init files
This commit is contained in:
rci
@@ -0,0 +1,71 @@
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# 获取获取当前目录名
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get_filename_component(CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR} NAME)
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string(TIMESTAMP RUN_TIME)
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message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
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set(DLL_NAMES "keyence3D" "opencv" "qt5")
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foreach(child ${DLL_NAMES})
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LIST(APPEND ENV_INCLUDE ${${child}_include})
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LIST(APPEND ENV_LIB ${${child}_lib})
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LIST(APPEND ENV_TARGET ${${child}_target_link})
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endforeach()
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message(" ENV_INCLUDE : " ${ENV_INCLUDE} )
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message(" ENV_LIB : " ${ENV_LIB} )
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message(" ENV_TARGET : " ${ENV_TARGET} )
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include_directories(
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${ENV_INCLUDE}
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)
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link_directories (
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${ENV_LIB}
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)
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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SET(CMAKE_CXX_STANDARD 11)
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SET(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_AUTOMOC ON)
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SET(CMAKE_AUTOUIC ON)
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set(CMAKE_AUTORCC ON)
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FILE(GLOB HEAD_FILES "./*.h" )
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FILE(GLOB SRC_FILES "./*.cpp")
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FILE(GLOB UI_FILES "./*.ui")
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#find_package(Qt5 COMPONENTS Core REQUIRED)
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find_package(QT NAMES Qt6 Qt5 COMPONENTS Core REQUIRED)
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find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core REQUIRED)
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add_library(${CURRENT_FOLDER} SHARED
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${HEAD_FILES}
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${SRC_FILES}
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${UI_FILES}
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)
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set_target_properties(${CURRENT_FOLDER} PROPERTIES LINKER_LANGUAGE C
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RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
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ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
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)
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target_link_libraries(${CURRENT_FOLDER} PRIVATE
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${ENV_TARGET}
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Qt${QT_VERSION_MAJOR}::Core
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)
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# target_compile_definitions(${CURRENT_FOLDER} PRIVATE HD_AIDEMO_MODULE_LIBRARY)
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string(TIMESTAMP RUN_TIME)
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message( " model end : " ${CURRENT_FOLDER}:${RUN_TIME})
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@@ -0,0 +1,901 @@
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#include "Hd_CameraModule_3DKeyence3.h"
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#include <exception>
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#include <QTextCodec>
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#include <qqueue.h>
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#include <qmutex.h>
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#pragma execution_character_set("utf-8")
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const int MAX_LJXA_XDATANUM = 3200;
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const unsigned int BUFFER_FULL_COUNT = 30000;
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int _imageAvailable[MAX_LJXA_DEVICENUM] = { 0 };
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unsigned short* _luminanceBuf[MAX_LJXA_DEVICENUM] = { 0 };
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unsigned short* _heightBuf[MAX_LJXA_DEVICENUM] = { 0 };
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int _lastImageSizeHeight[MAX_LJXA_DEVICENUM];
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int imgIndex = 0;
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QMutex* m_mutex;
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QQueue< cv::Mat> heightMatS;//高度图
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QQueue<cv::Mat> luminanceMatS;//灰度图
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//data == "rest_newProductIn"时要结束run；机台报警，取图超时，复位后重新拍的情况。
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bool ifBreak = false;
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//ifRunning减少ifBreak的判断；"rest_newProductIn"时，Logic_camera_thread框架会结束未处理完的相相机取图
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bool ifRunning = false;
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QString byteArrayToUnicode(const QByteArray array) {
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// state用于保存转换状态，它的成员invalidChars，可用来判断是否转换成功
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// 如果转换成功，则值为0，如果值大于0，则说明转换失败
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QTextCodec::ConverterState state;
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// 先尝试使用utf-8的方式把QByteArray转换成QString
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QString text = QTextCodec::codecForName("UTF-8")->toUnicode(array.constData(), array.size(), &state);
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// 如果转换时无效字符数量大于0，说明编码格式不对
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if (state.invalidChars > 0)
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{
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// 再尝试使用GBK的方式进行转换，一般就能转换正确(当然也可能是其它格式，但比较少见了)
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text = QTextCodec::codecForName("GBK")->toUnicode(array);
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}
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return text;
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}
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struct myPBGLOBAL_callBack
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{
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void (*callBackFun)(QObject*, const std::vector<cv::Mat>&);
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QObject* m_QObject;
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QString cameraIndex;
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};
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QQueue< myPBGLOBAL_callBack> QQueue_myPBGLOBAL_callBack;
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//注册回调 string对应自身的参数协议 （自定义）
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void Hd_CameraModule_3DKeyence3::registerCallBackFun(PBGLOBAL_CALLBACK_FUN callBackFun, QObject* m_QObject, const QString& cameraIndex)
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{
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myPBGLOBAL_callBack m_myPBGLOBAL_callBack;
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m_myPBGLOBAL_callBack.callBackFun = callBackFun;
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m_myPBGLOBAL_callBack.m_QObject = m_QObject;
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m_myPBGLOBAL_callBack.cameraIndex = cameraIndex;
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QQueue_myPBGLOBAL_callBack.enqueue(m_myPBGLOBAL_callBack);
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}
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std::mutex mtx;
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bool JumpFlag = false;
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int yCounts;
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void myCallbackFunc(LJX8IF_PROFILE_HEADER* pProfileHeaderArray, WORD* pHeightProfileArray, WORD* pLuminanceProfileArray, DWORD dwLuminanceEnable, DWORD dwProfileDataCount, DWORD dwCount, DWORD dwNotify, DWORD dwUser)
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{
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try
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " --> Enter callback function";
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "dwProfileDataCount = " << dwProfileDataCount;
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "dwCount = " << dwCount;
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "dwNotify = " << dwNotify;
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if ((dwNotify != 0) || (dwNotify & 0x10000) != 0) return;
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if (dwCount == 0) return;
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if (_imageAvailable[dwUser] == 1) return;
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std::lock_guard<std::mutex> lock(mtx);
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// _heightBuf 代表的含义:程序里的高度缓存区，pHeightProfileArray 回调函数里的数据
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// 此处崩溃的可能性：xImageSize 配置文件中设置的值和3D相机调试软件设置的值不一致，会崩溃。
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if (JumpFlag)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "JumpFlag";
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return;
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}
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if (_heightBuf[dwUser] == NULL)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_heightBuf[dwUser] == NULL";
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return;
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}
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if (pHeightProfileArray == NULL)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "pHeightProfileArray== NULL";
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return;
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}
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_heightBuf[dwUser]: " << _heightBuf[dwUser];
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "pHeightProfileArray: " << pHeightProfileArray;
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//判断内存是否重叠
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if (_heightBuf[dwUser] <= pHeightProfileArray || (unsigned short*)_heightBuf[dwUser] >= (WORD*)pHeightProfileArray + dwProfileDataCount * dwCount * 2)
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{
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memcpy(&_heightBuf[dwUser][0], pHeightProfileArray, dwProfileDataCount * dwCount * 2);
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}
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else
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "first memcpy _heightBuf error";
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if (_heightBuf[dwUser] != NULL)
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{
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free(_heightBuf[dwUser]);
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_heightBuf[dwUser] = NULL;
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}
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " memcpy _heightBuf again ";
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_heightBuf[dwUser] = (unsigned short*)malloc(yCounts * MAX_LJXA_XDATANUM * 2);
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memcpy(&_heightBuf[dwUser][0], pHeightProfileArray, dwProfileDataCount * dwCount * 2);
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Second memcpy _heightBuf success ";
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}
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_luminanceBuf[dwUser]: " << _luminanceBuf[dwUser];
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "pLuminanceProfileArray: " << pLuminanceProfileArray;
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if (dwLuminanceEnable == 1)
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{
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if (_luminanceBuf[dwUser] == NULL)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_luminanceBuf[dwUser]== NULL";
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return;
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}
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if (_luminanceBuf[dwUser] <= pLuminanceProfileArray || (unsigned short*)_luminanceBuf[dwUser] >= (WORD*)pLuminanceProfileArray + dwProfileDataCount * dwCount * 2)
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memcpy(&_luminanceBuf[dwUser][0], pLuminanceProfileArray, dwProfileDataCount * dwCount * 2);
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else
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "memcpy _luminanceBuf error";
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}
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_imageAvailable[dwUser] = 1; // 图像获取成功 dwUser 和 deviceId 一致
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_lastImageSizeHeight[dwUser] = dwCount; // 扫描的行数， dwCount 和 yImageSize 一致
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}
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catch (std::exception e)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " --> execute callback function error";
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}
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}
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int Hd_CameraModule_3DKeyence3::LJXA_ACQ_OpenDevice(int lDeviceId, LJX8IF_ETHERNET_CONFIG* EthernetConfig, int HighSpeedPortNo)
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{
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int errCode = LJX8IF_EthernetOpen(lDeviceId, EthernetConfig);
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_ethernetConfig[lDeviceId] = *EthernetConfig;
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_highSpeedPortNo[lDeviceId] = HighSpeedPortNo;
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Open device ! errCode:" << errCode;
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return errCode;
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}
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void Hd_CameraModule_3DKeyence3::LJXA_ACQ_CloseDevice(int lDeviceId)
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{
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LJX8IF_FinalizeHighSpeedDataCommunication(lDeviceId);
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LJX8IF_CommunicationClose(lDeviceId);
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Close device!";
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}
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bool Hd_CameraModule_3DKeyence3::decodeInitData(QByteArray byte,QVector<QByteArray> &vector_data)
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{
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while (!byte.isEmpty())
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{
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int type = 0;
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QByteArray m_type = byte.mid(0,4);
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memcpy((void*)&type,(void*)m_type.data(), 4);
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byte.remove(0,4);
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int len = 0;
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QByteArray m_len = byte.mid(0,4);
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memcpy((void*)&len,(void*)m_len.data(), 4);
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byte.remove(0,4);
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QByteArray mm_data = byte.mid(0,len);
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vector_data.append(mm_data);
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byte.remove(0,len);
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}
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return true;
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}
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Hd_CameraModule_3DKeyence3* create(int settype)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "Hd_CameraModule_All create success!";
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return new Hd_CameraModule_3DKeyence3(settype);
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}
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void destory(Hd_CameraModule_3DKeyence3* ptr)
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{
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if (ptr)
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{
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delete ptr;
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ptr = nullptr;
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}
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qDebug() << "[INFO] " << "Hd_CameraModule_3DLMI3 destory success!";
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}
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//int myIDS[10000] = { 0 };
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//类创建
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Hd_CameraModule_3DKeyence3::Hd_CameraModule_3DKeyence3(int settype, QObject* parent) : PbGlobalObject(settype, parent)
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{
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m_mutex = new QMutex();
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ifRunning = true;
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//QFuture<void> myF= QtConcurrent::run(this, &Hd_CameraModule_3DLMI3::threadCheckCallBack);
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if (type1 < 15)
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famliy = PGOFAMLIY::CAMERA2D;
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else if (type1 == 15)
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famliy = PGOFAMLIY::CAMERA2_5D;
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else if (type1 < 100)
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famliy = PGOFAMLIY::CAMERA3D;
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//id = myIDS[type1]++;
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qDebug() << "famliy::" << famliy;
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}
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Hd_CameraModule_3DKeyence3::~Hd_CameraModule_3DKeyence3()
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{
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//myIDS[type1]--;
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//ifFirst = true;
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ifRunning = false;
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//m_flag = false;
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Sleep(10);
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if (isopen)
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{
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isopen = false;
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// Stop HighSpeed
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errCode = LJX8IF_StopHighSpeedDataCommunication(deviceId);
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Stop HighSpeed errCode:" << errCode;
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||||
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LJXA_ACQ_CloseDevice(deviceId);
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qDebug() << __FUNCTION__ << "line:" << __LINE__ << " CloseDevice success!";
|
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if (heightImage)
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{
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free(heightImage);
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}
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if (luminanceImage)
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{
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free(luminanceImage);
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}
|
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}
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|
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// Free memory
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if (_heightBuf[deviceId] != NULL)
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{
|
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free(_heightBuf[deviceId]);
|
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}
|
||||
|
||||
if (_luminanceBuf[deviceId] != NULL)
|
||||
{
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free(_luminanceBuf[deviceId]);
|
||||
}
|
||||
|
||||
if (startReq_ptr)
|
||||
{
|
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delete startReq_ptr;
|
||||
startReq_ptr = nullptr;
|
||||
}
|
||||
|
||||
if (profileInfo_ptr)
|
||||
{
|
||||
delete profileInfo_ptr;
|
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profileInfo_ptr = nullptr;
|
||||
}
|
||||
|
||||
if (setParam_Ptr)
|
||||
{
|
||||
delete setParam_Ptr;
|
||||
setParam_Ptr = nullptr;
|
||||
}
|
||||
|
||||
if (getParam_Ptr)
|
||||
{
|
||||
delete getParam_Ptr;
|
||||
getParam_Ptr = nullptr;
|
||||
}
|
||||
if (m_mutex)
|
||||
{
|
||||
delete m_mutex;
|
||||
m_mutex = nullptr;
|
||||
}
|
||||
qDebug() << __FUNCTION__ << "line:" << __LINE__ << " delete success!";
|
||||
/*if(m_thread)
|
||||
{
|
||||
m_thread->exit();
|
||||
m_thread->wait(1);
|
||||
delete m_thread;
|
||||
m_thread = nullptr;
|
||||
}*/
|
||||
|
||||
qDebug() << __FUNCTION__ << "line:" << __LINE__ << " delete success!";
|
||||
}
|
||||
|
||||
|
||||
//模块名称
|
||||
QString moduleName;
|
||||
|
||||
//setParameter之后再调用，返回当前参数
|
||||
//相机：获取默认参数；
|
||||
//通信：获取初始化示例参数
|
||||
QMap<QString, QString> Hd_CameraModule_3DKeyence3::parameters()
|
||||
{
|
||||
if (ifFirst == true)
|
||||
{
|
||||
ifFirst = false;
|
||||
|
||||
moduleName = "Hd_CameraModule_3DKeyence3#" + QString::number(id);
|
||||
|
||||
QJsonObject ExampleObj = load_camera_Example();
|
||||
QJsonObject cameraObj;
|
||||
QJsonArray ExampleArray = ExampleObj.value("相机模块列表").toArray();
|
||||
for (int i = 0; i < ExampleArray.size(); i++)
|
||||
{
|
||||
QString name = ExampleArray[i].toObject().value("模块名称").toString();
|
||||
if (moduleName.split("#")[0] == name)
|
||||
cameraObj = ExampleArray[i].toObject();
|
||||
} //参数设置的数据
|
||||
QMap<QString, QString> myParasValueMap;
|
||||
myParasValueMap.insert("相机key", "输入SN");
|
||||
//默认参数显示到界面
|
||||
QJsonArray ParameterArray = cameraObj.value("相机参数").toArray();
|
||||
for (int T = 0; T < ParameterArray.size(); T++)
|
||||
{
|
||||
QJsonObject ParameterObj = ParameterArray[T].toObject();
|
||||
QString ParameterKey = ParameterObj.value("参数名").toString();
|
||||
QString ParameterValue;
|
||||
QJsonArray ParameterValueArray = ParameterObj.value("相机参数值").toArray();
|
||||
for (int P = 0; P < ParameterValueArray.size(); P++)
|
||||
{
|
||||
if (P > 0)ParameterValue.append(",");
|
||||
ParameterValue.append(ParameterValueArray[P].toString());
|
||||
}
|
||||
myParasValueMap.insert(ParameterKey, ParameterValue);
|
||||
}
|
||||
return myParasValueMap;
|
||||
}
|
||||
else return ParasValueMap;
|
||||
}
|
||||
|
||||
|
||||
QJsonObject Hd_CameraModule_3DKeyence3::load_camera_Example()
|
||||
{
|
||||
QDir dir = QApplication::applicationDirPath();
|
||||
QString currPath = dir.path();
|
||||
currPath = "../runtime/Bin_DEVICE";
|
||||
QString json_cfg_file_path = currPath + "/camera_Example.json";
|
||||
|
||||
QJsonObject json_object;
|
||||
try
|
||||
{
|
||||
QJsonParseError jsonError;
|
||||
if (json_cfg_file_path.isEmpty())
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " JsonPath is null!";
|
||||
return json_object;
|
||||
}
|
||||
|
||||
QFile JsonFile;
|
||||
JsonFile.setFileName(json_cfg_file_path);
|
||||
//if (!JsonFile.isReadable())
|
||||
//{
|
||||
// qCritical() << __FUNCTION__ << " line:" << __LINE__ << " camera_Example.json not isReadable!";
|
||||
// //return json_object;
|
||||
//}
|
||||
JsonFile.open(QIODevice::ReadOnly);
|
||||
|
||||
QByteArray m_Byte = JsonFile.readAll();
|
||||
if (m_Byte.isEmpty())
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << json_cfg_file_path + " Content is empty";
|
||||
JsonFile.close();
|
||||
return json_object;
|
||||
}
|
||||
|
||||
QJsonDocument jsonDocument(QJsonDocument::fromJson(m_Byte, &jsonError));
|
||||
|
||||
if (!jsonDocument.isNull() && jsonError.error == QJsonParseError::NoError)
|
||||
{
|
||||
if (jsonDocument.isObject())
|
||||
{
|
||||
json_object = jsonDocument.object();
|
||||
JsonFile.close();
|
||||
return json_object;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << json_cfg_file_path + " is error!";
|
||||
}
|
||||
JsonFile.close();
|
||||
|
||||
}
|
||||
catch (QString ev)
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " ev:" << ev;
|
||||
}
|
||||
return json_object;
|
||||
}
|
||||
|
||||
|
||||
//初始化参数；通信/相机的初始化参数
|
||||
bool Hd_CameraModule_3DKeyence3::setParameter(const QMap<QString, QString>& ParameterMap)
|
||||
{
|
||||
ParasValueMap = ParameterMap;
|
||||
//if (m_module.moduleName.isEmpty())
|
||||
//m_module.moduleName = getmoduleName();// = ParasValueMap.value()
|
||||
//if(id=)
|
||||
moduleName = "Hd_CameraModule_3DKeyence3#" + QString::number(id);
|
||||
return true;
|
||||
}
|
||||
|
||||
//初始化(加载模块待内存)
|
||||
bool Hd_CameraModule_3DKeyence3::init()
|
||||
{
|
||||
////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...
|
||||
QString initByte = ParasValueMap.value("相机key");
|
||||
foreach(QString key, ParasValueMap.keys())
|
||||
{
|
||||
if (key == "相机key")
|
||||
continue;
|
||||
initByte += "+" + key + "#";
|
||||
QString ParameterValue = ParasValueMap.value(key);
|
||||
initByte += ParameterValue.replace(",", "#");
|
||||
}
|
||||
|
||||
if (initParas(initByte.toLocal8Bit()))
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line: " << __LINE__ << " key: " << ParasValueMap.value("相机key") << " initParas success! ";
|
||||
/*Base* myPtr = m_module.module_ptr;
|
||||
connect(myPtr, &Base::trigged, [=](bool ifConnect) {
|
||||
qDebug() << __FUNCTION__ << " line: " << __LINE__ << " key: " << ParasValueMap.value("相机key") << " m_module.module_ptr, &Base::trigged! ifConnect" << ifConnect;
|
||||
emit trigged(ifConnect);
|
||||
});*/
|
||||
}
|
||||
else
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line: " << __LINE__ << " moduleName: " << ParasValueMap.value("相机key") << " initParas failed! ";
|
||||
return false;
|
||||
}
|
||||
//}
|
||||
//else
|
||||
//{
|
||||
// delete m_lib;
|
||||
// m_lib = nullptr;
|
||||
// return false;
|
||||
//}
|
||||
return true;
|
||||
}
|
||||
|
||||
//设置数据
|
||||
//相机：第一张图的参数，QStringList：00 曝光值 增益值；
|
||||
//相机：第N张图的参数，QStringList：非00 曝光值 增益值；
|
||||
//完成后发送信号trigged(bool);
|
||||
bool Hd_CameraModule_3DKeyence3::setData(const std::vector<cv::Mat>& mats, const QStringList& data)
|
||||
{
|
||||
//foreach(QString kidData,data)
|
||||
//if (kidData.contains("SetExposureTime"))
|
||||
{
|
||||
std::vector<cv::Mat> ImgS;
|
||||
QByteArray bData;
|
||||
for (int i = 0; i < data.size(); i++)
|
||||
//if(i>0)
|
||||
// bData +=","+ data[i].toLocal8Bit();
|
||||
//else
|
||||
bData += data[i].toLocal8Bit();
|
||||
qDebug() << "Hd_CameraModule_3DKeyence3::setData::" << bData;
|
||||
writeData(ImgS, bData);
|
||||
//if (m_module.module_ptr)
|
||||
// m_module.module_ptr->writeData(ImgS, bData);
|
||||
//return true;
|
||||
}
|
||||
foreach(QString kidData, data)
|
||||
if (kidData.contains("SetExposureTime") || kidData.contains("rest_newProductIn"))
|
||||
return true;
|
||||
bool runResult = run(); //m_module.module_ptr->run();
|
||||
//emit trigged(runResult);
|
||||
return runResult;
|
||||
}
|
||||
//获取数据
|
||||
bool Hd_CameraModule_3DKeyence3::data(std::vector<cv::Mat>& ImgS, QStringList& QStringListdata)
|
||||
{
|
||||
//std::vector<cv::Mat> ImgS;
|
||||
QByteArray data;
|
||||
//m_module.module_ptr->readData(ImgS, data);
|
||||
readData(ImgS, data);
|
||||
if (!data.isEmpty())QStringListdata.append(byteArrayToUnicode(data));
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Hd_CameraModule_3DKeyence3::readData(std::vector<cv::Mat> &mats,QByteArray &data)
|
||||
{
|
||||
Q_UNUSED(data);
|
||||
|
||||
m_mutex->lock();
|
||||
if (luminanceMatS.empty() || heightMatS.empty())
|
||||
{
|
||||
qDebug() << " [Error] " << " srcImage is null";
|
||||
m_mutex->unlock();
|
||||
return false;
|
||||
}
|
||||
cv::Mat mheightMat2 = cv::Mat();
|
||||
heightMatS.dequeue().copyTo(mheightMat2);
|
||||
cv::Mat mluminanceMat2 = cv::Mat();
|
||||
luminanceMatS.dequeue().copyTo(mluminanceMat2);
|
||||
mats.push_back(mheightMat2.clone());
|
||||
mats.push_back(mluminanceMat2.clone());
|
||||
|
||||
m_mutex->unlock();
|
||||
/*for (int i = 0; i < vector_mat.size(); i++)
|
||||
{
|
||||
cv::Mat img = cv::Mat();
|
||||
vector_mat[i].copyTo(img);
|
||||
mats.push_back(img);
|
||||
}*/
|
||||
//mats = vector_mat;
|
||||
qCritical() << " [info] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData,deviceId" << deviceId << " imgIndex" << imgIndex;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Hd_CameraModule_3DKeyence3::writeData(std::vector<cv::Mat> &mat,QByteArray &data)
|
||||
{
|
||||
//2024.02.18更新，相机对应的读SN信号时，表示新产品进入，设置初始值
|
||||
if (data == "rest_newProductIn")
|
||||
{
|
||||
//根据实际项目，设置初始值：曝光、增益，ROI区域等
|
||||
/*{
|
||||
if (expourseTimeList.size() > 0)
|
||||
SetExposureTime(expourseTimeList[0]);
|
||||
if (gainList.size() > 0)
|
||||
SetGain(gainList[0]);
|
||||
}
|
||||
getImageNum = 0;*/
|
||||
if (luminanceMatS.size() > 0 || heightMatS.size() > 0)
|
||||
{
|
||||
m_mutex->lock();
|
||||
luminanceMatS.clear();
|
||||
heightMatS.clear();
|
||||
m_mutex->unlock();
|
||||
std::cout << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << camera_name.toStdString() << std::endl;
|
||||
qWarning() << __FUNCTION__ << " line: " << __LINE__ << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << camera_name;
|
||||
}
|
||||
if (ifRunning == true)
|
||||
{
|
||||
ifBreak = true;
|
||||
Sleep(10);
|
||||
}
|
||||
imgIndex = 0;
|
||||
//getImageNum = 0;
|
||||
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...
|
||||
bool Hd_CameraModule_3DKeyence3::initParas(QByteArray& initData)
|
||||
{
|
||||
QByteArrayList valueList = initData.split('+');
|
||||
camera_name = valueList[0];
|
||||
deviceId = valueList[0].toInt(); //相机头序号
|
||||
if (valueList.size() > 1)
|
||||
for (int i = 1; i < valueList.size(); i++)
|
||||
{
|
||||
/*if (valueList[i].contains("是否为标准通信流程"))
|
||||
{
|
||||
if (valueList[i].contains("true"))
|
||||
ifStandard = true;
|
||||
}
|
||||
if (valueList[i].contains("取图超时"))
|
||||
{
|
||||
QByteArrayList valueL = valueList[i].split('#');
|
||||
if (valueL.size() > 1)
|
||||
getImageTimeOut = valueL[1].toInt();
|
||||
if (getImageTimeOut < 50)
|
||||
getImageTimeOut = 1000;
|
||||
}*/
|
||||
if (valueList[i].contains("ip"))
|
||||
{
|
||||
//ip#192.168.0.1
|
||||
QByteArrayList valueL = valueList[i].split('#');
|
||||
if (valueL.size() == 2)
|
||||
{
|
||||
QByteArrayList valueL1 = valueL[1].split('.');
|
||||
if (valueL1.size() == 4)
|
||||
{
|
||||
EthernetConfig.abyIpAddress[0] = valueL.at(0).toInt();
|
||||
EthernetConfig.abyIpAddress[1] = valueL.at(1).toInt();
|
||||
EthernetConfig.abyIpAddress[2] = valueL.at(2).toInt();
|
||||
EthernetConfig.abyIpAddress[3] = valueL.at(3).toInt();
|
||||
}
|
||||
}
|
||||
}
|
||||
if (valueList[i].contains("port"))
|
||||
{
|
||||
//port#24691
|
||||
QByteArrayList valueL = valueList[i].split('#');
|
||||
if (valueL.size() == 2)
|
||||
{
|
||||
EthernetConfig.wPortNo = valueL[1].toInt();
|
||||
}
|
||||
}
|
||||
if (valueList[i].contains("xImageSize"))
|
||||
{
|
||||
//xImageSize#1600
|
||||
QByteArrayList valueL = valueList[i].split('#');
|
||||
if (valueL.size() == 2)
|
||||
{
|
||||
xImageSize = valueL[1].toInt();
|
||||
}
|
||||
}
|
||||
if (valueList[i].contains("yImageSize"))
|
||||
{
|
||||
//yImageSize#2000
|
||||
QByteArrayList valueL = valueList[i].split('#');
|
||||
if (valueL.size() == 2)
|
||||
{
|
||||
yImageSize = valueL[1].toInt();
|
||||
}
|
||||
}
|
||||
if (valueList[i].contains("y_pitch_um"))
|
||||
{
|
||||
//y_pitch_um#40
|
||||
QByteArrayList valueL = valueList[i].split('#');
|
||||
if (valueL.size() == 2)
|
||||
{
|
||||
y_pitch_um = valueL[1].toInt();
|
||||
}
|
||||
}
|
||||
if (valueList[i].contains("取图超时"))
|
||||
{
|
||||
//timeout_ms#2900
|
||||
QByteArrayList valueL = valueList[i].split('#');
|
||||
if (valueL.size() == 2)
|
||||
{
|
||||
timeout_ms = valueL[1].toInt();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
yCounts = yImageSize;
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " camera_name:" << camera_name << " paras init is success!";
|
||||
|
||||
// 初始化申请空间 20230214
|
||||
startReq_ptr = new LJX8IF_HIGH_SPEED_PRE_START_REQ;
|
||||
profileInfo_ptr = new LJX8IF_PROFILE_INFO;
|
||||
startReq_ptr->bySendPosition = 2;
|
||||
|
||||
setParam_Ptr = new LJXA_ACQ_SETPARAM;
|
||||
getParam_Ptr = new LJXA_ACQ_GETPARAM;
|
||||
|
||||
setParam_Ptr->y_linenum = yImageSize;
|
||||
setParam_Ptr->y_pitch_um = y_pitch_um;
|
||||
setParam_Ptr->timeout_ms = timeout_ms;
|
||||
setParam_Ptr->use_external_batchStart = use_external_batchStart;
|
||||
|
||||
// Allocate user memory
|
||||
heightImage = (unsigned short*)malloc(sizeof(unsigned short) * xImageSize * yImageSize);
|
||||
luminanceImage = (unsigned short*)malloc(sizeof(unsigned short) * xImageSize * yImageSize);
|
||||
|
||||
errCode = LJXA_ACQ_OpenDevice(deviceId, &EthernetConfig, HighSpeedPortNo);
|
||||
if ( errCode != LJX8IF_RC_OK )
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Failed to open device ";
|
||||
//Free user memory
|
||||
if ( heightImage )
|
||||
{
|
||||
free(heightImage);
|
||||
}
|
||||
|
||||
if ( luminanceImage )
|
||||
{
|
||||
free(luminanceImage);
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
isopen = true;
|
||||
|
||||
// Allocate memory
|
||||
_heightBuf[deviceId] = (unsigned short*)malloc(yImageSize * MAX_LJXA_XDATANUM * 2);
|
||||
if (_heightBuf[deviceId] == NULL)
|
||||
{
|
||||
return LJX8IF_RC_ERR_NOMEMORY;
|
||||
}
|
||||
|
||||
_luminanceBuf[deviceId] = (unsigned short*)malloc(yImageSize * MAX_LJXA_XDATANUM * 2);
|
||||
if (_luminanceBuf[deviceId] == NULL)
|
||||
{
|
||||
return LJX8IF_RC_ERR_NOMEMORY;
|
||||
}
|
||||
|
||||
// Initialize
|
||||
if (!InitHighSpeed())
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " InitHighSpeed error！ " ;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
bool Hd_CameraModule_3DKeyence3::InitHighSpeed()
|
||||
{
|
||||
try
|
||||
{
|
||||
if ( startReq_ptr == nullptr )
|
||||
{
|
||||
startReq_ptr = new LJX8IF_HIGH_SPEED_PRE_START_REQ;
|
||||
startReq_ptr->bySendPosition = 2;
|
||||
qWarning() << __FUNCTION__ << " line: " << __LINE__ << " startReq_ptr is null! ";
|
||||
}
|
||||
if ( profileInfo_ptr == nullptr )
|
||||
{
|
||||
profileInfo_ptr = new LJX8IF_PROFILE_INFO;
|
||||
qWarning() << __FUNCTION__ << " line: " << __LINE__ << " profileInfo_ptr is null! ";
|
||||
}
|
||||
errCode = LJX8IF_InitializeHighSpeedDataCommunicationSimpleArray(deviceId, &_ethernetConfig[deviceId], _highSpeedPortNo[deviceId], &myCallbackFunc, yImageSize, deviceId); // 初始化高速通讯
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " errCode:" << errCode;
|
||||
errCode = LJX8IF_PreStartHighSpeedDataCommunication(deviceId, startReq_ptr, profileInfo_ptr); // 预开始启动高速通信，作用 做预连接
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " errCode:" << errCode;
|
||||
|
||||
// zUnit
|
||||
errCode = LJX8IF_GetZUnitSimpleArray(deviceId, &zUnit);
|
||||
if (errCode != 0 || zUnit == 0)
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " Failed to acquire zunit! ";
|
||||
return false;
|
||||
}
|
||||
errCode = LJX8IF_StartHighSpeedDataCommunication(deviceId); // 正式开始高速通讯
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " errCode: " << errCode;
|
||||
}
|
||||
catch (const QString ev)
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " ev: " << ev;
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
|
||||
}
|
||||
bool Hd_CameraModule_3DKeyence3::run()
|
||||
{
|
||||
ifRunning = true;
|
||||
ifBreak = false;
|
||||
if ( !isopen )
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " device is not opened! ";
|
||||
return false;
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
JumpFlag = false;
|
||||
errCode = LJX8IF_StartHighSpeedDataCommunication(deviceId); // 正式开始高速通讯
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " errCode: " << errCode;
|
||||
if (errCode != 0x80A1 && errCode != 0x0000)
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Restart HighSpeedDataCommunication";
|
||||
errCode = LJX8IF_StopHighSpeedDataCommunication(deviceId);
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Stop HSC errCode:" << errCode;
|
||||
errCode = LJX8IF_FinalizeHighSpeedDataCommunication(deviceId);
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Fini HSC errCode:" << errCode;
|
||||
errCode = LJX8IF_InitializeHighSpeedDataCommunicationSimpleArray(deviceId, &_ethernetConfig[deviceId], _highSpeedPortNo[deviceId], &myCallbackFunc, yImageSize, deviceId); // 初始化高速通讯
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Init HSC errCode:" << errCode;
|
||||
errCode = LJX8IF_PreStartHighSpeedDataCommunication(deviceId, startReq_ptr, profileInfo_ptr); // 预开始启动高速通信，作用 做预连接
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " PreStart HSC errCode:" << errCode;
|
||||
errCode = LJX8IF_StartHighSpeedDataCommunication(deviceId); // 正式开始高速通讯
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Start HSC errCode: " << errCode;
|
||||
}
|
||||
|
||||
// Allocate memory
|
||||
if (_heightBuf[deviceId])
|
||||
{
|
||||
free(_heightBuf[deviceId]);
|
||||
_heightBuf[deviceId] = NULL;
|
||||
}
|
||||
|
||||
if (_luminanceBuf[deviceId])
|
||||
{
|
||||
free(_luminanceBuf[deviceId]);
|
||||
_luminanceBuf[deviceId] = NULL;
|
||||
}
|
||||
int yDataNum = setParam_Ptr->y_linenum;
|
||||
_heightBuf[deviceId] = (unsigned short*)malloc(yDataNum * MAX_LJXA_XDATANUM * 2);
|
||||
_luminanceBuf[deviceId] = (unsigned short*)malloc(yDataNum * MAX_LJXA_XDATANUM * 2);
|
||||
|
||||
if (_heightBuf[deviceId] == NULL)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (_luminanceBuf[deviceId] == NULL)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
int errCode;
|
||||
//Start HighSpeed
|
||||
_imageAvailable[deviceId] = 0;
|
||||
_lastImageSizeHeight[deviceId] = 0;
|
||||
|
||||
//StartMeasure(Batch Start)
|
||||
if (use_external_batchStart > 0)
|
||||
{
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
errCode = LJX8IF_StartMeasure(deviceId); // 启动软件触发,等同于软件中点击开始批处理操作
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " Measure Start(Batch Start) ! errCode:" << errCode;
|
||||
}
|
||||
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " acquring image...! ";
|
||||
DWORD start = timeGetTime();
|
||||
while (true)
|
||||
{
|
||||
DWORD ts = timeGetTime() - start;
|
||||
if ((DWORD)timeout_ms < ts || ifBreak == true)
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " timeout_ms " << ts;
|
||||
JumpFlag = true;
|
||||
break;
|
||||
}
|
||||
if (_imageAvailable[deviceId])
|
||||
{
|
||||
qCritical() << " [info] " << __FUNCTION__ << " line:" << __LINE__ <<" deviceId::" << deviceId << " checkImg getImg time" << ts<<" imgIndex" << imgIndex++ ;
|
||||
break;
|
||||
}
|
||||
Sleep(1);
|
||||
}
|
||||
Sleep(1);
|
||||
if (_imageAvailable[deviceId] != 1)
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << "_imageAvailable[deviceId] != 1";
|
||||
//Free memory
|
||||
if (_heightBuf[deviceId] != NULL)
|
||||
{
|
||||
free(_heightBuf[deviceId]);
|
||||
_heightBuf[deviceId] = NULL;
|
||||
}
|
||||
|
||||
if (_luminanceBuf[deviceId] != NULL)
|
||||
{
|
||||
free(_luminanceBuf[deviceId]);
|
||||
_luminanceBuf[deviceId] = NULL;
|
||||
}
|
||||
// KeyModify 20230301 清理控制器里的缓存数据，此处是考虑超时情况下，对数据的清理操作。
|
||||
errCode = LJX8IF_ClearMemory(deviceId);
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " errCode:" << errCode;
|
||||
return false;
|
||||
}
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << "test";
|
||||
_getParam[deviceId].luminance_enabled = profileInfo_ptr->byLuminanceOutput;
|
||||
_getParam[deviceId].x_pointnum = profileInfo_ptr->wProfileDataCount;
|
||||
_getParam[deviceId].y_linenum_acquired = _lastImageSizeHeight[deviceId];
|
||||
_getParam[deviceId].x_pitch_um = profileInfo_ptr->lXPitch / 100.0f;
|
||||
_getParam[deviceId].y_pitch_um = y_pitch_um;
|
||||
_getParam[deviceId].z_pitch_um = zUnit / 100.0f;
|
||||
|
||||
*getParam_Ptr = _getParam[deviceId];
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " getPara Finished: ";
|
||||
int xDataNum = _getParam[deviceId].x_pointnum;
|
||||
|
||||
unsigned short* dwHeightBuf = (unsigned short*)&_heightBuf[deviceId][0];
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " dwHeightBuf Init Finished: ";
|
||||
memcpy(heightImage, dwHeightBuf, xDataNum * yImageSize * 2);
|
||||
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Height Img memcpy Finished: ";
|
||||
if (_getParam[deviceId].luminance_enabled > 0)
|
||||
{
|
||||
unsigned short* dwLuminanceBuf = (unsigned short*)&_luminanceBuf[deviceId][0];
|
||||
memcpy(luminanceImage, dwLuminanceBuf, xDataNum * yImageSize * 2);
|
||||
}
|
||||
|
||||
// Free memory
|
||||
if (_heightBuf[deviceId] != NULL)
|
||||
{
|
||||
free(_heightBuf[deviceId]);
|
||||
_heightBuf[deviceId] = NULL;
|
||||
}
|
||||
|
||||
if (_luminanceBuf[deviceId] != NULL)
|
||||
{
|
||||
free(_luminanceBuf[deviceId]);
|
||||
_luminanceBuf[deviceId] = NULL;
|
||||
}
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Free memory Finished: ";
|
||||
|
||||
m_mutex->lock();
|
||||
//vector_mat.clear();
|
||||
luminanceMatS.enqueue(cv::Mat(yImageSize, xImageSize, CV_16U, luminanceImage));
|
||||
heightMatS.enqueue(cv::Mat(yImageSize, xImageSize, CV_16U, heightImage));
|
||||
m_mutex->unlock();
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " success to acquire 3d image! camera_name: " << camera_name;
|
||||
return true;
|
||||
}
|
||||
catch (QString ev)
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line: " << __LINE__ << " ev: " << ev;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,138 @@
|
||||
#ifndef Hd_CameraModule_3DKeyence_H
|
||||
#define Hd_CameraModule_3DKeyence_H
|
||||
|
||||
#include <QtCore/qglobal.h>
|
||||
#include <QByteArray>
|
||||
#include <QDebug>
|
||||
#include<iostream>
|
||||
#include <Windows.h>
|
||||
#include "pbglobalobject.h"
|
||||
#include "QQueue.h"
|
||||
#include "QMap.h"
|
||||
#include "QDir.h"
|
||||
#include "qapplication.h"
|
||||
#include "qjsonobject.h"
|
||||
#include "qjsonarray.h"
|
||||
#include "qjsondocument.h"
|
||||
#include "QLibrary.h"
|
||||
|
||||
#include "LJX8_IF.h"
|
||||
#include "LJX8_ErrorCode.h"
|
||||
|
||||
#pragma comment(lib, "winmm.lib")
|
||||
#pragma execution_character_set("utf-8")
|
||||
|
||||
typedef struct {
|
||||
int y_linenum;
|
||||
float y_pitch_um;
|
||||
int timeout_ms;
|
||||
int use_external_batchStart;
|
||||
} LJXA_ACQ_SETPARAM;
|
||||
|
||||
typedef struct {
|
||||
int luminance_enabled;
|
||||
int x_pointnum;
|
||||
int y_linenum_acquired;
|
||||
float x_pitch_um;
|
||||
float y_pitch_um;
|
||||
float z_pitch_um;
|
||||
} LJXA_ACQ_GETPARAM;
|
||||
|
||||
const int MAX_LJXA_DEVICENUM = 6;
|
||||
|
||||
class Hd_CameraModule_3DKeyence3 :public PbGlobalObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit Hd_CameraModule_3DKeyence3(int settype = -1, QObject* parent = nullptr);//对应哪个品牌相机(触发方式)/通信
|
||||
~Hd_CameraModule_3DKeyence3();
|
||||
//#######################通用函数#######################
|
||||
//初始化参数；通信/相机的初始化参数
|
||||
bool setParameter(const QMap<QString, QString>&);
|
||||
|
||||
//setParameter之后再调用，返回当前参数
|
||||
//相机：获取默认参数；
|
||||
//通信：获取初始化示例参数
|
||||
QMap<QString, QString> parameters();
|
||||
//初始化(加载模块到内存)
|
||||
bool init();
|
||||
|
||||
//加载示例参数
|
||||
QJsonObject load_camera_Example();
|
||||
|
||||
//设置数据
|
||||
//相机：第一张图的参数，QStringList：00 曝光值 增益值；
|
||||
//相机：第N张图的参数，QStringList：非00 曝光值 增益值；
|
||||
//完成后发送信号trigged(bool);
|
||||
bool setData(const std::vector<cv::Mat>&, const QStringList&);
|
||||
//获取数据
|
||||
bool data(std::vector<cv::Mat>&, QStringList&);
|
||||
//注册回调 string对应自身的参数协议 （自定义）
|
||||
virtual void registerCallBackFun(PBGLOBAL_CALLBACK_FUN, QObject*, const QString&);
|
||||
|
||||
|
||||
//从类中读数据到实例对象
|
||||
bool readData(std::vector<cv::Mat>& mats, QByteArray& data);
|
||||
//实例对象把数据写入到类
|
||||
bool writeData(std::vector<cv::Mat>& mat, QByteArray& data);
|
||||
bool initParas(QByteArray&);
|
||||
bool run();
|
||||
|
||||
int LJXA_ACQ_OpenDevice(int lDeviceId, LJX8IF_ETHERNET_CONFIG* EthernetConfig, int HighSpeedPortNo);
|
||||
int LJXA_ACQ_StartAsync(int lDeviceId, LJXA_ACQ_SETPARAM* setParam);
|
||||
int LJXA_ACQ_AcquireAsync(int lDeviceId, unsigned short* heightImage, unsigned short* luminanceImage, LJXA_ACQ_SETPARAM* setParam, LJXA_ACQ_GETPARAM* getParam);
|
||||
void LJXA_ACQ_CloseDevice(int lDeviceId);
|
||||
|
||||
bool decodeInitData(QByteArray byte,QVector<QByteArray> &vector_data);
|
||||
bool InitHighSpeed();
|
||||
private:
|
||||
int LJXA_ACQ_Acquire(int lDeviceId, unsigned short* heightImage, unsigned short* luminanceImage, LJXA_ACQ_SETPARAM* setParam, LJXA_ACQ_GETPARAM* getParam);
|
||||
LJX8IF_HIGH_SPEED_PRE_START_REQ *startReq_ptr = nullptr;
|
||||
LJX8IF_PROFILE_INFO *profileInfo_ptr = nullptr;
|
||||
|
||||
// Static variable
|
||||
LJX8IF_ETHERNET_CONFIG _ethernetConfig[MAX_LJXA_DEVICENUM];
|
||||
int _highSpeedPortNo[MAX_LJXA_DEVICENUM];
|
||||
|
||||
LJXA_ACQ_GETPARAM _getParam[MAX_LJXA_DEVICENUM];
|
||||
|
||||
int deviceId = 0; // Set "0" if you use only 1 head.
|
||||
int xImageSize = 0; // Number of X points.
|
||||
int yImageSize = 0; // Number of Y lines.
|
||||
float y_pitch_um = 0; // Data pitch of Y data. (e.g. your encoder setting)
|
||||
int timeout_ms = 0; // Timeout value for the acquiring image (in milisecond).
|
||||
int use_external_batchStart = 1; // Set "1" if you controll the batch start timing externally. (e.g. terminal input) 0内部触发，1外部触发
|
||||
std::string outputFilePath1 = "sample_height.csv";
|
||||
std::string outputFilePath2 = "sample_height.tif";
|
||||
std::string outputFilePath3 = "sample_luminance.tif";
|
||||
|
||||
//std::vector< cv::Mat> vector_mat;
|
||||
unsigned short zUnit = 0;
|
||||
|
||||
unsigned short* heightImage = nullptr; // Height image
|
||||
unsigned short* luminanceImage = nullptr; // Luminance image
|
||||
|
||||
LJXA_ACQ_SETPARAM *setParam_Ptr = nullptr;
|
||||
LJXA_ACQ_GETPARAM *getParam_Ptr = nullptr;
|
||||
int HighSpeedPortNo = 24692; // Port number for high-speed communication
|
||||
bool isopen = false;
|
||||
int errCode;
|
||||
|
||||
LJX8IF_ETHERNET_CONFIG EthernetConfig;
|
||||
|
||||
QString camera_name; // 相机名称
|
||||
int recontimeout_ms = 3000;
|
||||
private:
|
||||
bool ifFirst = true;
|
||||
//参数设置的数据
|
||||
QMap<QString, QString> ParasValueMap;
|
||||
QString getmoduleName();
|
||||
};
|
||||
|
||||
extern "C"
|
||||
{
|
||||
Q_DECL_EXPORT Hd_CameraModule_3DKeyence3 * create(int type = -1);
|
||||
Q_DECL_EXPORT void destory(Hd_CameraModule_3DKeyence3 * ptr);
|
||||
}
|
||||
|
||||
#endif // HD_MVCAMERA_MODULE_H
|
||||
@@ -0,0 +1,31 @@
|
||||
#ifndef __BASECLASS_H__
|
||||
#define __BASECLASS_H__
|
||||
|
||||
#include <iostream>
|
||||
#include <QObject>
|
||||
#include <QByteArray>
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <opencv2/core.hpp>
|
||||
#include <opencv2/imgproc.hpp>
|
||||
|
||||
class Base :public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
bool init_flag; //是否初始化,false,true
|
||||
bool status = true; //相机状态（判断相机是否断开连接）
|
||||
std::string paras; //传输数据
|
||||
std::vector<cv::Mat> m_mat; //传输图片
|
||||
std::string moduleName; //模块名称
|
||||
public:
|
||||
Base(){}
|
||||
virtual ~Base(){}
|
||||
virtual bool readData(std::vector<cv::Mat>&,QByteArray&){return true;}
|
||||
virtual bool writeData(std::vector<cv::Mat>&,QByteArray&){return true;}
|
||||
virtual bool initParas(QByteArray&){return true;}
|
||||
virtual bool run() {return true;}
|
||||
virtual bool checkStatus() { return true; }
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,79 @@
|
||||
#ifndef PBGLOBALOBJECT_H
|
||||
#define PBGLOBALOBJECT_H
|
||||
|
||||
#include <QObject>
|
||||
#include<opencv2/opencv.hpp>
|
||||
#include <opencv.hpp>
|
||||
|
||||
//type对应的相机、触发方式
|
||||
#define HIK_Hard 0 //海康
|
||||
#define HIK_Soft 1
|
||||
#define Basler_Hard 2
|
||||
#define Basler_Soft 3
|
||||
#define DaHua_Hard 4
|
||||
#define DaHua_Soft 5
|
||||
#define DaHeng_Hard 6
|
||||
#define DaHeng_Soft 7
|
||||
#define Dalsa 8
|
||||
#define DalsaDAQ_Hard 9
|
||||
#define DalsaDAQ_Soft 10
|
||||
#define ITEK_Hard 11
|
||||
#define ITEK_Soft 12
|
||||
#define OPT_Hard 13
|
||||
#define OPT_Soft 14
|
||||
#define Keyence_25D 15
|
||||
#define Keyence_3D 16
|
||||
#define LMI_3D 17
|
||||
#define Sszn_3D 18
|
||||
#define ReadImage 1000
|
||||
|
||||
|
||||
typedef void (*PBGLOBAL_CALLBACK_FUN)(QObject*, const std::vector<cv::Mat>&);
|
||||
class PbGlobalObject : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit PbGlobalObject(int type, QObject* parent = nullptr) : QObject(parent), type1(type) { } //对应哪个品牌相机(触发方式)/通信
|
||||
virtual ~PbGlobalObject() { }
|
||||
|
||||
//#######################通用函数#######################
|
||||
//初始化参数；通信/相机的初始化参数
|
||||
virtual bool setParameter(const QMap<QString, QString>&) = 0;
|
||||
//setParameter之后再调用，返回当前参数
|
||||
//相机：获取默认参数；
|
||||
//通信：获取初始化示例参数
|
||||
virtual QMap<QString, QString> parameters() = 0;
|
||||
//初始化(加载模块待内存)
|
||||
virtual bool init() = 0;
|
||||
|
||||
//设置数据
|
||||
//相机：第一张图的参数，QStringList：00 曝光值 增益值；
|
||||
//相机：第N张图的参数，QStringList：非00 曝光值 增益值；
|
||||
//完成后发送信号trigged(bool);
|
||||
virtual bool setData(const std::vector<cv::Mat>&, const QStringList&) = 0;
|
||||
//获取数据
|
||||
virtual bool data(std::vector<cv::Mat>&, QStringList&) = 0;
|
||||
|
||||
//注册回调 string对应自身的参数协议 （自定义）
|
||||
virtual void registerCallBackFun(PBGLOBAL_CALLBACK_FUN, QObject*, const QString&) {}
|
||||
|
||||
//注销回调 string对应自身的参数协议 （自定义）--->注销后还得取消连接状态
|
||||
virtual void cancelCallBackFun(PBGLOBAL_CALLBACK_FUN, QObject*, const QString&) {}
|
||||
|
||||
//#######################通用函数######################
|
||||
public:
|
||||
//大类
|
||||
enum PGOFAMLIY { GLOBALVARIABLE = 0, CAMERA2D, CAMERA2_5D, CAMERA3D, PLC, COM }famliy;
|
||||
//小类
|
||||
int type1 = -1; //对应哪个品牌相机(触发方式)/通信
|
||||
int type2 = -1;
|
||||
int type3 = -1;
|
||||
|
||||
//名称
|
||||
QString name = "";
|
||||
int id;
|
||||
|
||||
signals:
|
||||
void trigged(int); //切换连接状态也需要发送trgged信号 //0，相机重连成功；1，相机掉线；2:软触发; 3：硬触发; 1000，重置计数
|
||||
};
|
||||
#endif // PBGLOBALOBJECT_H
|
||||
Reference in New Issue
Block a user