new detCallbackChain<paramTemplte, yh_581_address>(_serviceManager, _detParams, bridge);
generalDet->registerProcessAlgoCallback(_processAlgoCallback);
address = generateYh581AddressMap(startAddr, triggerCount);
//联合触发器条件
@@ -171,23 +175,22 @@ public:
if (val.second == 1)
evaluate(cnt, byteArray);
else
captrueAndDiscard(cnt);
captrueAndDiscard(cnt, byteArray);
cnt++;
}
}, "");
for (int i = 0; i < address.size(); i++) {
_serviceManager->_triggerManager->registerPlcValueViewer(viewerNameIN + "_" + QString::number(i),
{ {"触发",address[i].triggerAddr,finsShort },
{"反馈",address[i].completeAddr.toInt(),finsShort},
{"结果",address[i].resultAddr.toInt(),finsShort},
{"数值1",address[i].valueOffsetAddr,finsFloat},
{"数值2",address[i].valueOffsetAddr + 2,finsFloat},
{"数值3",address[i].valueOffsetAddr + 4,finsFloat} });
{ {QString::number(address[i].triggerAddr) + "触发",address[i].triggerAddr,finsShort },
{address[i].completeAddr + "反馈",address[i].completeAddr.toInt(),finsShort},
{address[i].resultAddr + "结果",address[i].resultAddr.toInt(),finsShort},
{QString::number(address[i].valueOffsetAddr) + "数值1",address[i].valueOffsetAddr,finsFloat},
{QString::number(address[i].valueOffsetAddr + 2) + "数值2",address[i].valueOffsetAddr + 2,finsFloat},
{QString::number(address[i].valueOffsetAddr + 4) + "数值3",address[i].valueOffsetAddr + 4,finsFloat} });
}
}
//获取图片并进行检测
void evaluate(int batteryOffset, QByteArray& byteArray) {
_serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_1");//完成信号 固定只发在第0位
std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, false, -1);
auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
camera->clearCache();
@@ -199,15 +202,18 @@ public:
generalDet->asyncProcess(data, address[batteryOffset]);//处理算法
data->resultImgShowSet.push_back(showImgPack(viewerName, "结果图"));
_serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_1");//完成信号 固定只发在第0位
}
//获取图片然后废弃
void captrueAndDiscard(int index) {
_serviceManager->_triggerManager->writeShort("D" + address[index].resultAddr + "_4");//发个4防止报警
void captrueAndDiscard(int batteryOffset, QByteArray& byteArray) {
std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, false, -1);
auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
std::shared_ptr <detData> data = _serviceManager->_detDataManager->createDetData();//创建数据包
std::shared_ptr <detData> data = _serviceManager->_detDataManager->createDetData(QString::fromStdString(cameraName), sn, oneTriggerCaptrueTimes, camera->config.oriSaveFormat);//创建数据包
camera->captureImage(data);//拍照
qDebug() << "uuid" << data->uuid << "将取图并丢弃";
qDebug() <<"sn" << QString::fromStdString(sn) << "uuid" << data->uuid << "将取图并丢弃";
_serviceManager->_detDataManager->deleteDetDataLater(data->uuid);
_serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_1");//完成信号 固定只发在第0位
_serviceManager->_triggerManager->writeShort("D" + address[batteryOffset].resultAddr + "_4");//发个4防止报警
}
private:
QString saveObjectName = "";
@@ -251,7 +257,7 @@ public:
oneTriggerCaptrueTimes = oneTriggerCaptrueTimesIN;
saveObjectName = saveObjectNameIN;
generalDet = new detCallbackChain<paramTemplte2, yh_581_address>(_serviceManager, _detParams, bridge, &_serviceManagerIn->_chainWatcher);
generalDet = new detCallbackChain<paramTemplte2, yh_581_address>(_serviceManager, _detParams, bridge);
generalDet->registerProcessAlgoCallback(_processAlgoCallback);
address = generateYh581AddressMap(startAddr, triggerCount);
//单次触发器条件
@@ -265,18 +271,18 @@ public:
}
for (int i = 0; i < address.size(); i++) {
_serviceManager->_triggerManager->registerPlcValueViewer(viewerNameIN + "_" + QString::number(i),
{ {"触发",address[i].triggerAddr,finsShort },
{"反馈",address[i].completeAddr.toInt(),finsShort},
{"结果",address[i].resultAddr.toInt(),finsShort},
{"数值1",address[i].valueOffsetAddr,finsFloat},
{"数值2",address[i].valueOffsetAddr + 2,finsFloat},
{"数值3",address[i].valueOffsetAddr + 4,finsFloat} });
{ {QString::number(address[i].triggerAddr) + "触发",address[i].triggerAddr,finsShort },
{address[i].completeAddr + "反馈",address[i].completeAddr.toInt(),finsShort},
{address[i].resultAddr + "结果",address[i].resultAddr.toInt(),finsShort},
{QString::number(address[i].valueOffsetAddr) + "数值1",address[i].valueOffsetAddr,finsFloat},
{QString::number(address[i].valueOffsetAddr + 2) + "数值2",address[i].valueOffsetAddr + 2,finsFloat},
{QString::number(address[i].valueOffsetAddr + 4) + "数值3",address[i].valueOffsetAddr + 4,finsFloat} });
}
}
//获取图片并进行检测
void evaluate(int batteryOffset, QByteArray& byteArray) {
_serviceManager->_triggerManager->writeShort("D" + address[batteryOffset].completeAddr + "_1");//完成信号 根据偏移发送
std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, false, -1);
auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
camera->clearCache();
@@ -288,6 +294,7 @@ public:
generalDet->asyncProcess(data, address[batteryOffset]);//处理算法
data->resultImgShowSet.push_back(showImgPack(viewerName, "结果图"));
_serviceManager->_triggerManager->writeShort("D" + address[batteryOffset].completeAddr + "_1");//完成信号 根据偏移发送
}
private:
QString saveObjectName = "";
rpcModule/rpc_finsTcp_boost/json_rpc_server_1_1_0.exe → rpcModule/rpc_finsTcp_boost/json_rpc_server_1_1_1.exe
BIN
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rpcModule/rpc_finsTcp_boost/rpc_finsTcp.cpp
+2 -1
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@@ -114,6 +114,7 @@ bool rpc_finsTcp::readData(std::vector<cv::Mat>& vec_mat, QByteArray& data){
JsonRpcClient* ptr = read_JsonRpcClient[data];
if(ptr == nullptr) {
ptr = new JsonRpcClient("127.0.0.1", 9000);
ptr->writeCall("init", QJsonArray{ m_IP,m_port }, "finstcp");
read_JsonRpcClient[data] = ptr;
}
QByteArray resp = ptr->finsReadCall("excuteCli", QString(data), "finstcp");
@@ -264,7 +265,7 @@ void rpc_finsTcp::initHearBeatThread() {
}
bool rpc_finsTcp::initParas(QByteArray& data){
startProcess("./json_rpc_server_1_1_0.exe");
startProcess("./json_rpc_server_1_1_1.exe");
QThread::msleep(500);
write_JsonRpcClients = std::vector<std::pair<QThread*, JsonRpcClientWorker*>>(threadCount);
for (int i = 0; i < write_JsonRpcClients.size(); i++) {
src/core/service/cameraManager.cpp
-11
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@@ -130,9 +130,6 @@ void cameraManager::run(){
MV_CC_DEVICE_INFO_LIST m_stDevList = searchMV_CC_DEVICE_INFO_LIST();
QByteArray mvDevices1 = "deviceList" + MV_CC_DeviceInfoListToQByteArray(m_stDevList);
MV_GENTL_IF_INFO_LIST m_stIFList = searchMV_GENTL_IF_INFO_LIST();
QByteArray mvDevices2 = "deviceList" + MV_GENTL_IF_INFO_LISTToQByteArray(m_stIFList);
for (auto i = 0; i < _cameraStructs.size(); i++) {
auto& m_module = _cameraStructs[i];
QString dllPath = QString::fromStdString(m_module.dllPath);
@@ -161,14 +158,6 @@ void cameraManager::run(){
break;
}
}
for(int i = 0; i < m_stIFList.nInterfaceNum; i++) {
std::string serialNumber = static_cast<std::string>((LPCSTR)m_stIFList.pIFInfo[i]->chInterfaceID);
std::string userDefineName = static_cast<std::string>((LPCSTR)m_stIFList.pIFInfo[i]->chInterfaceID);
if (m_module.connectionName.find(serialNumber) != std::string::npos || m_module.connectionName.find(userDefineName) != std::string::npos) {
m_module.module_ptr->writeData(vec_mat, mvDevices1);
break;
}
}
}
status = NotInit;
src/core/service/cameraManager.h
-3
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@@ -94,9 +94,6 @@ public:
inline void setExposureTime(float value){
writeData("exposure_" + std::to_string(value));
}
inline void setUserSet(int value){
writeData("userset_" + std::to_string(value));
}
inline void clearCache() {
writeData("clearCache");
}
src/core/service/detCallbackChain.hpp
+14 -22
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@@ -14,16 +14,16 @@ template<typename customTemplate, typename addressTemplate>
class detCallbackChain {
public:
using processAlgoCallback = std::function<bool(std::shared_ptr <detData>, customTemplate*, addressTemplate)>;
detCallbackChain(ServiceManager* _ServiceManagerIn, customTemplate* _customTemplateIn, bSignalHub* bridgeIn, detCallbackChainWatcher* _chainWatcherIn = nullptr)
detCallbackChain(ServiceManager* _ServiceManagerIn, customTemplate* _customTemplateIn, bSignalHub* bridgeIn)
: _imgSaveThreadManager(_ServiceManagerIn->_imgSaveThreadManager),
_handleAiModels(_customTemplateIn),
_triggerManager(_ServiceManagerIn->_triggerManager),
bridge(bridgeIn), _serviceManager(_ServiceManagerIn)
{
int threadCount = 4 * QThread::idealThreadCount();
int threadCount = 10 * QThread::idealThreadCount();
QThreadPool::globalInstance()->setMaxThreadCount(threadCount);
_chainWatcher = _chainWatcherIn;
}
//异步启动检测
void asyncProcess(std::shared_ptr <detData> data, addressTemplate address, QByteArray completeSignal = "") {
@@ -34,15 +34,6 @@ public:
QFuture<void> future = QtConcurrent::run([this, data, address, completeSignal]() {
process(data, address, completeSignal);
});
if (_chainWatcher != nullptr) {
// 构建任务名称：包含 UUID 和 SN 码便于追踪
QString taskName = QString("DetTask_UUID[%1]_SN[%2]")
.arg(data->uuid)
.arg(QString::fromStdString(data->SNcode));
// 将任务添加到监控器
int watcherId = _chainWatcher->addFeature(future, taskName);
}
}
//阻塞启动检测
void process(std::shared_ptr <detData> data, addressTemplate address, QByteArray completeSignal = "") {
@@ -83,17 +74,20 @@ public:
}
catch (HDevEngineCpp::HDevEngineException& ex) {
qDebug() << "detChain catched->HDevEngineException: " << ex.Message();
qCritical() << "detChain catched->HDevEngineException: " << ex.Message();
}
catch (HalconCpp::HException& ex) {
qDebug() << "detChain catched->Halcon Exception Caught!";
qDebug() << "detChain catched->Error Code: " << ex.ErrorCode();
qDebug() << "detChain catched->Error Message: " << ex.ErrorMessage();
qCritical() << "detChain catched->Halcon Exception Caught!";
qCritical() << "detChain catched->Error Code: " << ex.ErrorCode();
qCritical() << "detChain catched->Error Message: " << ex.ErrorMessage();
}
catch (const std::exception& e) {
qDebug() << "detChain catched->Caught exception: " << e.what();
qCritical() << "detChain catched->Caught exception: " << e.what();
}
catch (...) {
qCritical() << "detChain catched->Caught exception: unexcepted";
}
std::chrono::steady_clock::time_point algoEndTime = std::chrono::steady_clock::now();
data->algoTime = std::chrono::duration_cast<std::chrono::milliseconds>(algoEndTime - algoStartTime).count();
@@ -124,14 +118,13 @@ public:
// 异步保存检测图像
std::thread([this,data] {_imgSaveThreadManager->saveImage(data); }).detach();
}
#pragma region 注册回调函数
void registerProcessAlgoCallback(processAlgoCallback func) {
_processAlgoCallback = func;
}
#pragma endregion
private:
int uiShowImgCompressThreshold = 5000; // 超过该宽或高就压缩
imgSaveThreadManager* _imgSaveThreadManager = nullptr;
@@ -139,7 +132,6 @@ private:
triggerManager* _triggerManager = nullptr;
processAlgoCallback _processAlgoCallback;
bSignalHub* bridge = nullptr;
detCallbackChainWatcher* _chainWatcher = nullptr;
ServiceManager* _serviceManager = nullptr;
};
src/core/service/triggerManager.cpp
+3 -4
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@@ -32,20 +32,19 @@ triggerManager::triggerManager(ServiceManager* _serviceManager, bSignalHub* brid
void triggerManager::run(){
if(connectHost() == false)
return;
QThread::msleep(1000);
QThread::msleep(500);
QElapsedTimer heartTimer, loopCounterCollectTimer,loopIntervalTimer;
int loopCounter = 0,maxIntervalLog = 0,interval = 0;
loopIntervalTimer.start();
while (runFlag){
reciveCommond();
//心跳
if (heartTimer.elapsed()> heartBeatIntervalMS) {
if (heartTimer.elapsed()> heartBeatIntervalMS) {//心跳
sendFinsMsg(heartBeatCmds[heartBeatCmdCnt++]);
if(heartBeatCmdCnt >= heartBeatCmds.size())
heartBeatCmdCnt = 0;
heartTimer.start();
}
if (loopCounterCollectTimer.elapsed() > 3000) {
if (loopCounterCollectTimer.elapsed() > 3000) {//发送性能数据
emit bridge->sendTriggerManagerLoopData(loopCounter / 3, maxIntervalLog);
maxIntervalLog = 0;
loopCounter = 0;
src/core/service/triggerManager.h
+1 -13
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@@ -137,18 +137,6 @@ public:
return true;
}
//直接发送数据到模块的方法
bool sendFinsMsg(const char* cmdx){
QString str = cmdx;
if (trigger == nullptr)
return false;
if (!trigger->writeData(vec_mat, str.toUtf8()))
{
qCritical() << "[TCP Error] " << QString::fromUtf8("Fins数据发送失败！") << cmdx;
return false;
}
return true;
}
//直接发送数据到模块的方法
bool sendFinsMsg(const QByteArray& write_byte){
if (trigger == nullptr)
return false;
@@ -414,7 +402,7 @@ public:
}
std::map<QByteArray, std::vector<unionTriggerCallbackStruct>> unionTriggerCallbackFuncs;
//SUB
//监控指定地址的数值
void registerPlcValueViewer(const QString& groupName, const std::vector<PlcValueViewerStruct>& viewerDatas) {
QMutexLocker locer(&mutex);
for (auto& data : viewerDatas) {
src/mission/581-Dgh-CB-1/581-Dgh-CB-1.cpp
+8
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@@ -0,0 +1,8 @@
#include <581-Dgh-CB-1.h>
mission* createMission() {
return new _581_Dgh();
}
void destroyMission(mission* _mission) {
delete _mission;
}
src/mission/581-Dgh-CB-1/581-Dgh-CB-1.h
+225
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@@ -0,0 +1,225 @@
#include <missionBase.hpp>
#include <simpleAlgo.h>
#include <hdevengine/HDevEngineCpp.h>
#include <opencvPaintAlgo.hpp>
#include <yhGlobal.h>
#include <qregularexpression.h>
QByteArray getCameraIndex(QString cameraStr) {
QRegularExpression re("\\d+");
auto match = re.match(cameraStr);
if (match.hasMatch()) {
return "_" + match.captured(0).toLocal8Bit();
}
return "_-2";
}
#pragma region 算法
using namespace HDevEngineCpp;
#pragma endregion
void exceptionResume(std::shared_ptr<detData> data, detParams* _detParams, yh_581_address address, QString why = "") {
qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode) << why;
cv::Mat Paint;
data->getOriImg(0).copyTo(Paint);
if (Paint.channels() == 1)
cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
textPainter.putText(Paint, why.toStdString(), cv::Point(50, 50), cv::Scalar(0, 255, 0));
cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
data->insertResultImg(Paint);
data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_1,1,1,1,1,1,1,1,1,1,1,1,1,1");
data->service->_triggerManager->writeShort("D" + address.resultAddr + "_3");//结果反馈//原来是异常发送NG-2，改成异常发送3，表示取图失败
}
static bool yuHanQian3D(std::shared_ptr <detData> data, detParams* _detParams, yh_581_address address) {
try {
std::vector<std::string> defects;
auto CameraIndex = getCameraIndex(QString::fromStdString(data->cameraKeyName));
QDateTime createTime = QDateTime::currentDateTime();
double heightThreshold = data->service->_paramSyncManager->get("预焊前检测", "高度/台阶差最大阈值", 0.3).toDouble();
double widthThreshold = data->service->_paramSyncManager->get("预焊前检测", "缝隙值最大阈值", 0.1).toDouble();
double MeasureNumber = data->service->_paramSyncManager->get("预焊前检测", "焊点的测量数量", 4).toDouble();
/* data->oriImgs.clear();
data->oriImgs.push_back(cv::imread("D:\\testimg\\04QCB82602000JFBN00063BN_45_Camera1_0.tiff", -1));
data->oriImgs.push_back(cv::imread("D:\\testimg\\04QCB82602000JFBN00063BN_45_Camera1_1.tiff", -1));*/
if (data->getOriImgSize() < 2) {
exceptionResume(data, _detParams, address, "NG");
return true;
}
if (data->getOriImg(0).cols == 1000) {
exceptionResume(data, _detParams, address, "取图超时");
return true;
}
cv::Mat heightImg = data->getOriImg(1);
cv::Mat lumImg = data->getOriImg(0);
cv::Mat Paint;
HalconCpp::HObject in_imageH = MatToHObject(heightImg);
HalconCpp::HObject in_imageLum = MatToHObject(lumImg);
HDevEngineCpp::HDevProcedure proc("_6_detect_gap_width_height");
HDevProcedureCall procedureCall(proc);
procedureCall.SetInputIconicParamObject("in_imageH", in_imageH);
procedureCall.SetInputIconicParamObject("in_imageLum", in_imageLum);
procedureCall.SetInputCtrlParamTuple("in_MeasureNumber", MeasureNumber);
procedureCall.SetInputCtrlParamTuple("in_xResolution", 0.0025);
procedureCall.SetInputCtrlParamTuple("in_yResolution", data->service->_paramSyncManager->get("预焊前检测", "3D相机Y方向精度",0.177).toFloat());
procedureCall.SetInputCtrlParamTuple("in_zResolution", 0.0004);
if(address.triggerAddr == 18000 || address.triggerAddr == 18002 || address.triggerAddr == 18400 || address.triggerAddr == 18402)
procedureCall.SetInputCtrlParamTuple("in_Location", "Right");
else
procedureCall.SetInputCtrlParamTuple("in_Location", "Left");
procedureCall.Execute();
HObject out_DisplayImage = procedureCall.GetOutputIconicParamObject("out_DisplayImage");
HTuple out_MaxHeight = procedureCall.GetOutputCtrlParamTuple("out_MaxHeight");
HTuple out_MaxWidth = procedureCall.GetOutputCtrlParamTuple("out_MaxWidth");
HTuple out_ResultRow = procedureCall.GetOutputCtrlParamTuple("out_ResultRow");
HTuple out_ResultColumn = procedureCall.GetOutputCtrlParamTuple("out_ResultColumn");
HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag");
HTuple out_NgTails = procedureCall.GetOutputCtrlParamTuple("out_NgTails");
HTuple out_DisplayRows = procedureCall.GetOutputCtrlParamTuple("out_DisplayRows");
HTuple out_DisplayCols = procedureCall.GetOutputCtrlParamTuple("out_DisplayCols");
int flag = out_Flag.D();
TextRendererZH textPainter(Paint.cols, Paint.rows, 75);
textPainter.appendPaintJob(data->SNcode, cv::Point(1600,0), cv::Scalar(0, 255, 0));
textPainter.appendPaintJob(data->cameraKeyName, cv::Point(1600, 50), cv::Scalar(0, 255, 0));
if (address.triggerAddr == 18000 || address.triggerAddr == 18200 || address.triggerAddr == 18400 || address.triggerAddr == 18600)
textPainter.appendPaintJob("电池1", cv::Point(1600, 100), cv::Scalar(0, 255, 0));
else
textPainter.appendPaintJob("电池2", cv::Point(1600, 100), cv::Scalar(0, 255, 0));
bool isOK = true;
bool WidthOpen = data->service->_paramSyncManager->get("预焊前检测", "缝隙值检测开启", true).toBool();
bool HeightOpen = data->service->_paramSyncManager->get("预焊前检测", "台阶差检测开启", true).toBool();
QByteArray gaoDuChaSendText, fengXiSendText;
QByteArray extraDataSend;
if (flag == 1) {
int yStart = -25;
for (int i = 0; i < out_DisplayRows.Length(); i++) {
double MaxHeight = out_MaxHeight[i].D();
double MaxWidth = out_MaxWidth[i].D();
cv::Point displayPos( 1000, out_DisplayRows[i].D() - 50);
textPainter.appendPaintJob("检测区域" + std::to_string(i + 1) + ":", displayPos, cv::Scalar(0, 255, 0));
displayPos.x += 280;
if (std::abs(MaxHeight) > std::abs(heightThreshold)) {
textPainter.appendPaintJob("高度/台阶差" + QString::number(MaxHeight, 'f', 3).toStdString() +"mm", displayPos, cv::Scalar(0, 0, 255));
if(HeightOpen) isOK = false;
}
else
textPainter.appendPaintJob("高度/台阶差" + QString::number(MaxHeight, 'f', 3).toStdString() + "mm", displayPos, cv::Scalar(0, 255, 0));
displayPos.x += 600;
if (std::abs(MaxWidth) > std::abs(widthThreshold)) {
textPainter.appendPaintJob("缝隙值" + QString::number(MaxWidth, 'f', 3).toStdString() + "mm", displayPos, cv::Scalar(0, 0, 255));
if(WidthOpen) isOK = false;
}
else
textPainter.appendPaintJob("缝隙值" + QString::number(MaxWidth, 'f', 3).toStdString() + "mm", displayPos, cv::Scalar(0, 255, 0));
if (i == 3) {
extraDataSend += QByteArray::number(MaxWidth) + "," + QByteArray::number(MaxHeight);
}
else {
gaoDuChaSendText += QByteArray::number(MaxHeight) + ",";
fengXiSendText += QByteArray::number(MaxWidth) + ",";
}
}
}
else {
gaoDuChaSendText = "-1,-1,-1,";
fengXiSendText = "-1,-1,-1,";
std::string ngDetailStr = gbkToUtf8(out_NgTails.ToString().Text());
ngDetailStr = ngDetailStr.substr(1, ngDetailStr.length() - 2);
textPainter.appendPaintJob(ngDetailStr, cv::Point(50, 450), cv::Scalar(0, 0, 255));
for (int i = 0; i < out_ResultRow.Length(); i++) {
textPainter.appendPaintJob(cv::Point(out_ResultRow[i].D(), out_ResultColumn[i].D()),1, cv::Scalar(0, 0, 255), 1,0);
}
data->halconOK = false;
isOK = false;
}
QByteArray plcResult = "1";
if (isOK == false) {
textPainter.appendPaintJob("NG", cv::Point(50, 50), cv::Scalar(0, 0, 255));
plcResult = "2";
data->halconOK = false;
defects.push_back("台阶/间隙不良");
}
else
textPainter.appendPaintJob("OK", cv::Point(50, 50), cv::Scalar(0, 255, 0));
if (data->service->_paramSyncManager->get("通用设置", "强制OK", false).toBool())
plcResult = "1";
//发送参数1
data->service->_triggerManager->writeFloat("D"
+ QByteArray::number(address.valueOffsetAddr) + "_"
+ fengXiSendText + "1,1,"
+ gaoDuChaSendText + plcResult + "," + plcResult + "," + plcResult + "," + plcResult +"," + plcResult + "," + plcResult + "," + extraDataSend+ CameraIndex);//数值1
//发送结果
data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult + CameraIndex);//结果反馈
data->service->_missionResultHandle->toBarChart(data->SNcode, defects);
Paint = HObject2Mat(out_DisplayImage);
textPainter.excusePaintJobs(Paint);
int rate = MIN(Paint.rows, Paint.cols) / 20;
TextRendererZH textPainter1(Paint.cols, Paint.rows, rate);
textPainter1.putText(Paint, "当前条码:" + data->SNcode, cv::Point(50, Paint.rows - (rate * 2)), cv::Scalar(0, 255, 255));
textPainter1.putText(Paint, "获取图像时间:" + createTime.toString("yyyy/MM/dd hh:mm:ss").toStdString(), cv::Point(50, Paint.rows - rate), cv::Scalar(0, 255, 255));
data->insertResultImg(Paint);
return true;
}
CATCH_EXCEPTIONS
exceptionResume(data, _detParams, address, "NG");
return true;
}
class _581_Dgh : public mission {
public:
using generalTrigger = _581_Union_triggerTemplate<detParams>;
generalTrigger dgh_cb_yh_3d_1;
generalTrigger dgh_cb_yh_3d_2;
generalTrigger dgh_cb_yh_3d_3;
generalTrigger dgh_cb_yh_3d_4;
generalTrigger dgh_cb_mh_3d_1;
generalTrigger dgh_cb_mh_3d_2;
generalTrigger dgh_cb_mh_3d_3;
generalTrigger dgh_cb_mh_3d_4;
detParams _params;
void onConfigReloaded() {
HDevEngineCpp::HDevEngine myEngine;
myEngine.SetProcedurePath("");
myEngine.SetProcedurePath("./halconAlgo/AlgoLibrary_602.hdpl");
}
bool initCustom() {
#pragma region 注册触发器回调
dgh_cb_yh_3d_1.init("Camera1", "长边预焊前3D-1", 18000,2,1, &_params, _serviceManager, bridge, yuHanQian3D);
dgh_cb_yh_3d_1.address[1].valueOffsetAddr += 20;
dgh_cb_yh_3d_2.init("Camera2", "长边预焊前3D-2", 18200,2,1, &_params, _serviceManager, bridge, yuHanQian3D);
dgh_cb_yh_3d_2.address[1].valueOffsetAddr += 20;
dgh_cb_yh_3d_3.init("Camera3", "长边预焊前3D-3", 18400,2,1, &_params, _serviceManager, bridge, yuHanQian3D);
dgh_cb_yh_3d_3.address[1].valueOffsetAddr += 20;
dgh_cb_yh_3d_4.init("Camera4", "长边预焊前3D-4", 18600,2,1, &_params, _serviceManager, bridge, yuHanQian3D);
dgh_cb_yh_3d_4.address[1].valueOffsetAddr += 20;
dgh_cb_mh_3d_1.init("Camera5", "长边满焊前3D-1", 19600,2,1, &_params, _serviceManager, bridge, generalAlgoTest);
dgh_cb_mh_3d_1.address[1].valueOffsetAddr += 20;
dgh_cb_mh_3d_2.init("Camera6", "长边满焊前3D-2", 19800,2,1, &_params, _serviceManager, bridge, generalAlgoTest);
dgh_cb_mh_3d_2.address[1].valueOffsetAddr += 20;
dgh_cb_mh_3d_3.init("Camera7", "长边满焊前3D-3", 20000,2,1, &_params, _serviceManager, bridge, generalAlgoTest);
dgh_cb_mh_3d_3.address[1].valueOffsetAddr += 20;
dgh_cb_mh_3d_4.init("Camera8", "长边满焊前3D-4", 20200,2,1, &_params, _serviceManager, bridge, generalAlgoTest);
dgh_cb_mh_3d_4.address[1].valueOffsetAddr += 20;
#pragma endregion
return true;
}
};
#pragma once
src/mission/581-Dgh-CB-1/CMakeLists.txt
+77
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@@ -0,0 +1,77 @@
# 获取获取当前目录名
get_filename_component(CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR} NAME)
string(TIMESTAMP RUN_TIME)
message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
set(DLL_NAMES "opencv" "halcon" "handdleAI")
foreach(child ${DLL_NAMES})
LIST(APPEND ENV_INCLUDE ${${child}_include})
LIST(APPEND ENV_LIB ${${child}_lib})
LIST(APPEND ENV_TARGET ${${child}_target_link})
endforeach()
message(" ENV_INCLUDE : " ${ENV_INCLUDE} )
message(" ENV_LIB : " ${ENV_LIB} )
message(" ENV_TARGET : " ${ENV_TARGET} )
include_directories(
${PROJECT_ROOT_PATH}/src/core
${PROJECT_ROOT_PATH}/src/core/handleAi
${PROJECT_ROOT_PATH}/src/core/service
${PROJECT_ROOT_PATH}/src/core/sql
${ENV_INCLUDE}
)
link_directories (
${ENV_LIB}
)
add_compile_options(/utf-8)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
SET(CMAKE_CXX_STANDARD 11)
SET(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_AUTOMOC ON)
SET(CMAKE_AUTOUIC OFF)
set(CMAKE_AUTORCC ON)
FILE(GLOB HEAD_FILES "*.h" )
FILE(GLOB SRC_FILES "./*.cpp")
FILE(GLOB UI_FILES "./*.ui")
#find_package(Qt5 COMPONENTS Core REQUIRED)
find_package(QT NAMES Qt6 Qt5 COMPONENTS Core Gui Network REQUIRED)
find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core Gui Network REQUIRED)
add_library(${CURRENT_FOLDER} SHARED
${HEAD_FILES}
${SRC_FILES}
${UI_FILES}
${PROJECT_ROOT_PATH}/include/interface.h
)
set_target_properties(${CURRENT_FOLDER} PROPERTIES
RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
)
target_link_libraries(${CURRENT_FOLDER} PRIVATE
${ENV_TARGET}
Qt${QT_VERSION_MAJOR}::Core
Qt${QT_VERSION_MAJOR}::Gui
Qt${QT_VERSION_MAJOR}::Network
)
# target_compile_definitions(${CURRENT_FOLDER} PRIVATE HD_AIDEMO_MODULE_LIBRARY)
string(TIMESTAMP RUN_TIME)
message( " modelx end : " ${CURRENT_FOLDER}:${RUN_TIME})
message( " header files "${HEAD_FILES})
src/mission/581_Ruanlianjie_hanqian_hanhou/581_Ruanlianjie_hanqian_hanhou.cpp
+552
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@@ -0,0 +1,552 @@
#include <581_Ruanlianjie_hanqian_hanhou.h>
#include <qregularexpression.h>
#define switchToNew 1
QByteArray getCameraIndex(QString cameraStr) {
QRegularExpression re("\\d+");
auto match = re.match(cameraStr);
if (match.hasMatch()) {
return "_" + match.captured(0).toLocal8Bit();
}
return "_-2";
}
void exceptionResume(std::shared_ptr<detData> data, hanHouJianCe* _detParams, sx_581_address address, QString why = "") {
qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode) << why;
cv::Mat Paint;
data->getOriImg(0).copyTo(Paint);
if (Paint.channels() == 1)
cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
textPainter.putText(Paint, why.toStdString(), cv::Point(500, 50), cv::Scalar(0, 255, 0));
cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
data->insertResultImg(Paint);
data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//结果反馈
}
void exceptionResume(std::shared_ptr<detData> data, hanQianDingWeiParams* _detParams, sx_581_address address, QString why = "") {
qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode) << why;
cv::Mat Paint;
data->getOriImg(0).copyTo(Paint);
if (Paint.channels() == 1)
cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
textPainter.putText(Paint, why.toStdString(), cv::Point(500, 50), cv::Scalar(0, 255, 0));
cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
data->insertResultImg(Paint);
data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//结果反馈
}
bool HanQianDingWei(std::shared_ptr <detData> data, hanQianDingWeiParams* _detParams, sx_581_address address){
try
{
auto cameraThreadIndex = getCameraIndex(QString::fromStdString(data->cameraKeyName));
bool zuoLJPtoGaiBanEnable = data->service->_paramSyncManager->get("焊前定位", "左侧连接片和盖板距离判定启用", false).toBool();
double zuoLJPtoGaiBanMaxThreshold = data->service->_paramSyncManager->get("焊前定位", "左侧连接片和盖板距离(上限)", 1.8).toDouble();
double zuoLJPtoGaiBanMinThreshold = data->service->_paramSyncManager->get("焊前定位", "左侧连接片和盖板距离(下限)", 0.0).toDouble();
bool youLJPtoGaiBanEnable = data->service->_paramSyncManager->get("焊前定位", "右侧连接片和盖板距离判定启用", false).toBool();
double youLJPtoGaiBanMaxThreshold = data->service->_paramSyncManager->get("焊前定位", "右侧连接片和盖板距离(上限)", 1.8).toDouble();
double youLJPtoGaiBanMinThreshold = data->service->_paramSyncManager->get("焊前定位", "右侧连接片和盖板距离(下限)", 0.0).toDouble();
bool ljpYuanXinJuEnable = data->service->_paramSyncManager->get("焊前定位", "连接片圆心距离判定启用", false).toBool();
double ljpYuanXinJuMaxThreshold = data->service->_paramSyncManager->get("焊前定位", "连接片圆心距离(上限)", 1.8).toDouble();
double ljpYuanXinJuMinThreshold = data->service->_paramSyncManager->get("焊前定位", "连接片圆心距离(下限)", 0.0).toDouble();
std::vector <std::string>defects;
QByteArray plcResult = "1";
//data->getOriImg(0) = cv::imread("D://testImage//hqdw.bmp",-1);
cv::Mat sourceImg = data->getOriImg(0);
cv::Mat Paint;
sourceImg.copyTo(Paint);
if (Paint.channels() == 1)
cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
HDevEngineCpp::HDevProcedure proc("_3_HQDW_Inspection");
HDevEngineCpp::HDevProcedureCall procedureCall(proc);
HTuple in_Resolution(data->service->_paramSyncManager->get("相机精度", "焊前定位" + QString::fromStdString(data->cameraKeyName) + "精度", 0.0349425).toDouble()), in_FilePath("./halconFiles/");
HObject inputImage = MatToHObject(sourceImg);
procedureCall.SetInputIconicParamObject("in_Image", inputImage);
procedureCall.SetInputCtrlParamTuple("in_Resolution", in_Resolution);
procedureCall.SetInputCtrlParamTuple("in_FilePath", in_FilePath);
procedureCall.Execute();//执行halcon程序
HTuple out_ColorType;
HTuple out_Distance;
HTuple out_CCDistance;
HTuple make;
HObject out_DisplayImage;
out_ColorType = procedureCall.GetOutputCtrlParamTuple("out_ColorType");//获取输出控制类变量
out_Distance = procedureCall.GetOutputCtrlParamTuple("out_Distance");//获取输出控制类变量
out_CCDistance = procedureCall.GetOutputCtrlParamTuple("out_CCDistance");//获取输出控制类变量
make = procedureCall.GetOutputCtrlParamTuple("out_Flag");//获取输出控制类变量
out_DisplayImage = procedureCall.GetOutputIconicParamObject("out_DisplayImage");//获取输出控制类变量
int flag = make.D();
// Output(HTuple): out_ColorType, 1, 铜; 2,铝</c>
//正确的应该左边铝 右边铜
double value1_1 = 0, value1_2 = 0, value2_1 = 0, value2_2 = 0;
bool jiXingEnable = data->service->_paramSyncManager->get("焊前定位", "焊前极性判定启用", false).toBool();
TextRendererZH textPainter(Paint.cols, Paint.rows, 200);
TextRendererZH textPainter2(Paint.cols, Paint.rows, 600);
TextRendererZH textPainter3(Paint.cols, Paint.rows, 800);
if (flag == 1){
bool isNg = false;
Paint = HObject2Mat(out_DisplayImage);
int l = out_Distance.Length();
if (out_Distance.Length() >= 3) {
value1_1 = out_Distance[1].D();
value1_2 = out_Distance[2].D();
textPainter.appendPaintJob("线段夹角:" + std::to_string(out_Distance[3].D()) + "°", cv::Point(0, 10), cv::Scalar(0, 255, 0));
//判断圆心距
double yuanXinJu = out_Distance[0].D();
if (ljpYuanXinJuMaxThreshold < yuanXinJu || ljpYuanXinJuMinThreshold > yuanXinJu) {//NG
textPainter.appendPaintJob("铜极+铝极连接片中心距离:" + std::to_string(yuanXinJu) + "mm", cv::Point(0, sourceImg.rows - 950), cv::Scalar(0, 0, 255));
defects.push_back("圆心距NG");
if (ljpYuanXinJuEnable == true)
isNg = true;
}
else//OK
textPainter.appendPaintJob("铜极+铝极连接片中心距离:" + std::to_string(yuanXinJu) + "mm", cv::Point(0, sourceImg.rows - 950), cv::Scalar(0, 255, 0));
textPainter.appendPaintJob("电芯上水平边缘和注液孔的中心圆的距离:" + std::to_string(out_Distance[1].D()) + "mm", cv::Point(0, sourceImg.rows - 750), cv::Scalar(0, 255, 0));
textPainter.appendPaintJob("电芯下水平边缘和注液孔的中心圆的距离:" + std::to_string(out_Distance[2].D()) + "mm", cv::Point(0, sourceImg.rows - 550), cv::Scalar(0, 255, 0));
#if switchToNew
data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(out_Distance[0].D()) + cameraThreadIndex);
data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr+2) + "_" + QByteArray::number(out_Distance[1].D()) + cameraThreadIndex);
#else
data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(out_Distance[0].D()));
data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + "_" + QByteArray::number(out_Distance[1].D()));
#endif
data->sqlVec.insert({ "电芯上水平边缘和注液孔的中心圆的距离", out_Distance[1].D() });
data->sqlVec.insert({ "电芯下水平边缘和注液孔的中心圆的距离", out_Distance[2].D() });
}
if (out_CCDistance.Length() == 2) {
value2_1 = out_CCDistance[0].D();
if (zuoLJPtoGaiBanMaxThreshold < value2_1 || zuoLJPtoGaiBanMinThreshold > value2_1) {//NG
textPainter.appendPaintJob("左侧连接片圆心和盖板圆心的距离:" + std::to_string(value2_1) + "mm", cv::Point(0, sourceImg.rows - 350), cv::Scalar(0, 0, 255));
defects.push_back("左连接片距离NG");
if (zuoLJPtoGaiBanEnable == true)
isNg = true;
}
else//OK
textPainter.appendPaintJob("左侧连接片圆心和盖板圆心的距离:" + std::to_string(value2_1) + "mm", cv::Point(0, sourceImg.rows - 350), cv::Scalar(0, 255, 0));
value2_2 = out_CCDistance[1].D();
if (youLJPtoGaiBanMaxThreshold < value2_2 || youLJPtoGaiBanMinThreshold > value2_2) {//NG
defects.push_back("右连接片距离NG");
textPainter.appendPaintJob("右侧连接片圆心和盖板圆心的距离:" + std::to_string(value2_2) + "mm", cv::Point(0, sourceImg.rows - 150), cv::Scalar(0, 0, 255));
if(youLJPtoGaiBanEnable == true)
isNg = true;
}
else
textPainter.appendPaintJob("右侧连接片圆心和盖板圆心的距离:" + std::to_string(value2_2) + "mm", cv::Point(0, sourceImg.rows - 150), cv::Scalar(0, 255, 0));
#if switchToNew
data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 4) + "_" + QByteArray::number(out_CCDistance[0].D()) + cameraThreadIndex);
data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 6) + "_" + QByteArray::number(out_Distance[1].D()) + cameraThreadIndex);
#else
data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 4) + "_" + QByteArray::number(out_CCDistance[0].D()));
data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 6) + "_" + QByteArray::number(out_Distance[1].D()));
#endif
data->sqlVec.insert({ "左侧连接片圆心和盖板圆心的距离", out_CCDistance[0].D() });
data->sqlVec.insert({ "右侧连接片圆心和盖板圆心的距离", out_CCDistance[1].D() });
}
int left = out_ColorType[0].D();
//结果判定,铜在左边，铝在右边
if (left == 2)
textPainter2.appendPaintJob("铜",cv::Point(0, 1500), cv::Scalar(0, 255, 0));
else if (left == 1)
textPainter2.appendPaintJob("铝",cv::Point(0, 1500), cv::Scalar(0, 0, 255));
else
textPainter2.appendPaintJob("异常",cv::Point(0, 1500), cv::Scalar(0, 0, 255));
int right = out_ColorType[1].D();
if (right == 2)
textPainter2.appendPaintJob("铜",cv::Point(Paint.cols - 600, 1500), cv::Scalar(0, 0, 255));
else if (right == 1)
textPainter2.appendPaintJob("铝",cv::Point(Paint.cols - 600, 1500), cv::Scalar(0, 255, 0));
else
textPainter2.appendPaintJob("异常",cv::Point(Paint.cols - 600, 1500), cv::Scalar(0, 0, 255));
if (left == 1 || right == 2) {
defects.push_back("极性NG");
if (jiXingEnable)
isNg = true;
}
if(isNg == true){
textPainter3.appendPaintJob("NG", cv::Point(0, 50), cv::Scalar(0, 0, 255));
plcResult = "2";
data->halconOK = false;
}
else {
textPainter3.appendPaintJob("OK", cv::Point(0, 50), cv::Scalar(0, 255, 0));
}
}
else
{
TextRendererZH textPainter4(Paint.cols, Paint.rows, 500);
textPainter4.putText(Paint, "NG", cv::Point(0, 50), cv::Scalar(0, 0, 255));//调机
plcResult = "2";
data->halconOK = false;
}
if (data->service->_paramSyncManager->get("通用设置","强制OK", false).toBool())
plcResult = "1";
#if switchToNew
data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult + cameraThreadIndex);//结果反馈
#else
data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult);//结果反馈
#endif
data->service->_missionResultHandle->toBarChart(data->SNcode, defects);
textPainter.excusePaintJobs(Paint);
textPainter2.excusePaintJobs(Paint);
textPainter3.excusePaintJobs(Paint);
data->insertResultImg(Paint);
return true;
}
CATCH_EXCEPTIONS
exceptionResume(data, _detParams, address, "检测失败");
qDebug() << "[Error] " << QString::fromUtf8("检测失败!");
return false;
}
bool HanHou2D_halconEvaluate(std::shared_ptr <detData> data, const cv::Mat& sourceImg,const cv::Mat& segImg, TextRendererZH* textPainter, double& hanHouTongXingDu, int times) {
double tongXingDuLimitHigh = data->service->_paramSyncManager->get("焊后", "焊后同心度mm(上限)", 1.8).toDouble();
double tongXingDuLimitLow = data->service->_paramSyncManager->get("焊后", "焊后同心度mm(下限)", 0).toDouble();
bool tongXingDuLimitEnable = data->service->_paramSyncManager->get("焊后", "焊后同心度判定启用", true).toBool();
HDevEngineCpp::HDevProcedure proc("_3_Cal_HY_CC_Distance");
HDevEngineCpp::HDevProcedureCall procedureCall(proc);
HObject in_Image = MatToHObject(sourceImg);
HObject in_ImageSeg = MatToHObject(segImg);
double resolution = 0.013736;
HalconCpp::HTuple in_FliePath("./halconFiles/"), in_Resolution(resolution);
procedureCall.SetInputIconicParamObject("in_Image", in_Image);
procedureCall.SetInputIconicParamObject("in_ImageSeg", in_ImageSeg);
procedureCall.SetInputCtrlParamTuple("in_FliePath", in_FliePath);
procedureCall.SetInputCtrlParamTuple("in_Resolution", in_Resolution);
procedureCall.Execute();//执行halcon程序
HalconCpp::HTuple out_CCDistance = procedureCall.GetOutputCtrlParamTuple("out_CCDistance");//获取输出控制类变量
HalconCpp::HTuple out_Circle = procedureCall.GetOutputCtrlParamTuple("out_Circle");//获取输出控制类变量
HalconCpp::HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag");//获取输出控制类变量
HalconCpp::HTuple out_NgTails = procedureCall.GetOutputCtrlParamTuple("out_NgTails");//获取输出控制类变量
HalconCpp::HTuple InnerCircle_offset = procedureCall.GetOutputCtrlParamTuple("InnerCircle_offset");//获取输出控制类变量
HalconCpp::HTuple OuterCircle_offset = procedureCall.GetOutputCtrlParamTuple("OuterCircle_offset");//外圆偏移（X向偏移，Y向偏移）
int flag = out_Flag.D();
bool isNg = false;
if (flag == 1){
double CCDistance = out_CCDistance.D();
textPainter->appendPaintJob("焊印同心度:" + std::to_string(CCDistance), cv::Point(0, 50), cv::Scalar(0, 255, 0));
std::string x1Text = std::to_string(InnerCircle_offset[0].D());
x1Text = x1Text.substr(0, x1Text.find(".") + 4);
std::string y1Text = std::to_string(InnerCircle_offset[1].D());
y1Text = y1Text.substr(0, y1Text.find(".") + 4);
std::string txd1Text = std::to_string(std::sqrtf(std::powf(InnerCircle_offset[0].D(), 2) + std::powf(InnerCircle_offset[1].D(), 2)));
txd1Text = txd1Text.substr(0, txd1Text.find(".") + 4);
textPainter->appendPaintJob("内圆偏移X:" + x1Text + "mm Y:" + y1Text + "mm 同心度" + txd1Text, cv::Point(0, 250), cv::Scalar(0, 255, 0));
std::string x2Text = std::to_string(OuterCircle_offset[0].D());
x2Text = x2Text.substr(0, x2Text.find(".") + 4);
std::string y2Text = std::to_string(OuterCircle_offset[1].D());
y2Text = y2Text.substr(0, y2Text.find(".") + 4);
std::string txd2Text = std::to_string(std::sqrtf(std::powf(OuterCircle_offset[0].D(), 2) + std::powf(OuterCircle_offset[1].D(), 2)));
txd2Text = txd2Text.substr(0, txd2Text.find(".") + 4);
textPainter->appendPaintJob("外圆偏移X:" + x2Text + "mm Y:" + y2Text + "mm 同心度:" + txd2Text, cv::Point(0, 450), cv::Scalar(0, 255, 0));
for (int i = 0; i < out_Circle.Length() / 3; i++) {
textPainter->appendPaintJob(cv::Point(out_Circle[i * 3 + 1].D(), out_Circle[i * 3].D()), out_Circle[i * 3 + 2].D(), cv::Scalar(0, 255, 0), 15,0);
}
if (CCDistance > tongXingDuLimitHigh || CCDistance < tongXingDuLimitLow){
textPainter->appendPaintJob("同心度NG", cv::Point(10, 650), cv::Scalar(0, 0, 255));
data->halconOK = false;
if(tongXingDuLimitEnable == true)
isNg = true;
}
}
else{
textPainter->appendPaintJob("焊印抓取NG", cv::Point(10, 50), cv::Scalar(0, 0, 255));
textPainter->appendPaintJob(gbkToUtf8(out_NgTails.ToString().Text()), cv::Point(10, 450), cv::Scalar(0, 0, 255));
if (tongXingDuLimitEnable == true)
isNg = true;
data->halconOK = false;
}
return isNg;
}
bool HanHou2D_handleAiEvaluate(std::shared_ptr <detData> data, hanHouJianCe* _detParams,const cv::Mat& sourceImg, TextRendererZH* textPainter,handdleAI::pSegmentation* seg,handdleAI::pClassification* cls) {
double hanZhaFillterWidth = data->service->_paramSyncManager->get("焊后", "焊渣过滤值宽mm(上限)", 0.1).toDouble()/ 0.013736;
double hanZhaFillterHeight = data->service->_paramSyncManager->get("焊后", "焊渣过滤值高mm(上限)", 0.1).toDouble()/ 0.013736;
bool hanZhaEnable = data->service->_paramSyncManager->get("焊后", "焊渣判定启用", false).toBool();
cv::Mat forSeg;
sourceImg.copyTo(forSeg);
cv::resize(sourceImg, forSeg, cv::Size(), 0.5, 0.5);
cv::Mat SegResult = ~seg->Evaluate(forSeg);
std::vector<std::vector<cv::Point>> contours;
cv::findContours(SegResult, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
std::vector<cv::Rect> PaintRects;
std::vector<std::pair<std::string, cv::Mat>>clsImgTmp;
bool isNg = false;;
for (int i = 0; i < contours.size(); i++) {
cv::Rect rect = cv::boundingRect(contours[i]);
if (rect.width > hanZhaFillterWidth || rect.height > hanZhaFillterHeight) {
cv::Mat clsImg;
cv::resize(forSeg(rect), clsImg, cv::Size(128, 128));
bool clsIsNg = false;
int clsRes = cls->Evaluate(clsImg);
if (clsRes == 1)
clsIsNg = true;
if (clsIsNg == true) {
rect.x *= 2; rect.y *= 2; rect.width *= 2; rect.height *= 2;
PaintRects.push_back(rect);
isNg = true;
}
clsImgTmp.push_back({ clsIsNg == true ? "NG" : "OK",clsImg });
}
}
for (auto& rect : PaintRects) {
textPainter->appendPaintJob(cv::Rect(rect.x + rect.width / 2 -64, rect.y + rect.height / 2 -64, 128, 128), cv::Scalar(0, 0, 255), 3);
}
data->insertClsOriginImg(clsImgTmp);
return isNg;
}
QByteArray getHanHouJianCe2DSendResult(bool isNg1,bool isNg2) {
if (isNg1 == false && isNg2 == false) //都OK发1
return "1";
else if (isNg1 == true && isNg2 == false)//第一次NG发2
return "2";
else if (isNg1 == false && isNg2 == true)//第二次NG发3
return "3";
else if (isNg1 == true && isNg2 == true)//两次都NG发4
return "4";
else//为了DEBUG
return "5";
}
bool HanHouJianCe2D(std::shared_ptr <detData> data, hanHouJianCe* _detParams, sx_581_address address){
try
{
auto cameraThreadIndex = getCameraIndex(QString::fromStdString(data->cameraKeyName));
//data->SNcode = "test";
//data->oriImgs.clear();
//data->oriImgs.push_back(cv::imread("D:\\testImage\\T.bmp",-1));
//data->oriImgs.push_back(cv::imread("D:\\testImage\\L_OK.bmp", -1));
#pragma region 错误处理
if (data->getOriImgSize() < 2) {
exceptionResume(data, _detParams, address, "图片数量不满足");
return true;
}
if (data->getOriImg(0).cols == 200 || (data->getOriImg(1).cols == 200)) {
data->halconOK = false;
cv::Mat Paint;
data->getOriImg(0).copyTo(Paint);
if (Paint.channels() == 1) {
cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
}
TextRendererZH textPainter(Paint.cols, Paint.rows, 40);
textPainter.putText(Paint, "图片数量不满足", cv::Point(0, 0), cv::Scalar(0, 255, 0));
data->insertResultImg(Paint);
data->service->_triggerManager->writeShort("D" + address.resultAddr + "_4");//结果反馈
return true;
}
#pragma endregion
cv::Mat Paint1, Paint2;
data->getOriImg(0).copyTo(Paint1);
data->getOriImg(1).copyTo(Paint2);
if (Paint1.channels() == 1) {
cvtColor(Paint1, Paint1, cv::COLOR_GRAY2BGR);
}
if (Paint2.channels() == 1) {
cvtColor(Paint2, Paint2, cv::COLOR_GRAY2BGR);
}
std::vector <std::string>defects;
QByteArray plcResult = "1";
double hanHouTongXingDu1 = -1;
double hanHouTongXingDu2 = -1;
cv::Mat forSeg1, forSeg2;
double resizeRate = 0.25;
bool isNg1 = false, isNg2 = false;
QMutex mutex1, mutex2;
cv::resize(data->getOriImg(0), forSeg1, cv::Size(), resizeRate, resizeRate);
cv::Mat seg1 = _detParams->seg_rljHanYinZhuaQu->Evaluate(forSeg1);
data->insertSegOriginImg(seg1);
cv::Rect tongRect = findMaxAreaContour(~seg1);
if (tongRect.width < 100 || tongRect.height < 100) {
isNg1 = true;
}
cv::resize(data->getOriImg(1), forSeg2, cv::Size(), resizeRate, resizeRate);
cv::Mat seg2 = _detParams->seg_rljHanYinZhuaQu->Evaluate(forSeg2);
data->insertSegOriginImg(seg2);
cv::Rect lvRect = findMaxAreaContour(~seg2);
if (lvRect.width < 100 || lvRect.height < 100) {
isNg2 = true;
}
TextRendererZH textPainter1(Paint1.cols, Paint1.rows, 200), textPainter2(Paint2.cols, Paint2.rows, 200);
//判斷焊印結果
if (isNg1 == true || isNg2 == true) {//判断存图
data->halconOK = false;
plcResult = getHanHouJianCe2DSendResult(isNg1, isNg2);
if (data->service->_paramSyncManager->get("通用设置", "强制OK", false).toBool())
plcResult = "1";
data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult);
if (isNg1 == true) textPainter1.appendPaintJob("焊印抓取失败", cv::Point(0, 0), cv::Scalar(0, 0, 255));
if (isNg2 == true) textPainter2.appendPaintJob("焊印抓取失败", cv::Point(0, 0), cv::Scalar(0, 0, 255));
cv::Mat PaintSum;
cv::vconcat(Paint1, Paint2, PaintSum);
data->insertResultImg(PaintSum);
return true;
}
auto futrue1 = std::async(std::launch::async, &HanHou2D_halconEvaluate, data, data->getOriImg(0), seg1, &textPainter1, std::ref(hanHouTongXingDu1), 0);
auto futrue2 = std::async(std::launch::async, &HanHou2D_halconEvaluate, data, data->getOriImg(1), seg2, &textPainter2, std::ref(hanHouTongXingDu2), 2);
auto futrue3 = std::async(std::launch::async, &HanHou2D_handleAiEvaluate, data, _detParams, data->getOriImg(0), &textPainter1, _detParams->seg_rljHanZha1, _detParams->cls_rljHanZha1);
auto futrue4 = std::async(std::launch::async, &HanHou2D_handleAiEvaluate, data, _detParams, data->getOriImg(1), &textPainter2, _detParams->seg_rljHanZha2, _detParams->cls_rljHanZha2);
futrue1.wait();
futrue2.wait();
isNg1 = futrue1.get();
isNg2 = futrue2.get();
futrue3.wait();
futrue4.wait();
futrue3.get();
futrue4.get();
std::vector<std::pair<std::string, cv::Mat>> hanYinClsImg;
int tongClsRes = 0, lvClsRes = 0;
if (isNg1 == true || isNg2 == true) {//同心度是否NG
defects.push_back({ "焊后同心度NG" });
}
{
auto tongClsImg = cutImg2Cls(tongRect, forSeg1, cv::Size(256, 256));
tongClsRes = _detParams->cls_hanYinTong->Evaluate(tongClsImg);
double prob = _detParams->cls_hanYinTong->getProbability();
hanYinClsImg.push_back({ "tongHY_Res" + std::to_string(tongClsRes) + "_prob" + std::to_string(prob),tongClsImg });
if (tongClsRes == 1) {
defects.push_back({ "铜焊印CLS-NG" });
textPainter1.appendPaintJob("焊印CLS-NG(测试)", cv::Point(0, 850), cv::Scalar(0, 0, 255));
/* if (data->service->_paramSyncManager->get("焊后", "焊印CLS判定启用", true).toBool()) {
isNg1 = true;
}*/
}
else
textPainter1.appendPaintJob("焊印CLS-OK(测试)", cv::Point(0, 850), cv::Scalar(0, 255, 0));
}
{
auto lvClsImg = cutImg2Cls(lvRect, forSeg2, cv::Size(256, 256));
lvClsRes = _detParams->cls_hanYinLv->Evaluate(lvClsImg);
double prob = _detParams->cls_hanYinLv->getProbability();
hanYinClsImg.push_back({ "lvHY" + std::to_string(tongClsRes) + "_prob" + std::to_string(prob),lvClsImg });
if (lvClsRes == 1) {
defects.push_back({ "铝焊印CLS-NG" });
textPainter2.appendPaintJob("焊印CLS-NG", cv::Point(0, 850), cv::Scalar(0, 0, 255));
if (data->service->_paramSyncManager->get("焊后", "焊印CLS判定启用", true).toBool()) {
isNg2 = true;
}
}
else
textPainter2.appendPaintJob("焊印CLS-OK", cv::Point(0, 850), cv::Scalar(0, 255, 0));
}
data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(hanHouTongXingDu1) + "," + QByteArray::number(hanHouTongXingDu2) + cameraThreadIndex);
if (isNg1 == true || isNg2 == true) {//判断存图
data->halconOK = false;
}
plcResult = getHanHouJianCe2DSendResult(isNg1, isNg2);
if (data->service->_paramSyncManager->get("通用设置", "强制OK", false).toBool())
plcResult = "1";
data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult + cameraThreadIndex);
if (data->cameraKeyName == "Camera3")
data->service->_triggerManager->writeShort("D5504_1");
else
data->service->_triggerManager->writeShort("D5704_1");
data->insertClsOriginImg(hanYinClsImg);
data->service->_missionResultHandle->toBarChart(data->SNcode, defects);
textPainter1.excusePaintJobs(Paint1);
textPainter2.excusePaintJobs(Paint2);
//拼装结果图
cv::Mat PaintSum;
cv::vconcat(Paint1, Paint2, PaintSum);
data->insertResultImg(PaintSum);
return true;
}
CATCH_EXCEPTIONS
exceptionResume(data, _detParams, address, "检测失败");
qDebug() << "[Error] " << QString::fromUtf8("检测失败!");
return false;
}
bool HanHouJianCe3D(std::shared_ptr <detData> data, hanHouJianCe* _detParams, sx_581_address address) {
try {
data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送结果
qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
std::vector < std::string> defects = { };
///////////////////取图//处理//////////////////
if (data->getOriImgSize() < 1)
{
qCritical() << "图片数量不满足要求：" << data->getOriImgSize();
return false;
}
if (data->getOriImg(0).rows == 100) {
cv::Mat Paint;
data->getOriImg(0).copyTo(Paint);
cv::putText(Paint, "time out", cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 2);
return false;
}
QMutex paintMutex;
clock_t start, finish;
start = clock();
cv::Mat src1 = data->getOriImg(0);
cv::Mat src2 = data->getOriImg(2);
cv::Mat Paint;
cv::vconcat(src1, src2, Paint);
if (src1.channels() != 3)
cv::cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
textPainter.putText(Paint, "OK", cv::Point(10, 10), cv::Scalar(0, 255, 0));
//cv::putText(Paint, "pos:" + data->additional["触发地址"].toString().toStdString(), cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255, 0, 0), 2);
//data->service->_missionResultHandle->toBarChart(data->SNcode, !defects.size() > 0, defects);//发送图标操作
data->insertResultImg(Paint);
return true;
}
CATCH_EXCEPTIONS
exceptionResume(data, _detParams, address, "检测失败");
return false;
}
mission* createMission() {
return new _581_Ruanlianjie_hanqian_hanhou();
}
void destroyMission(mission* _mission) {
delete _mission;
}
src/mission/581_Ruanlianjie_hanqian_hanhou/581_Ruanlianjie_hanqian_hanhou.h
+93
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@@ -0,0 +1,93 @@
#include <missionBase.hpp>
#include <sxGlobal.h>
#include <simpleAlgo.h>
#include <hdevengine/HDevEngineCpp.h>
#include <Halcon.h>
#include <HalconCpp.h>
#include <qmutex.h>
#include <qqueue.h>
#include <opencvPaintAlgo.hpp>
using namespace HDevEngineCpp;
using namespace HalconCpp;
class hanQianDingWeiParams {
};
class hanHouJianCe {
public:
handdleAI::pSegmentation* seg_rljHanYinZhuaQu = nullptr;
handdleAI::pSegmentation* seg_rljHanZha1 = nullptr;
handdleAI::pClassification* cls_rljHanZha1 = nullptr;
handdleAI::pSegmentation* seg_rljHanZha2 = nullptr;
handdleAI::pClassification* cls_rljHanZha2 = nullptr;
handdleAI::pClassification* cls_hanYinTong = nullptr;
handdleAI::pClassification* cls_hanYinLv = nullptr;
int ngCnt = 0;
};
bool HanQianDingWei(std::shared_ptr <detData> data, hanQianDingWeiParams* _detParams, sx_581_address address);
bool HanHouJianCe2D(std::shared_ptr <detData> data, hanHouJianCe* _detParams, sx_581_address address);
bool HanHouJianCe3D(std::shared_ptr <detData> data, hanHouJianCe* _detParams, sx_581_address address);
class _581_Ruanlianjie_hanqian_hanhou : public mission {
public:
_581_SX_Single_triggerTemplate<hanQianDingWeiParams> dingwei_1;
_581_SX_Single_triggerTemplate<hanQianDingWeiParams> dingwei_2;
_581_SX_Single_triggerTemplate<hanHouJianCe> jiance_2d_1;
_581_SX_Single_triggerTemplate<hanHouJianCe> jiance_2d_2;
_581_SX_Single_triggerTemplate<hanHouJianCe> jiance_3d_1;
_581_SX_Single_triggerTemplate<hanHouJianCe> jiance_3d_2;
hanQianDingWeiParams hanqiandingweiparams;
std::vector<hanHouJianCe>hanhoujiance2dparams = std::vector<hanHouJianCe>(2);
hanHouJianCe hanhoujiance3dparams;
bool initOnce = false;
void onConfigReloaded() {
HDevEngineCpp::HDevEngine myEngine;
myEngine.SetProcedurePath("");
myEngine.SetProcedurePath("./halconAlgo/AlgoLibrary_602.hdpl");
if (initOnce == false) {
hanhoujiance2dparams[0].seg_rljHanYinZhuaQu = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanYinZhuaQu.BHD", 64, 0);
hanhoujiance2dparams[1].seg_rljHanYinZhuaQu = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanYinZhuaQu.BHD", 64, 1);
hanhoujiance2dparams[0].seg_rljHanZha1 = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanZha.BHD", 64, 0);
hanhoujiance2dparams[1].seg_rljHanZha1 = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanZha.BHD", 64, 1);
hanhoujiance2dparams[0].seg_rljHanZha2 = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanZha.BHD", 64, 0);
hanhoujiance2dparams[1].seg_rljHanZha2 = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanZha.BHD", 64, 1);
hanhoujiance2dparams[0].cls_rljHanZha1 = handdleAI::CreateClsObjV3("./handleAiModels/cls_rljHanZha.BHD", 0, 1);
hanhoujiance2dparams[1].cls_rljHanZha1 = handdleAI::CreateClsObjV3("./handleAiModels/cls_rljHanZha.BHD", 1, 1);
hanhoujiance2dparams[0].cls_rljHanZha2 = handdleAI::CreateClsObjV3("./handleAiModels/cls_rljHanZha.BHD", 0, 1);
hanhoujiance2dparams[1].cls_rljHanZha2 = handdleAI::CreateClsObjV3("./handleAiModels/cls_rljHanZha.BHD", 1, 1);
hanhoujiance2dparams[0].cls_hanYinTong = handdleAI::CreateClsObjV3("./handleAiModels/cls_hanYinTong.BHD", 0, 1);
hanhoujiance2dparams[1].cls_hanYinTong = handdleAI::CreateClsObjV3("./handleAiModels/cls_hanYinTong.BHD", 1, 1);
hanhoujiance2dparams[0].cls_hanYinLv = handdleAI::CreateClsObjV3("./handleAiModels/cls_hanYinLv.BHD", 0, 1);
hanhoujiance2dparams[1].cls_hanYinLv = handdleAI::CreateClsObjV3("./handleAiModels/cls_hanYinLv.BHD", 1, 1);
initOnce = true;
}
}
bool initCustom() {
#pragma region 注册触发器回调
dingwei_1.init("Camera1", "焊前定位-相机1（左）", { { 4900, 1,{4910},"4902","4904",4930} }, 1, &hanqiandingweiparams, _serviceManager, bridge, HanQianDingWei,"焊前定位CCD");
dingwei_2.init("Camera2", "焊前定位-相机2（右）", { { 5800, 1,{5810},"5802","5804",5830} }, 1, &hanqiandingweiparams, _serviceManager, bridge, HanQianDingWei,"焊前定位CCD");
jiance_2d_1.init("Camera3", "焊后检测2D-相机1（前）", { { 5400, 1,{5410},"5402","5404",5430} }, 2, &hanhoujiance2dparams[0], _serviceManager, bridge, HanHouJianCe2D, "焊后检测CCD");
jiance_3d_1.init("Camera4", "焊后检测3D-相机1（前）", { { 5500, 1,{5510},"5502","5504",5530} }, 4, &hanhoujiance3dparams, _serviceManager, bridge, HanHouJianCe3D,"焊后检测CCD");
jiance_2d_2.init("Camera5", "焊后检测2D-相机2（后）", { { 5600, 1,{5610},"5602","5604",5630} }, 2, &hanhoujiance2dparams[1], _serviceManager, bridge, HanHouJianCe2D, "焊后检测CCD");
jiance_3d_2.init("Camera6", "焊后检测3D-相机2（后）", { { 5700, 1,{5710},"5702","5704",5730} }, 4, &hanhoujiance3dparams, _serviceManager, bridge, HanHouJianCe3D,"焊后检测CCD");
#pragma endregion
return true;
}
};
#pragma once
src/mission/581_Ruanlianjie_hanqian_hanhou/CMakeLists.txt
+77
View File
@@ -0,0 +1,77 @@
# 获取获取当前目录名
get_filename_component(CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR} NAME)
string(TIMESTAMP RUN_TIME)
message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
set(DLL_NAMES "opencv" "halcon" "handdleAI")
foreach(child ${DLL_NAMES})
LIST(APPEND ENV_INCLUDE ${${child}_include})
LIST(APPEND ENV_LIB ${${child}_lib})
LIST(APPEND ENV_TARGET ${${child}_target_link})
endforeach()
message(" ENV_INCLUDE : " ${ENV_INCLUDE} )
message(" ENV_LIB : " ${ENV_LIB} )
message(" ENV_TARGET : " ${ENV_TARGET} )
include_directories(
${PROJECT_ROOT_PATH}/src/core
${PROJECT_ROOT_PATH}/src/core/handleAi
${PROJECT_ROOT_PATH}/src/core/service
${PROJECT_ROOT_PATH}/src/core/sql
${ENV_INCLUDE}
)
link_directories (
${ENV_LIB}
)
add_compile_options(/utf-8)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
SET(CMAKE_CXX_STANDARD 11)
SET(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_AUTOMOC ON)
SET(CMAKE_AUTOUIC OFF)
set(CMAKE_AUTORCC ON)
FILE(GLOB HEAD_FILES "*.h" )
FILE(GLOB SRC_FILES "./*.cpp")
FILE(GLOB UI_FILES "./*.ui")
#find_package(Qt5 COMPONENTS Core REQUIRED)
find_package(QT NAMES Qt6 Qt5 COMPONENTS Core Gui Network REQUIRED)
find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core Gui Network REQUIRED)
add_library(${CURRENT_FOLDER} SHARED
${HEAD_FILES}
${SRC_FILES}
${UI_FILES}
${PROJECT_ROOT_PATH}/include/interface.h
)
set_target_properties(${CURRENT_FOLDER} PROPERTIES
RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
)
target_link_libraries(${CURRENT_FOLDER} PRIVATE
${ENV_TARGET}
Qt${QT_VERSION_MAJOR}::Core
Qt${QT_VERSION_MAJOR}::Gui
Qt${QT_VERSION_MAJOR}::Network
)
# target_compile_definitions(${CURRENT_FOLDER} PRIVATE HD_AIDEMO_MODULE_LIBRARY)
string(TIMESTAMP RUN_TIME)
message( " modelx end : " ${CURRENT_FOLDER}:${RUN_TIME})
message( " header files "${HEAD_FILES})
subModule/Hd_CameraModule_HIK_General/Hd_CameraModule_HIK_General.cpp
+7
View File
@@ -333,9 +333,16 @@ bool Hd_CameraModule_HIK_General::writeData(std::vector<cv::Mat>& mat, QByteArra
return true;
}
if (data == "clearCache") {
QMutexLocker locker(n_mutex);
queuepic.clear();
return true;
}
if (data.contains("exposure")){
auto commandList = data.split('_');
QMutexLocker locker(n_mutex);
SetExposureTime(commandList[1].toFloat());
return true;
}
return true;
}
//传入initParas函数，格式为：相机key+参数名1#参数值1#参数值2+参数名2#参数值1...
subModule/Hd_CameraModule_HIK_General_debouncing/Hd_CameraModule_HIK_General.cpp
+8 -1
View File
@@ -333,7 +333,7 @@ bool Hd_CameraModule_HIK_General::writeData(std::vector<cv::Mat>& mat, QByteArra
auto result = QByteArrayToMV_CC_DeviceInfoList(data.mid(10));
if (result.nDeviceNum != 0) {
m_stDevList = result;
return true;
return true;
}
}
if (data == "getStatus") {
@@ -341,9 +341,16 @@ bool Hd_CameraModule_HIK_General::writeData(std::vector<cv::Mat>& mat, QByteArra
return true;
}
if (data == "clearCache") {
QMutexLocker locker(n_mutex);
queuepic.clear();
return true;
}
if (data.contains("exposure")) {
auto commandList = data.split('_');
QMutexLocker locker(n_mutex);
SetExposureTime(commandList[1].toFloat());
return true;
}
return true;
}
//传入initParas函数，格式为：相机key+参数名1#参数值1#参数值2+参数名2#参数值1...
subModule/Hd_CameraModule_HIK_PCIE/Hd_CameraModule_HIK_PCIE.cpp
+9
View File
@@ -317,6 +317,15 @@ bool Hd_CameraModule_HIK_hard_PCIE::writeData(std::vector<cv::Mat>& mat, QByteAr
return true;
}
}
if (data == "getStatus") {
data = lastError.toUtf8();
return true;
}
if (data == "clearCache") {
QMutexLocker locker(n_mutex);
queuepic.clear();
return true;
}
return true;
}