150 lines
3.3 KiB
C++
150 lines
3.3 KiB
C++
#ifndef CAMERAManager_H
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#define CAMERAManager_H
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#include <QString>
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#include <backStruct.h>
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#include <unordered_map>
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#include <qlibrary.h>
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#include <opencv.hpp>
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#include <unordered_map>
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#include <qqueue.h>
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#include <qthread.h>
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#include <qdebug.h>
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#include <globalStruct.h>
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#include <qdatetime.h>
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#include <back/threadPoolManager.h>
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#include <serviceModule.hpp>
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#include <future>
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//硬触发要求在触发相机前给出触发信号
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class backEndManager;
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class camera : public QThread
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{
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Q_OBJECT
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public:
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QTime lastUpdateTime;
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QString cameraName;
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camera(cameraModule cameraModulePtrIn, int indexIn);
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~camera()
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{
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runFlag = false;
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this->terminate();
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while (this->isRunning() == true);
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}
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void run();
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void stop()
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{
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runFlag = false;
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while (this->isRunning() == true);
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}
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void getImgQueueSize();
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void captureImage(std::shared_ptr <detData> dataIn)
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{
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requestQueue.enqueue(dataIn);
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std::thread([this]() {trigger();}).detach();
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}
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//相机操作
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bool trigger()
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{
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if (!cameraModulePtr.module_ptr->run())
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{
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qCritical() << "[Error] " << " m_name:" << cameraName << " run failed!";
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return false;
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}
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return true;
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}
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double getCameraValue()//点激光相机专用
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{
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double value = 0;
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std::vector<cv::Mat> camera_mat;
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QByteArray task_name;
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int cnt = 0;
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while (!cameraModulePtr.module_ptr->sendData(camera_mat, task_name))
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{
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QThread::msleep(10);
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cnt++;
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if (cnt > 500)
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return 0;
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}
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value = task_name.toDouble();
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return value;
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}
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void getCameraImg(std::vector<cv::Mat>& mats)
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{
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QByteArray task_name;
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if (cameraModulePtr.module_ptr->sendData(mats, task_name))
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera_mat size:" << mats.size();
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}
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void setDigitalShift(float value)
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{
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sendData("DigitalShift_" + std::to_string(value));
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}
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void setExposureTime(float value)
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{
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sendData("exposure_" + std::to_string(value));
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}
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void setUserSet(int value)
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{
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sendData("userset_" + std::to_string(value));
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}
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private:
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//detData* data = nullptr;
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void sendData(std::string str)
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{
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QByteArray task_name(QByteArray::fromStdString(str));
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std::vector<cv::Mat> camera_mat;
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if (!cameraModulePtr.module_ptr->sendData(camera_mat, task_name))
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qCritical() << "[Error] " << "set exposure error!";
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}
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int index = 0;
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int timeout = 5000;
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QMutex mutex;
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cameraModule cameraModulePtr;
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QQueue<cv::Mat>imgQueue;
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QQueue<std::shared_ptr <detData>>requestQueue;
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backEndManager* _backEndManager;
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bool runFlag = true;
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int imgLost = 0;//未取用从而丢失的图片数量
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int showLost = 0;//因为窗口刷新速率低而未显示的数量
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};
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class cameraManager : public serviceModule
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{
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Q_OBJECT
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public:
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bool initFlag = false;
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void initialization();
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~cameraManager();
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void run();
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std::unordered_map<std::string, camera*>cameras;//key 相机名
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camera* getCamera(std::string cameraName)
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{
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auto camera = cameras.find(cameraName);
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if (camera != cameras.end())
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return camera->second;
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return nullptr;
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}
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void stop()
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{
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for (auto camera : cameras)
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camera.second->stop();
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}
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private:
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bool loadModule(QString keyName, QString moduleName,QString triggerMode, QByteArray initByte);
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std::vector<cameraModule>camerasVec;//用于初始化和销毁
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std::vector<cv::Mat> vec_mat;//没啥用，一直保持为空就好
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QList<QLibrary*> lib_list;
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public slots:
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void cameraTrigger(std::string Name)
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{
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auto camera=cameras.find(Name);
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if (camera != cameras.end())
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{
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camera->second->trigger();
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}
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}
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};
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#endif |