427 lines
13 KiB
C++
427 lines
13 KiB
C++
#include "camera_thread.h"
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#include <filesystem>
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#include <io.h>
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#include <tchar.h>
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#include <FrontendBackendBridge.h>
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QQueue<dataPack> ImageDataPack;
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MyThread::~MyThread()
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{
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this->setStopRun();
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wait(100);
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exit();
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qDebug() << "[INFO] " << " m_name:" << m_name << " delete thread success! ";
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}
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//bool MyThread::setModule(QString station_name, QString name, QString type, MyModule module, QJsonObject obj)
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bool MyThread::setModule(QString station_name, QString name, QString type, MyModule module)
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{
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m_name = name;
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m_triggermodel = type;
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m_Module = module;
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// m_moduleobj = obj;
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m_stationName = station_name;
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m_staticName = m_name;
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qCritical() << "[DEBUG] " << " name " << name;
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//QString image_queue_num = m_moduleobj.value("image_queue_num").toString();
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//picNum = image_queue_num.toInt();
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if (m_triggermodel.isEmpty())
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{
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qCritical() << "[Error] " << " trigger_mod is null ! ";
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return false;
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}
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return true;
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}
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void MyThread::run()
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{
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try
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{
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qDebug() << "[INFO] " << " m_type:" << m_type << " module start time: " << "now!";
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if (!runCameraModule())
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{
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qCritical() << "[Error] " << "runCameraModule run failed! ";
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return;
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}
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}
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catch (QString ev)
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{
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qCritical() << "[Error] " << "catch ev:" << ev;
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return;
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}
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//qDebug() << __FUNCTION__ << " line:" << __LINE__ << " module run end time :" << QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss.zzz") ;
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}
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void MyThread::setMutex(QMutex* mutex)
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{
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m_mutex = mutex;
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}
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bool MyThread::cameraTrigger()
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{
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if (!m_Module.module_ptr->run())
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{
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qCritical() << "[Error] " << " m_name:" << m_name << " 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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void MyThread::getImageFromCamera(std::vector<cv::Mat>& mats)
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{
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std::vector<cv::Mat> camera_mat;
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QByteArray task_name;
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if (!m_Module.module_ptr->sendData(camera_mat, task_name))
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qCritical() << "[Error] " << " camera_mat is error! ";
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera_mat size:"<< camera_mat.size();
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for (auto img : camera_mat)
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mats.push_back(img.clone());
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}
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void MyThread::setExposureTime(float value)
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{
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QByteArray task_name("exposure_" + QByteArray::number(value));
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std::vector<cv::Mat> camera_mat;
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if (!m_Module.module_ptr->sendData(camera_mat, task_name))
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qCritical() << "[Error] " << "set exposure error!";
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}
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void MyThread::setUserSet(int value)
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{
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QByteArray task_name("userset_" + QByteArray::number(value));
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std::vector<cv::Mat> camera_mat;
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if (!m_Module.module_ptr->sendData(camera_mat, task_name))
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qCritical() << "[Error] " << "set exposure error!";
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}
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void MyThread::setLightSourceValue(int aLine = -1, int bLine = -1, int cLine = -1, int dLine = -1,QString Name="")
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{
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//ex:"SA0200#SB0100#SC000#"
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std::string aLineStr(std::to_string(aLine)),
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bLineStr(std::to_string(bLine)),
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cLineStr(std::to_string(cLine)),
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dLineStr(std::to_string(dLine)),
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controllCommand("");
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//
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if (aLine != -1)
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{
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controllCommand += "SA0";
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if (aLineStr.length() < 3)
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for (int i = 0; i < 3 - aLineStr.length(); i++)
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controllCommand += "0";
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controllCommand += aLineStr + "#";
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}
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//
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if (bLine != -1)
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{
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controllCommand += "SB0";
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if (bLineStr.length() < 3)
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for (int i = 0; i < 3 - bLineStr.length(); i++)
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controllCommand += "0";
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controllCommand += bLineStr + "#";
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}
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//
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if (cLine != -1)
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{
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controllCommand += "SC0";
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if (cLineStr.length() < 3)
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for (int i = 0; i < 3 - cLineStr.length(); i++)
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controllCommand += "0";
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controllCommand += cLineStr + "#";
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}
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//
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if (dLine != -1)
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{
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controllCommand += "SD0";
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if (dLineStr.length() < 3)
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for (int i = 0; i < 3 - dLineStr.length(); i++)
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controllCommand += "0";
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controllCommand += dLineStr + "#";
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}
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QSerialPort* Port = bridge.back.getSerialPort(Name);
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if (Port != NULL)
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{
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Port->write(controllCommand.c_str());
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Port->waitForBytesWritten();
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}
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}
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void MyThread::takeImg(unsigned long long timeCode, filmMode type, QString name,detData * datas,QString FinsAfter, int targetCntInput)
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{
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finsAfter = FinsAfter;
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if (currentHash != 0)//currentHash会在完成触发后清零,在runCameraModule（）
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qDebug() << "[WARNING]当前模块似乎有没完成的触发，请检查信号是否完整 hashCode:" << currentHash;
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globalMode = type;
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if (name != "")
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{
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m_name = name;
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}
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else
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{
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m_name = m_staticName;
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}
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gloabalMats = &datas->imgs;
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currentHash = timeCode;
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globalDetData = datas;
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targetCnt = targetCntInput;
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this->start();
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}
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bool MyThread::runCameraModule()
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{
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// 判断触发模式
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if (m_triggermodel.contains("software"))
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{
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QByteArray task_name;
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std::vector<cv::Mat> camera_mat;
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camera_mat = cameraModule(globalMode);
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if (finsAfter != "")
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bridge.back.sendFinsMsg(finsAfter);
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if (camera_mat.empty())
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{
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qCritical() << "[Error] " << " camera_mat is null! ";
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return false;
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}
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mutex.lock();
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#if 0 //使用容器 bug
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cameraImgsPtr->insertImg(currentHash, &camera_mat);
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#endif
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#if 1//使用指针
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if (gloabalMats != nullptr)
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{
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if (globalDetData != nullptr)
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{
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if (targetCnt != 0)
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{
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int waitCnt = 0;
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while (globalDetData->cnt != targetCnt|| waitCnt>200)
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{
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QThread::msleep(10);
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waitCnt++;
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}
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if(waitCnt<200)
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for (auto img : camera_mat)
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gloabalMats->push_back(img);
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}
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else
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for (auto img : camera_mat)
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gloabalMats->push_back(img);
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globalDetData->cnt++;
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//globalDetData->mutexx->unlock();
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}
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else
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{
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for (auto img : camera_mat)
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gloabalMats->push_back(img);
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}
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cout << "sucess" << currentHash<< endl;
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}
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#endif
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globalDetData = nullptr;
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mutex.unlock();
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camera_mat.clear();
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currentHash = 0;
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return true;
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}
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else if (m_triggermodel.contains("hardware")) // 硬触发 hardware_trigger
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{
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QByteArray task_name;
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std::vector<cv::Mat> camera_mat;
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camera_mat = cameraModule(MyThread::hardware_trigger);//触发
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if (finsAfter != "")
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bridge.back.sendFinsMsg(finsAfter);
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if (camera_mat.empty())
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{
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qCritical() << "[Error] " << " camera_mat is null! "<<m_name;
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return false;
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}
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mutex.lock();
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#if 0 //使用容器 bug
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cameraImgsPtr->insertImg(currentHash, &camera_mat);
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#endif
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#if 1//使用指针
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if (gloabalMats != nullptr)
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{
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if (globalDetData != nullptr)
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{
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if (targetCnt != 0)
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{
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int waitCnt = 0;
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while (globalDetData->cnt != targetCnt || waitCnt > 200)
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{
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QThread::msleep(10);
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waitCnt++;
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}
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if (waitCnt < 200)
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for (auto img : camera_mat)
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gloabalMats->push_back(img);
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}
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else
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for (auto img : camera_mat)
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gloabalMats->push_back(img);
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globalDetData->cnt++;
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//globalDetData->mutexx->unlock();
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}
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else
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{
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for (auto img : camera_mat)
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gloabalMats->push_back(img);
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}
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cout << "sucess" << currentHash << endl;
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}
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#endif
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globalDetData = nullptr;
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mutex.unlock();
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camera_mat.clear();
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currentHash = 0;
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return true;
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}
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#if 0
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else if (m_triggermodel.contains("hardware")) // 硬触发 hardware_trigger
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{
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while (true)
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{
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if (!m_stoprun)
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{
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return true;
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}
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if (!m_Module.module_ptr->run())
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{
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QThread::msleep(5);
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continue;
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}
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QByteArray task_name;
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std::vector<cv::Mat> get_mat;
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if (!m_Module.module_ptr->sendData(get_mat, task_name))
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{
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qDebug() << "[Error] " << " sendData is error! ";
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QThread::msleep(5);
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continue;
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}
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if (get_mat.empty())
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{
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continue;
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}
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mutex.lock();
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for (auto img : get_mat)
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detImgVec.push_back(img);
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mutex.unlock();
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get_mat.clear();
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currentHash = 0;
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}
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}
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#endif
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return true;
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}
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std::vector<cv::Mat> MyThread::getImage(int amount)
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{
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std::vector<cv::Mat> mats;
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if (detImgVec.size() < amount)//数量不满足要求
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return mats;
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mutex.lock();
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mats.swap(detImgVec);
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mutex.unlock();
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return mats;
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}
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std::vector<cv::Mat> MyThread::cameraModule(filmMode type)
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{
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std::vector<cv::Mat> mats;
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QByteArray task_name;
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std::vector<cv::Mat> camera_mat;
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cv::Mat a, b, c;
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switch (type)
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{
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case MyThread::hardware_trigger:
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getImageFromCamera(camera_mat);
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break;
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case MyThread::normal:
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if (!cameraTrigger())
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{
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cv::Mat nullMat = cv::Mat::zeros(cv::Size(500, 500), CV_8UC1);
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camera_mat.push_back(nullMat);
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}
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else
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{
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getImageFromCamera(camera_mat);
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}
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break;
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case MyThread::_2dSpecialP:
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bridge.back.QSerialPorts[0]->write("SA0200#SB0000#SC0120#");//第一次拍照亮度
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bridge.back.QSerialPorts[0]->waitForBytesWritten();
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QThread::msleep(100);
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//////第一次拍照//////////
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cameraTrigger();
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getImageFromCamera(camera_mat);
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/////第二次拍照////////////
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setExposureTime(300);
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bridge.back.QSerialPorts[0]->write("SA0200#SB0100#SC0000#");//第二次拍照亮度
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bridge.back.QSerialPorts[0]->waitForBytesWritten();
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QThread::msleep(100);
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cameraTrigger();
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getImageFromCamera(camera_mat);
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/////第三次拍照////////////
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bridge.back.QSerialPorts[0]->write("SA0255#SB0255#SC0255#");//第三次拍照亮度
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bridge.back.QSerialPorts[0]->waitForBytesWritten();
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setExposureTime(2500);
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QThread::msleep(200);
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cameraTrigger();
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getImageFromCamera(camera_mat);
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/////为第一次拍照准备的设置////////
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setExposureTime(300);
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bridge.back.QSerialPorts[0]->write("SA0200#SB0000#SC0120#");//第一次拍照亮度
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bridge.back.QSerialPorts[0]->waitForBytesWritten();
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break;
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case MyThread::_2dSpecialN:
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bridge.back.QSerialPorts[0]->write("SA0200#SB0000#SC0120#");//第一次拍照亮度
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bridge.back.QSerialPorts[0]->waitForBytesWritten();
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QThread::msleep(100);
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//////第一次拍照//////////
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cameraTrigger();
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getImageFromCamera(camera_mat);
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/////第二次拍照////////////
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setExposureTime(300);
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bridge.back.QSerialPorts[0]->write("SA0200#SB0100#SC0000#");//第二次拍照亮度
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bridge.back.QSerialPorts[0]->waitForBytesWritten();
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QThread::msleep(100);
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cameraTrigger();
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getImageFromCamera(camera_mat);
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/////第三次拍照////////////
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bridge.back.QSerialPorts[0]->write("SA0255#SB0255#SC0255#");//第三次拍照亮度
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bridge.back.QSerialPorts[0]->waitForBytesWritten();
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setExposureTime(600);
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QThread::msleep(200);
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cameraTrigger();
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getImageFromCamera(camera_mat);
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/////为第一次拍照准备的设置////////
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setExposureTime(300);
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bridge.back.QSerialPorts[0]->write("SA0200#SB0000#SC0120#");//第一次拍照亮度
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bridge.back.QSerialPorts[0]->waitForBytesWritten();
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//setLightSourceValue(200, 0, 120, 0, "2dLightSource");
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break;
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}
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return camera_mat;
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}
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bool MyThread::sendDataCommond(QString m_type, cv::Mat mat, QByteArray byte)
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{
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QMutexLocker locker(m_mutex); // 加锁
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dataPack m_pack;
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m_pack.mat = mat;
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m_pack.byte = byte;
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m_pack.retFlag = m_type;
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m_pack.name = m_name;//名字
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m_pack.showIndex = showIndex;//第几个窗口
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// 界面显示包
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ImageDataPack.append(m_pack);
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QMetaObject::invokeMethod(m_obj, "reciveImageData");
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return true;
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} |