init files
This commit is contained in:
rci
@@ -0,0 +1,745 @@
|
||||
#include "Hd_CameraModule_3DLMI3.h"
|
||||
#include <QDebug>
|
||||
#include <QQueue>
|
||||
#include <QTextCodec>
|
||||
|
||||
using namespace std;
|
||||
#pragma execution_character_set("utf-8")
|
||||
|
||||
QByteArray mv_Status = "connected";//0106 新增相机断联报警
|
||||
long long imgIndex = 0;
|
||||
std::vector<GoDataMsg>DataSetCollection;
|
||||
std::mutex DataSetMutex;
|
||||
|
||||
k32u k32u_id = 117599; //3D 序列号
|
||||
kAssembly api = kNULL;
|
||||
GoSystem system1 = kNULL;
|
||||
GoSensor sensor = kNULL;
|
||||
GoDataSet dataset = kNULL;
|
||||
DataContext* contextPointer = new DataContext();
|
||||
LmiStatus m_status = UnInit;
|
||||
bool m_lmiheightFlag = false;
|
||||
bool m_lmiluminanceFlag = false;
|
||||
bool moduleStatus = true;
|
||||
|
||||
bool ifHardTrigger = true;//false软触发，true硬触发
|
||||
|
||||
//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。
|
||||
bool ifBreak = false;
|
||||
//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
|
||||
bool ifRunning = false;
|
||||
QString byteArrayToUnicode(const QByteArray array) {
|
||||
|
||||
// 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
|
||||
// 如果转换成功，则值为0，如果值大于0，则说明转换失败
|
||||
QTextCodec::ConverterState state;
|
||||
// 先尝试使用utf-8的方式把QByteArray转换成QString
|
||||
QString text = QTextCodec::codecForName("UTF-8")->toUnicode(array.constData(), array.size(), &state);
|
||||
// 如果转换时无效字符数量大于0，说明编码格式不对
|
||||
if (state.invalidChars > 0)
|
||||
{
|
||||
// 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)
|
||||
text = QTextCodec::codecForName("GBK")->toUnicode(array);
|
||||
}
|
||||
return text;
|
||||
}
|
||||
//QQueue<std::vector<cv::Mat>> queuePic;
|
||||
QMutex* m_mutex;
|
||||
//static Mat heightMat1, heightMat2;//高度图
|
||||
//static Mat luminanceMat1, luminanceMat2;//灰度图
|
||||
|
||||
QQueue< cv::Mat> heightMatS;//高度图
|
||||
QQueue<cv::Mat> luminanceMatS;//灰度图
|
||||
|
||||
//是否为标准通信流程：
|
||||
//标准通信流程，run函数设置曝光/增益；非标准通信流程（简单通信流程），回调函数设置曝光/增益
|
||||
bool ifStandard = false;
|
||||
//相机取图超时时间
|
||||
int getImageTimeOut = 1000;
|
||||
//总取图数
|
||||
int getImageNum = 0;
|
||||
//曝光值列表
|
||||
QQueue<float> expourseTimeList;
|
||||
//增益列表
|
||||
QQueue<float> gainList;
|
||||
static bool m_flag = false;
|
||||
int callBackNum = 0;
|
||||
|
||||
//0106 断连提示
|
||||
void _stdcall ExceptionCB(unsigned int nMesgType, void* pUser) {
|
||||
mv_Status = "disconnect";
|
||||
qDebug() << "[Error] " << " LMI camera disconnects!";
|
||||
}
|
||||
|
||||
#pragma region LMI
|
||||
|
||||
|
||||
struct myPBGLOBAL_callBack
|
||||
{
|
||||
void (*callBackFun)(QObject*, const std::vector<cv::Mat>&);
|
||||
QObject* m_QObject;
|
||||
QString cameraIndex;
|
||||
};
|
||||
QQueue< myPBGLOBAL_callBack> QQueue_myPBGLOBAL_callBack;
|
||||
//注册回调 string对应自身的参数协议 （自定义）
|
||||
void Hd_CameraModule_3DLMI3::registerCallBackFun(PBGLOBAL_CALLBACK_FUN callBackFun, QObject* m_QObject, const QString& cameraIndex)
|
||||
{
|
||||
myPBGLOBAL_callBack m_myPBGLOBAL_callBack;
|
||||
m_myPBGLOBAL_callBack.callBackFun = callBackFun;
|
||||
m_myPBGLOBAL_callBack.m_QObject = m_QObject;
|
||||
m_myPBGLOBAL_callBack.cameraIndex = cameraIndex;
|
||||
QQueue_myPBGLOBAL_callBack.enqueue(m_myPBGLOBAL_callBack);
|
||||
}
|
||||
|
||||
|
||||
//回调函数
|
||||
// Data callback function
|
||||
// This function is called from a separate thread spawned by the GoSDK library.
|
||||
// Processing within this function should be minimal.
|
||||
kStatus kCall onData(void* ctx, void* sys, void* dataset)
|
||||
{
|
||||
double time_Start = (double)clock();
|
||||
unsigned int i, j;
|
||||
//DataContext* context = (DataContext*)ctx;
|
||||
GoStamp stamp;
|
||||
std::vector<cv::Mat> picVec;
|
||||
|
||||
m_mutex->lock();
|
||||
m_flag = true;
|
||||
for (i = 0; i < GoDataSet_Count(dataset); ++i)
|
||||
{
|
||||
GoDataMsg dataObj = GoDataSet_At(dataset, i);
|
||||
|
||||
switch (GoDataMsg_Type(dataObj))
|
||||
{
|
||||
case GO_DATA_MESSAGE_TYPE_UNIFORM_SURFACE:
|
||||
{
|
||||
MyTiff temp;
|
||||
GoUniformSurfaceMsg surfaceMsg = dataObj;
|
||||
double XResolution = NM_TO_MM(GoSurfaceMsg_XResolution(surfaceMsg));
|
||||
double YResolution = NM_TO_MM(GoSurfaceMsg_YResolution(surfaceMsg));
|
||||
double ZResolution = NM_TO_MM(GoSurfaceMsg_ZResolution(surfaceMsg));
|
||||
double XOffset = UM_TO_MM(GoSurfaceMsg_XOffset(surfaceMsg));
|
||||
double YOffset = UM_TO_MM(GoSurfaceMsg_YOffset(surfaceMsg));
|
||||
double ZOffset = UM_TO_MM(GoSurfaceMsg_ZOffset(surfaceMsg));
|
||||
|
||||
int Width = GoSurfaceMsg_Width(surfaceMsg);
|
||||
int Height = GoSurfaceMsg_Length(surfaceMsg);
|
||||
|
||||
if (Width > 100)
|
||||
{
|
||||
temp.Tiff = (unsigned short*)malloc(Width * Height * sizeof(unsigned short));// new unsigned short[Width * Height * sizeof(unsigned short)];
|
||||
temp.w = Width;
|
||||
temp.h = Height;
|
||||
for (int rowIdx = 0; rowIdx < Height; rowIdx++)
|
||||
{
|
||||
k16s* data = GoSurfaceMsg_RowAt(surfaceMsg, rowIdx);
|
||||
for (int colIdx = 0; colIdx < Width; colIdx++)
|
||||
{
|
||||
unsigned short val = data[colIdx];
|
||||
//unsigned short val = ZOffset + ZResolution * data[colIdx];
|
||||
temp.Tiff[rowIdx * Width + colIdx] = val;
|
||||
}
|
||||
}
|
||||
|
||||
cv::Mat heightMat1 = cv::Mat(temp.h, temp.w, CV_16U, temp.Tiff);
|
||||
//heightMat1.copyTo(heightMat2);
|
||||
heightMatS.push_back(heightMat1.clone());
|
||||
m_lmiheightFlag = true;
|
||||
free(temp.Tiff);
|
||||
temp.Tiff = NULL;
|
||||
//delete[]temp.Tiff;
|
||||
//temp.Tiff = nullptr;
|
||||
}
|
||||
|
||||
/*cv::Mat dst;
|
||||
SYSTEMTIME t;
|
||||
std::vector<int> params{ (int)cv::IMWRITE_TIFF_RESUNIT,2, (int)cv::IMWRITE_TIFF_COMPRESSION,1,(int)cv::IMWRITE_TIFF_XDPI,300,(int)cv::IMWRITE_TIFF_YDPI,300 };
|
||||
GetLocalTime(&t);
|
||||
std::string filename = std::to_string(t.wHour) + "-" + std::to_string(t.wMinute) + "-" + std::to_string(t.wSecond) + "-" + std::to_string(t.wMilliseconds) + ".tiff";
|
||||
cv::imwrite(filename, img, params);*/
|
||||
}
|
||||
break;
|
||||
case GO_DATA_MESSAGE_TYPE_SURFACE_INTENSITY:
|
||||
{
|
||||
MyBmp temp;
|
||||
GoSurfaceIntensityMsg surfaceIntMsg = dataObj;
|
||||
double XResolution = NM_TO_MM(GoSurfaceIntensityMsg_XResolution(surfaceIntMsg));
|
||||
double YResolution = NM_TO_MM(GoSurfaceIntensityMsg_YResolution(surfaceIntMsg));
|
||||
double XOffset = UM_TO_MM(GoSurfaceIntensityMsg_XOffset(surfaceIntMsg));
|
||||
double YOffset = UM_TO_MM(GoSurfaceIntensityMsg_YOffset(surfaceIntMsg));
|
||||
|
||||
int Width = GoSurfaceIntensityMsg_Width(surfaceIntMsg);
|
||||
int Height = GoSurfaceIntensityMsg_Length(surfaceIntMsg);
|
||||
|
||||
temp.Bmp = (unsigned char*)malloc(Width * Height * sizeof(unsigned char));;// new unsigned char[Width * Height * sizeof(unsigned char)];
|
||||
temp.w = Width;
|
||||
temp.h = Height;
|
||||
|
||||
for (int rowIdx = 0; rowIdx < Height; rowIdx++)
|
||||
{
|
||||
k8u* data = GoSurfaceIntensityMsg_RowAt(surfaceIntMsg, rowIdx);
|
||||
for (int colIdx = 0; colIdx < Width; colIdx++)
|
||||
{
|
||||
temp.Bmp[rowIdx * Width + colIdx] = data[colIdx];
|
||||
}
|
||||
}
|
||||
|
||||
cv::Mat luminanceMat1 = cv::Mat(temp.h, temp.w, CV_8UC1, temp.Bmp);
|
||||
//luminanceMat1.copyTo(luminanceMat2);
|
||||
luminanceMatS.push_back(luminanceMat1.clone());
|
||||
m_lmiluminanceFlag = true;
|
||||
free(temp.Bmp);
|
||||
temp.Bmp = NULL;
|
||||
//delete[]temp.Bmp;
|
||||
//temp.Bmp = nullptr;
|
||||
//SYSTEMTIME t;
|
||||
//GetLocalTime(&t);
|
||||
//std::string filename = std::to_string(t.wHour) + "-" + std::to_string(t.wMinute) + "-" + std::to_string(t.wSecond) + "-" + std::to_string(t.wMilliseconds) + ".bmp";
|
||||
//cv::imwrite(filename, img);
|
||||
}
|
||||
break;
|
||||
}
|
||||
//DataSetCollection.push_back(dataObj);
|
||||
}
|
||||
if (ifHardTrigger == true)//硬触发，回调
|
||||
{
|
||||
std::vector<cv::Mat> mat;
|
||||
mat.push_back(heightMatS.dequeue());
|
||||
mat.push_back(luminanceMatS.dequeue());
|
||||
//触发回调
|
||||
for (int i = 0; i < QQueue_myPBGLOBAL_callBack.size(); i++)
|
||||
if (QQueue_myPBGLOBAL_callBack[i].cameraIndex == QString::number(imgIndex))
|
||||
(*QQueue_myPBGLOBAL_callBack[i].callBackFun)(QQueue_myPBGLOBAL_callBack[i].m_QObject, mat);
|
||||
imgIndex++;
|
||||
if (imgIndex >= expourseTimeList.size())
|
||||
imgIndex = 0;
|
||||
}
|
||||
|
||||
|
||||
m_mutex->unlock();
|
||||
GoDestroy(dataset);
|
||||
double time_End = (double)clock();
|
||||
qDebug() << "[INFO] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg getImg Time:" << (time_End - time_Start) << "ms"
|
||||
<< " --CameraName:" << k32u_id << " imgIndex:" << imgIndex << "--FrameID : " << stamp.frameIndex<< " --callBackNum : " << callBackNum++;
|
||||
|
||||
return kOK;
|
||||
}
|
||||
|
||||
//初始化流程
|
||||
bool InitLmi(k32u ID)
|
||||
{
|
||||
|
||||
kStatus status;
|
||||
if ((status = GoSdk_Construct(&api)) != kOK)
|
||||
{
|
||||
//printf("Error: GoSdk_Construct:%d\n", status);
|
||||
qDebug() << "[Error] " << "Error: GoSdk_Construct:%d\n", status;
|
||||
return false;
|
||||
}
|
||||
|
||||
if ((status = GoSystem_Construct(&system1, kNULL)) != kOK)
|
||||
{
|
||||
//printf("Error: GoSystem_Construct:%d\n", status);
|
||||
qDebug() << "[Error] " << "Error: GoSystem_Construct:%d\n", status;
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
if ((status = GoSystem_FindSensorById(system1, ID, &sensor)) != kOK)
|
||||
{
|
||||
//printf("Error: GoSystem_FindSensor:%d\n", status);
|
||||
qDebug() << "[Error] " << "Error: GoSystem_FindSensor:%d\n", status;
|
||||
return false;
|
||||
}
|
||||
|
||||
/*GoSystem_Disconnect(system1);*/
|
||||
// create connection to GoSystem object
|
||||
if ((status = GoSensor_Connect(sensor)) != kOK)
|
||||
{
|
||||
//ExceptionCB(status, NULL);
|
||||
qDebug() << "[Error] " << "Error: GoSensor_Connect:%d\n", status;
|
||||
return false;
|
||||
}
|
||||
|
||||
// enable sensor data channel
|
||||
if ((status = GoSystem_EnableData(system1, kTRUE)) != kOK)
|
||||
{
|
||||
//printf("Error: GoSensor_EnableData:%d\n", status);
|
||||
qDebug() << "[Error] "<< "Error: GoSensor_EnableData:%d\n", status;
|
||||
return false;
|
||||
}
|
||||
|
||||
// set data handler to receive data asynchronously
|
||||
if ((status = GoSystem_SetDataHandler(system1, onData, contextPointer)) != kOK)
|
||||
{
|
||||
//printf("Error: GoSystem_SetDataHandler:%d\n", status);
|
||||
qDebug() << "[Error] " << "Error: GoSystem_SetDataHandler:%d\n", status;
|
||||
return false;
|
||||
}
|
||||
|
||||
if ((status = GoSystem_SetDataCapacity(system1, kSIZE_MAX)) != kOK)
|
||||
{
|
||||
qDebug() << "[Error] " << "Error: GoSystem_SetDataCapacity:%d\n", status;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool StartLmi()
|
||||
{
|
||||
kStatus status;
|
||||
if ((status = GoSystem_Start(system1)) != kOK)
|
||||
{
|
||||
//printf("Error: GoSystem_Stop:%d\n", status);
|
||||
qDebug() << "[Error] " << "Failed to start LMI ";
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool StopLmi()
|
||||
{
|
||||
kStatus status;
|
||||
if ((status = GoSystem_Stop(system1)) != kOK)
|
||||
{
|
||||
qDebug() << "[Error] " << "Failed to stop LMI ";
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void CloseLmi()
|
||||
{
|
||||
// destroy handles
|
||||
GoDestroy(system1);
|
||||
GoDestroy(api);
|
||||
}
|
||||
|
||||
#pragma endregion
|
||||
|
||||
|
||||
Hd_CameraModule_3DLMI3* create(int settype)
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << "Hd_CameraModule_3DLMI3 create success!";
|
||||
return new Hd_CameraModule_3DLMI3(settype);
|
||||
}
|
||||
|
||||
void destory(Hd_CameraModule_3DLMI3* ptr)
|
||||
{
|
||||
if (ptr)
|
||||
{
|
||||
delete ptr;
|
||||
ptr = nullptr;
|
||||
}
|
||||
qDebug() << "[INFO] " << "Hd_CameraModule_3DLMI3 destory success!";
|
||||
}
|
||||
|
||||
//int myIDS[10000] = { 0 };
|
||||
|
||||
//类创建
|
||||
Hd_CameraModule_3DLMI3::Hd_CameraModule_3DLMI3(int settype, QObject* parent) : PbGlobalObject(settype, parent)
|
||||
{
|
||||
m_mutex = new QMutex();
|
||||
ifRunning = true;
|
||||
//QFuture<void> myF= QtConcurrent::run(this, &Hd_CameraModule_3DLMI3::threadCheckCallBack);
|
||||
if (type1 < 15)
|
||||
famliy = PGOFAMLIY::CAMERA2D;
|
||||
else if (type1 == 15)
|
||||
famliy = PGOFAMLIY::CAMERA2_5D;
|
||||
else if (type1 < 100)
|
||||
famliy = PGOFAMLIY::CAMERA3D;
|
||||
//id = myIDS[type1]++;
|
||||
qDebug() << "famliy::" << famliy;
|
||||
}
|
||||
|
||||
|
||||
Hd_CameraModule_3DLMI3::~Hd_CameraModule_3DLMI3()
|
||||
{
|
||||
ExceptionCB(-1, NULL);
|
||||
//myIDS[type1]--;
|
||||
ifFirst = true;
|
||||
ifRunning = false;
|
||||
m_flag = false;
|
||||
Sleep(10);
|
||||
CloseLmi();
|
||||
if (m_mutex)
|
||||
{
|
||||
delete m_mutex;
|
||||
m_mutex = nullptr;
|
||||
}
|
||||
/*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_3DLMI3::parameters()
|
||||
{
|
||||
if (ifFirst == true)
|
||||
{
|
||||
ifFirst = false;
|
||||
|
||||
moduleName = "Hd_CameraModule_3DLMI3#" + 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_3DLMI3::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_3DLMI3::setParameter(const QMap<QString, QString>& ParameterMap)
|
||||
{
|
||||
ParasValueMap = ParameterMap;
|
||||
//if (m_module.moduleName.isEmpty())
|
||||
//m_module.moduleName = getmoduleName();// = ParasValueMap.value()
|
||||
//if(id=)
|
||||
moduleName = "Hd_CameraModule_3DLMI3#" + QString::number(id);
|
||||
return true;
|
||||
}
|
||||
|
||||
//初始化(加载模块待内存)
|
||||
bool Hd_CameraModule_3DLMI3::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_3DLMI3::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_3DLMI3::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_3DLMI3::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;
|
||||
}
|
||||
|
||||
|
||||
//从类中读数据到实例对象
|
||||
bool Hd_CameraModule_3DLMI3::readData(std::vector<cv::Mat>& vecPic, QByteArray &data )
|
||||
{
|
||||
|
||||
/*if (data == "connect")
|
||||
{
|
||||
data = mv_Status;
|
||||
return true;
|
||||
}*/
|
||||
|
||||
|
||||
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);
|
||||
vecPic.push_back(mheightMat2.clone());
|
||||
vecPic.push_back(mluminanceMat2.clone());
|
||||
|
||||
m_mutex->unlock();
|
||||
qCritical() << " [info] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData id:" << k32u_id <<" imgIndex" << imgIndex;
|
||||
/*vector<cv::Mat> dstvec;
|
||||
dstvec.push_back(heightMat2.clone());
|
||||
dstvec.push_back(luminanceMat2.clone());
|
||||
m_mutex->unlock();
|
||||
vecPic.assign(dstvec.begin(), dstvec.end());*/
|
||||
return true;
|
||||
|
||||
}
|
||||
//实例对象把数据写入到类
|
||||
bool Hd_CameraModule_3DLMI3::writeData(std::vector<cv::Mat> &, QByteArray &qbyte)
|
||||
{
|
||||
/*string reciveid = qbyte.toStdString();
|
||||
|
||||
id = atoi(reciveid.c_str());*/
|
||||
//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 (qbyte == "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]);
|
||||
}*/
|
||||
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 " << k32u_id << std::endl;
|
||||
qWarning() << __FUNCTION__ << " line: " << __LINE__ << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << k32u_id;
|
||||
}
|
||||
if (ifRunning == true)
|
||||
{
|
||||
ifBreak = true;
|
||||
Sleep(10);
|
||||
}
|
||||
imgIndex = 0;
|
||||
getImageNum = 0;
|
||||
return true;
|
||||
}
|
||||
//else
|
||||
//{
|
||||
// m_flag = false;
|
||||
// expourseTimeList.clear();
|
||||
// gainList.clear();
|
||||
//}
|
||||
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_3DLMI3::initParas(QByteArray& initData)
|
||||
{
|
||||
QByteArrayList valueList = initData.split('+');
|
||||
|
||||
if (valueList.size() > 1)
|
||||
for (int i = 1; i < valueList.size(); i++)
|
||||
{
|
||||
QString valuei = byteArrayToUnicode(valueList[i]);
|
||||
if (valuei.contains("是否为标准通信流程"))
|
||||
{
|
||||
if (valuei.contains("true"))
|
||||
ifStandard = true;
|
||||
}
|
||||
if (valuei.contains("取图超时"))
|
||||
{
|
||||
QStringList gainL = valuei.split('#');
|
||||
if (gainL.size() > 1)
|
||||
getImageTimeOut = gainL[1].toInt();
|
||||
if (getImageTimeOut < 50)
|
||||
getImageTimeOut = 1000;
|
||||
}
|
||||
}
|
||||
|
||||
string reciveid = valueList[0].toStdString();
|
||||
|
||||
k32u_id = atoi(reciveid.c_str()); //id 相机序列号
|
||||
|
||||
bool flag = InitLmi(k32u_id); //3D初始化
|
||||
m_status = flag ? OK : UnInit;
|
||||
if (!flag)
|
||||
{
|
||||
qDebug() << "[Error] " << "Failed to Init LMI,id:"<< k32u_id;
|
||||
return false;
|
||||
}
|
||||
|
||||
flag = StartLmi();
|
||||
m_status == flag ? Grab : OK;
|
||||
|
||||
if (!flag)
|
||||
{
|
||||
qDebug() << "[Error] " << " Failed to start LMI";
|
||||
return false;
|
||||
}
|
||||
|
||||
qDebug() << "[INFO] " << " success to start LMI,id:" << k32u_id;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Hd_CameraModule_3DLMI3::run()
|
||||
{
|
||||
ifRunning = true;
|
||||
ifBreak = false;
|
||||
bool result = false;
|
||||
//qDebug() << "[info]" << __FUNCTION__ << " line:" << __LINE__ << " run start" << k32u_id;
|
||||
try
|
||||
{
|
||||
m_flag = false;
|
||||
int mytime = 0;
|
||||
while (true)
|
||||
{
|
||||
if (moduleStatus == false || mytime++ > getImageTimeOut || ifBreak == true)
|
||||
{
|
||||
result = false;
|
||||
break;
|
||||
}
|
||||
m_mutex->lock();
|
||||
if (luminanceMatS.size() > 0 && heightMatS.size() > 0)
|
||||
{
|
||||
result = true;
|
||||
m_mutex->unlock();
|
||||
break;
|
||||
}
|
||||
m_mutex->unlock();
|
||||
Sleep(1);
|
||||
}
|
||||
}
|
||||
catch (QString ev)
|
||||
{
|
||||
qDebug() << "[Error] " << " ev:" << ev ;
|
||||
}
|
||||
//qDebug() << "[info]"<< __FUNCTION__ << " line:" << __LINE__ << " run end" ;
|
||||
return result;
|
||||
}
|
||||
|
||||
//相机连接状态：正常连接或断开
|
||||
bool Hd_CameraModule_3DLMI3::checkStatus()
|
||||
{
|
||||
return moduleStatus;
|
||||
}
|
||||
Reference in New Issue
Block a user