952-11/HanddleAI/HanddleAi/back/triggerManager.cpp

#include <triggerManager.h>
#include <threadPoolManager.h>
#include <backStruct.h>
#include <cameraManager.h>
#include <uiModule/uiModule_switchProduct.h>
#include <appCore.hpp>
#include <detProcess.hpp>
#include <lightSource.hpp>
#define debugTesting 0
void triggerManager::initialization(detProcess* _detProcessIn)
{
    _detProcess = _detProcessIn;
    dManager = &_detProcessIn->_detDataManager;
    _cameraManager = &_detProcessIn->_cameraManager;
    _threadManager = &_detProcessIn->_threadManager;
    _lightSourceManager = &_detProcessIn->_lightSourceManager;

    startPos = _core._appConfig._triggerStruct.startPos;
    triggerFileName = QString::fromStdString(_core._appConfig._triggerStruct.moduleName);
    IpAndPort = QString::fromStdString(_core._appConfig._triggerStruct.initStr); 
    readAllCmd = QByteArray::fromStdString(_core._appConfig._triggerStruct.readAllCmd);
    triggerFileName = QString::fromStdString(_core._appConfig._triggerStruct.moduleName);
    sleepTime = _core._appConfig._triggerStruct.sleepTime;
    readNum = _core._appConfig._triggerStruct.readNum;
    writeType = _core._appConfig._triggerStruct.writeType;

}
void triggerManager::run()
{
    if(connectHost() == false)
        return;
    QThread::msleep(3000);
    int cnt = 0;
    QString heartbeatCmd = QString::fromStdString(_core._appConfig._triggerStruct.heartCmd);
    while (runFlag)
    {
        reciveCommond();
        QThread::msleep(10);
        //心跳
        cnt++;
        if (cnt > 30) 
        {
            sendFinsMsg(heartbeatCmd);
           // qDebug() << "heartbeat";
        }
            
    }
}
bool triggerManager::connectHost()
{
    if (init == true)
        return true;
    status = NotInit;
    m_lib = new QLibrary(triggerFileName);
    libLoadedflag = m_lib->load();
    if (!m_lib->isLoaded())
    {
        emit _core._qtFunc.sendErrorToMainwindow(dllNotFound);
        emit _core._qtFunc.sendInitString("找不到" + triggerFileName);
        return false;
    }
    if (libLoadedflag)
    {
        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_"+std::to_string(sleepTime) 
                    + "_readnum_" + std::to_string(readNum)
                    + "_writetype_" + writeType);
            trigger->reciveData(vec_mat, QByteArray(IpAndPort.toUtf8()));
            emit _core._qtFunc.sendInitString(triggerFileName + "连接到" + IpAndPort);
            initFailure = trigger->initParas(initByte);
        }

        if (initFailure == false)
        {
            emit _core._qtFunc.sendErrorToMainwindow(triggerInitFailure);
            delete m_lib;
            m_lib = nullptr;
            emit _core._qtFunc.sendInitString(triggerFileName + "初始化失败");
            status = InitFailure;
            return false;
        }   
        else
        {
            status = InitOK;
            init = true;
            emit _core._qtFunc.sendInitString(triggerFileName + "成功");
            return true;
        }
    }
    return false;
}
void triggerManager::reciveCommond()
{
    //auto start = std::chrono::high_resolution_clock::now();
    if (!sendFinsMsg(readAllCmd))
        qCritical() << "[TCP] " << " finstcp_ptr reciveData error!";
    QByteArray readByte;
    if (!reciveFinsMsg(readByte))
        qCritical() << "[TCP] " << " finstcp_ptr sendData error!";
    tLocker.reFreshLocker(readByte);//经过检查后再触发
    decodeCameraCMD(readByte);
}

void triggerManager::decodeCameraCMD(QByteArray byte)
{
#if debugTesting
    //{
        correctionData = new correctionStruct();

        //correctionData->in_X_X0Y = { 536.37,657.3,351.32 };
        //correctionData->in_Y_X0Y = { -1383.29,-1234.18,-1242.13 };
        //correctionData->in_Z_X0Y = { -131.51,-131.51,-131.51 };
        //correctionData->in_Z_X0Y_Value = { -78.6552,-78.6552,-78.6552 };

        //correctionData->in_X_X0Z = { 615.24,191.31,191.5 };
        //correctionData->in_Y_X0Z = { -372.66,-372.66,-372.66 };
        //correctionData->in_Z_X0Z = { -925.76,-928.33,-1001.64 };
        //correctionData->in_Y_X0Z_Value = { -79.4859,-79.4859,-79.4859 };

        //correctionData->in_X_Y0Z = { -213.89,-213.89,-213.89 };
        //correctionData->in_Y_Y0Z = { -1006.12,-1083.8,-1005.4 };
        //correctionData->in_Z_Y0Z = { -602.89,-620.53,-740.52 };
        //correctionData->in_X_Y0Z_Value = { 80.9952,80.9952,80.9952 };

        correctionData->in_X_X0Y = { 536.37,657.3,351.32  };
        correctionData->in_Y_X0Y = {-1383.29,-1234.18,-1242.13 };
        correctionData->in_Z_X0Y = { -131.51,-130.61,-130.66 };
        correctionData->in_Z_X0Y_Value = { -78.6552,-82.3836,-83.4522 };

        correctionData->in_X_X0Z = { 615.24,191.31,191.5};
        correctionData->in_Y_X0Z = { -372.66,-370.9,-370.18};
        correctionData->in_Z_X0Z = { -925.76,-928.33,-1001.64 };
        correctionData->in_Y_X0Z_Value = { -79.4859,-79.4859,-79.8369};

        correctionData->in_X_Y0Z = { -213.89,-209.83,-212.4 };
        correctionData->in_Y_Y0Z = { -1006.12,-1083.8,-1005.4 };
        correctionData->in_Z_Y0Z = { -602.89,-620.53,-740.52 };
        correctionData->in_X_Y0Z_Value = { 80.9952,84.006,81.1005 };

    //    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 <detData> data = dManager->insertDetData("181964", "TEST", 0, 0);
        data->_productDataStruct = _appConfig->productDatas[0];
        data->imgAmountMin = 0;
        data->correctionData = correctionData;
        _threadManager->addTask(data);//添加任务
        correctionData = nullptr;

    //}
    //if (checkTrigger(1, 2, byte) == true)
    {
        //std::shared_ptr <detData> data = dManager->insertDetData("Camera1" , "TEST", 0 , 0);
        //data->correctionData = correctionData;
        //_threadManager->addTask(data);//添加任务
        //auto camera = _cameraManager->getCamera("123");
        //if(camera != nullptr)
        //    camera->captureImage(data);
    }
    //if (checkTrigger(2, 2, byte) == true)
    {
        //std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "TEST", 1, 1);
        //data->correctionData = correctionData;
        //data->oriImgs.push_back(cv::imread("E://Cisco2-2024//TestImg//HFFGG6534_1_1_Battlestar20240326_180201.bmp",-1));
        //_threadManager->addTask(data);//添加任务
        //auto camera = _cameraManager->getCamera("123");
        //if (camera != nullptr)
        //    camera->captureImage(data);
    }
    //auto camera = _cameraManager->getCamera("181964");
    //if (camera != nullptr)
    //    camera->trigger();
    //double rangeData = _cameraManager->cameras.find("181964")->second->getCameraValue();
    QThread::msleep(10000000);
    return;
#endif
#if debugTesting == 0
    if (byte.isEmpty())
        return;
    double cameraData = 0;
    //算法测试
#if 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 <detData> data = dManager->insertDetData("Camera1", "correctionDataThread", "TEST", 0);
        data->correctionData = correctionData;
        _threadManager->addTask(data);//添加任务
        correctionData = nullptr;

    }
#endif 

#endif
    checkCallbackAndTrigger(byte);
}
int triggerManager::getValue(int dmPos, QByteArray byte)
{
    int triggerPos = (dmPos - startPos) * 2;
    if (byte.size()  < triggerPos)
        return false;
    int val1 = byte.at(triggerPos) * 256;
    int val2 = static_cast<unsigned char>(byte.at(triggerPos + 1));
    return val1 + val2;
}