diff --git a/BaseModules/algoModules/Hd_FangDing_module/CMakeLists.txt b/BaseModules/algoModules/Hd_ShangDing_module/CMakeLists.txt similarity index 100% rename from BaseModules/algoModules/Hd_FangDing_module/CMakeLists.txt rename to BaseModules/algoModules/Hd_ShangDing_module/CMakeLists.txt diff --git a/BaseModules/algoModules/Hd_YuHang_module/Hd_YuHang_module.cpp b/BaseModules/algoModules/Hd_ShangDing_module/Hd_ShangDing_module.cpp similarity index 63% rename from BaseModules/algoModules/Hd_YuHang_module/Hd_YuHang_module.cpp rename to BaseModules/algoModules/Hd_ShangDing_module/Hd_ShangDing_module.cpp index c633acc..5906ddf 100644 --- a/BaseModules/algoModules/Hd_YuHang_module/Hd_YuHang_module.cpp +++ b/BaseModules/algoModules/Hd_ShangDing_module/Hd_ShangDing_module.cpp @@ -1,4 +1,4 @@ -#include "Hd_YuHang_module.h" +#include "Hd_ShangDing_module.h" #include #include #include @@ -27,6 +27,20 @@ using namespace handdleAI; //总保存文件夹 QString AllImgSaveDir = "D:/CCD/"; + +//切图的class的width，根据项目实际设置！ +static int sizeW = 150; +//切图的class的height，根据项目实际设置！ +static int sizeH = 150; +//切图的class的width，根据项目实际设置！0为黑，255为白； +static int fillColour = 0; + +pDetection* det_DJY; +pClassification* cls_DJY; + +std::string modelPath_det_DJY = "../bin/model/det_DJY.BHD"; +std::string modelPath_cls_DJY = "../bin/model/cls_DJY.BHD"; + //检测线程锁 QMutex* detect_mutex; //保存线程锁 @@ -42,8 +56,8 @@ QStringList splitDataList; QByteArrayList initValueList; QString sdataTime; //产品名里的时间戳 QString okngText = "OK"; -QString shortData_result = "1";//返回给PLC的结果 -QString floatData_offsetX = "-1.1", floatData_offsetY = "-1.1";//偏移值 +QString shortData_result = "1"; +QString floatData_offsetX = "-1.1", floatData_offsetY = "-1.1"; // 缺陷信息结构体 typedef struct { QString defectName = "";//缺陷名称 @@ -462,15 +476,15 @@ void drawDefects(cv::Mat& sourceMat, QQueue defectInfoList) } } -Hd_YuHang_module* create() +Hd_ShangDing_module* create() { - qDebug() << "[INFO] " << " Hd_YuHang_module create success!" ; - return new Hd_YuHang_module; + qDebug() << "[INFO] " << " Hd_ShangDing_module create success!" ; + return new Hd_ShangDing_module; } -void destory(Hd_YuHang_module* ptr) +void destory(Hd_ShangDing_module* ptr) { - qDebug() << "[INFO] " << "Hd_YuHang_module destory success!"; + qDebug() << "[INFO] " << "Hd_ShangDing_module destory success!"; if(ptr) { delete ptr; @@ -478,14 +492,14 @@ void destory(Hd_YuHang_module* ptr) } } -Hd_YuHang_module::Hd_YuHang_module() +Hd_ShangDing_module::Hd_ShangDing_module() { detect_mutex = new QMutex; saveStruct_mutex = new QMutex; ifdetectThread = false; } -Hd_YuHang_module::~Hd_YuHang_module() +Hd_ShangDing_module::~Hd_ShangDing_module() { ifdetectThread = false; Sleep(10); @@ -505,7 +519,7 @@ Hd_YuHang_module::~Hd_YuHang_module() static int defectNums = 0; //static cv::Mat resMat; //从类中读数据到实例对象 -bool Hd_YuHang_module::readData(std::vector&vec_mat,QByteArray &data) +bool Hd_ShangDing_module::readData(std::vector&vec_mat,QByteArray &data) { if (HikMat[0].cols == 200) return true; @@ -555,7 +569,7 @@ bool Hd_YuHang_module::readData(std::vector&vec_mat,QByteArray &data) return true; } //从类中读数据到实例对象 -bool Hd_YuHang_module::encodeResultValue(QVector append_value,QByteArray &resultByte) +bool Hd_ShangDing_module::encodeResultValue(QVector append_value,QByteArray &resultByte) { try { @@ -591,7 +605,7 @@ bool Hd_YuHang_module::encodeResultValue(QVector append_value,QByte //接收数据 -bool Hd_YuHang_module::writeData(std::vector& vec_mat, QByteArray &data) +bool Hd_ShangDing_module::writeData(std::vector& vec_mat, QByteArray &data) { qDebug() << __FUNCTION__ << "line:" << __LINE__ << " data:" << data; if (vec_mat.empty()) @@ -614,6 +628,7 @@ bool Hd_YuHang_module::writeData(std::vector& vec_mat, QByteArray &data //QByteArray source_savePath; sData = byteArrayToUnicode(data); splitDataList = sData.split(','); + singal_sign = splitDataList[1]; SN = splitDataList[3]; cameraKey_index = splitDataList[2]; sdataTime = QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz"); @@ -623,7 +638,7 @@ bool Hd_YuHang_module::writeData(std::vector& vec_mat, QByteArray &data return true; } //初始化 -bool Hd_YuHang_module::initParas(QByteArray& byte) +bool Hd_ShangDing_module::initParas(QByteArray& byte) { initValueList = byte.split('+'); @@ -658,9 +673,9 @@ bool Hd_YuHang_module::initParas(QByteArray& byte) ////线程检测：结果类完成时，使用 ////ifThreadRunDetect = true; - ////QFuture future1 = QtConcurrent::run(this, &Hd_YuHang_module::detectThread); + ////QFuture future1 = QtConcurrent::run(this, &Hd_ShangDing_module::detectThread); //运行存图线程 - QFuture future2 = QtConcurrent::run(this, &Hd_YuHang_module::saveImgThread); + QFuture future2 = QtConcurrent::run(this, &Hd_ShangDing_module::saveImgThread); //cv::Mat initimg = cv::imread("../bin/initimg.bmp"); //if (initimg.channels() == 3) @@ -673,7 +688,7 @@ bool Hd_YuHang_module::initParas(QByteArray& byte) return true; } -bool Hd_YuHang_module::InitModels() +bool Hd_ShangDing_module::InitModels() { int flag = 0; //seg_aokeng = CreateSegObjS((char*)modelPath_seg_aokeng.c_str(), 1, 0); if (seg_aokeng->getStatus() != SegStatus::Seg_Success)flag++; @@ -687,7 +702,7 @@ bool Hd_YuHang_module::InitModels() return (flag == 0); } // 解码 -bool Hd_YuHang_module::decodeAiValue(QByteArray byte,QVector &vec_ret) +bool Hd_ShangDing_module::decodeAiValue(QByteArray byte,QVector &vec_ret) { if(byte.isEmpty()) { @@ -722,8 +737,113 @@ bool Hd_YuHang_module::decodeAiValue(QByteArray byte,QVector &vec_re return true; } +//---------检测流程，根据实际项目修改--------- +bool Hd_ShangDing_module::AIdetect(cv::Mat img2D, QString mysaveKey, QString myDir2D, QString mySN, QString myDataTime) +{ + /*try + {*/ + //存图数据加保存队列，加锁，避免数据访问冲突 + saveStruct_mutex->lock(); + saveImgStruct mySave; + Mat sourceImg, sourceImg1, sourceImg2; + sourceImg = img2D.clone(); + //img2D.copyTo(sourceImg); + //img2D.release(); + QString mysaveKey1 = mysaveKey; //"offlineStation1_off_1" + saveStruct_mutex->unlock(); + + QJsonDocument document; + QJsonObject obj; + obj.insert("result_key", "mysaveKey"); + obj.insert("SN", "mySN"); + obj.insert("DataTime", "myDataTime"); + + + //QFile csvName("test.csv"); + //QStringList lines; + //lines << "class,name\n" << "3,4,5,6,7\n" << "a,b,c,d\n"; + //if (csvName.open(QIODevice::WriteOnly)) //若文件不存在，会自动创建 + //{ + // for (int i = 0; i < lines.size(); i++) + // csvName.write(lines[i].toStdString().c_str()); + // csvName.close(); + //} + + QQueue defectInfoList; + + detect_mutex->lock(); + + //结果图画框和缺陷，在resMat上绘制 + /*if (resMat.size() > 0) + drawDefects(resMat[0], defectInfoList);*/ + + //QByteArray，根据实际项目进行解析 + //参数,例：返回结果图;相机关键字（SN或userID）+保存路径+缺陷信息列表(缺陷名称，缺陷位置int（x,y,w,h）,画框颜色Scalar（a，b，c），缺陷面积double) + + QJsonArray detaillists; + //QByteArrayList resQbyte; + for (int i = 0; i < defectInfoList.size(); i++) + { + defectInfo mdefect = defectInfoList[i]; + //resQbyte.push_back(mdefect.defectName.toLocal8Bit()); //中文也可以QString::number(1.1).toUtf8() + //resQbyte.push_back(QString::number(mdefect.defectRect.x).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectRect.y).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectRect.width).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectRect.height).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectScalar[0]).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectScalar[1]).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectScalar[2]).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectArea).toUtf8()); + QJsonObject detailObj; + detailObj.insert("defectName", "mdefect.defectName"); + detailObj.insert("defectRect.x", QString::number(mdefect.defectRect.x)); + detailObj.insert("defectRect.y", QString::number(mdefect.defectRect.y)); + detailObj.insert("defectRect.width", QString::number(mdefect.defectRect.width)); + detailObj.insert("defectRect.height", QString::number(mdefect.defectRect.height)); + detailObj.insert("defectScalar0", QString::number(mdefect.defectScalar[0])); + detailObj.insert("defectScalar1", QString::number(mdefect.defectScalar[1])); + detailObj.insert("defectScalar2", QString::number(mdefect.defectScalar[2])); + detailObj.insert("defectArea", QString::number(mdefect.defectArea)); + detailObj.insert("defectLength", QString::number(sqrt(mdefect.defectRect.width* mdefect.defectRect.width+ mdefect.defectRect.height* mdefect.defectRect.height))); + + detaillists.append(detailObj); + } + + + //使用完删除 + defectInfoList.clear(); + + /* isDirExist(resImgSaveDir + mysaveKey1 + "/"); + QString qimgsavePath = resImgSaveDir + mysaveKey1 + "/" + mySN + myDataTime + ".jpg";*/ + //存图数据入队,按需 + /*if (resMat.size() > 0 ) + addImgToSaveStruct(resMat[0], mysaveKey1, resImgSaveDir + mysaveKey1 + "/" + mySN + myDataTime + ".jpg");*/ + detect_mutex->unlock(); + + obj.insert("detaillists", detaillists); + //obj.insert("qimgsavePath", qimgsavePath); + document.setObject(obj); + + QByteArray qa = document.toJson(); + + mySave.out_Mat.resize(0); + mysaveKey1.clear(); + qApp->processEvents(); + + /* } + catch (...) + { + qDebug() << "[Error] " << QString::fromUtf8("检测失败!"); + hv_Image.clear(); + number = 0; + return false; + }*/ + return true; + +} + //存图加入队列 -void Hd_YuHang_module::addImgToSaveStruct(cv::Mat img2D, QString mysaveKey, std::pair savePath) +void Hd_ShangDing_module::addImgToSaveStruct(cv::Mat img2D, QString mysaveKey, std::pair savePath) { //存图数据加保存队列，加锁，避免数据访问冲突 saveStruct_mutex->lock(); @@ -736,7 +856,7 @@ void Hd_YuHang_module::addImgToSaveStruct(cv::Mat img2D, QString mysaveKey, std: saveStruct.enqueue(mySave); saveStruct_mutex->unlock(); } -void Hd_YuHang_module::saveImgThread() +void Hd_ShangDing_module::saveImgThread() { while (1) { @@ -767,7 +887,7 @@ void Hd_YuHang_module::saveImgThread() } } //检测线程,应当只运行一次 -void Hd_YuHang_module::detectThread() +void Hd_ShangDing_module::detectThread() { do { @@ -822,13 +942,31 @@ void Hd_YuHang_module::detectThread() } -bool Hd_YuHang_module::run() +bool myMath(double a, double b) +{ + return a > b; +} + +static int runNum = 0; +QQueue timeAll_A; +QQueue timeAll_B; +bool Hd_ShangDing_module::run() { try { shortData_result = "0"; floatData_offsetX = "0"; floatData_offsetY = "0"; + if (HikMat[0].cols == 200) { + std::cout << "skip"; + return true; + } + defectNums = 0; + + cv::Mat resImg1, resImg2; + //cv::Mat mat; + float prob = 0; + if (HikMat.isEmpty()) { shortData_result = "2"; @@ -837,7 +975,7 @@ bool Hd_YuHang_module::run() return true; } - if (HikMat.isEmpty() || HikMat[0].rows < 200 || HikMat[0].cols < 200)//超时补图 + if (HikMat.isEmpty() || HikMat[0].rows < 200 || HikMat[0].cols < 200) { shortData_result = "2"; cv::Mat null_mat = cv::Mat::zeros(cv::Size(100, 100), CV_8UC3); @@ -845,109 +983,202 @@ bool Hd_YuHang_module::run() return true; } - - cv::Mat srcImg; - if (HikMat[0].channels() == 3)// && (qstring_data.contains("jizu") || qstring_data.contains("fangbaofa"))) - cv::cvtColor(HikMat[0], srcImg, COLOR_BGR2GRAY); - else - srcImg = HikMat[0]; - - cv::Mat img_dst; - cvtColor(HikMat[0], img_dst, cv::COLOR_GRAY2BGR); - //hv_model.Append(m_hv_model); //后续开放参数窗口 - //try { - // auto jsonConfig = readJsonFromPath("./config/editableConfig.json"); - // BiaoDingFlag = jsonConfig["上钉标定"]; - // YiWuFlag = jsonConfig["上钉异物检测"]; - // if (BiaoDingFlag != 1) - // { - // hv_model = 0; - // } + //if (splitDataList[1].contains("20400_2") || splitDataList[1].contains("20600_2") || + // splitDataList[1].contains("20800_2") || splitDataList[1].contains("21000_2")) + //{ + // cv::Mat srcImg; + // if (HikMat[0].channels() == 3)// && (qstring_data.contains("jizu") || qstring_data.contains("fangbaofa"))) + // cv::cvtColor(HikMat[0], srcImg, COLOR_BGR2GRAY); // else - // { - // hv_model = 1; - // } + // srcImg = HikMat[0]; + + + // cv::Mat img_dst; + // cvtColor(HikMat[0], img_dst, cv::COLOR_GRAY2BGR); + // resMat.push_back(img_dst); + // //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉" << "_SN::" << SN << splitDataList[1].split("_")[0] << "_" << stop - start << "ms"; + // //return true; //} - //catch (...) { - // qDebug() << __FUNCTION__ << " line:" << __LINE__ << "getJsonError"; - //} - //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "放钉标定::" << BiaoDingFlag; - ////hv_model = 1; - //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "放钉标定::" << hv_model.I(); - - /** Input(HObject) : in_Image, 图像(bmp), < / c> - *output(HObject) : < / c> - *Input(HTuple) : in_ProductionType, 生产类别 : 0, 生产模式： 1, 标定模式 < / c> - * in_CameraNumber, 相机序列号 < / c> - * in_FilePath1, 模板文件路径; 示例:'./模板文件/' < / c > - *in_FilePath2, 基准文件路径; < / c>*/ - HalconCpp::HObject in_Image = MatToHObject(HikMat[0]); - std::string cameraNumberStr = "1"; - if (cameraKey_index == "DA494077x0_0") - cameraNumberStr = "2"; - HDevEngineCpp::HDevProcedure proc("_9_yuhan"); - HDevProcedureCall procedureCall(proc); - procedureCall.SetInputIconicParamObject("in_Image", in_Image); - procedureCall.SetInputCtrlParamTuple("in_ProductionType", 0); - procedureCall.SetInputCtrlParamTuple("in_CameraNumber", HTuple(cameraNumberStr.c_str())); - procedureCall.SetInputCtrlParamTuple("in_FilePath1", HTuple("./halconFiles/template/")); - procedureCall.SetInputCtrlParamTuple("in_FilePath2", HTuple("./halconFiles/base/")); - procedureCall.Execute(); - //* out_Circle, 密封钉的圆心坐标(y, x, radius) < / c > - //*out_Flag, 算法执行成功标志位, 0: 算法执行失败 1 : 算法执行成功< / c> - //*out_OffsetX : 模组X轴的补偿量(mm) < / c > - //*out_OffsetY : 模组Y轴的补偿量(mm) < / c > - HTuple out_Circle = procedureCall.GetOutputCtrlParamTuple("out_Circle"); - HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag"); - HTuple out_OffsetX = procedureCall.GetOutputCtrlParamTuple("out_OffsetX"); - HTuple out_OffsetY = procedureCall.GetOutputCtrlParamTuple("out_OffsetY"); - int outFlag = out_Flag.D(); - qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉" << "_SN::" << SN << ",放钉算法结果;" << out_Flag[0].D(); - if (outFlag == 1){ //-1为失败，无结果 - //圆及十字 - cv::circle(img_dst, cv::Point(out_Circle[1].D(), out_Circle[0].D()), out_Circle[2].D(), cv::Scalar(0, 255, 0), 20); - cv::line(img_dst, cv::Point(out_Circle[1].D() - 300, out_Circle[0].D()), cv::Point(out_Circle[1].D() + 300, out_Circle[0].D()), cv::Scalar(0, 255, 0), 15); - cv::line(img_dst, cv::Point(out_Circle[1].D(), out_Circle[0].D() - 300), cv::Point(out_Circle[1].D(), out_Circle[0].D() + 300), cv::Scalar(0, 255, 0), 15); + + //if (splitDataList[1].contains("放钉")) + { + cv::Mat srcImg; + if (HikMat[0].channels() == 3)// && (qstring_data.contains("jizu") || qstring_data.contains("fangbaofa"))) + cv::cvtColor(HikMat[0], srcImg, COLOR_BGR2GRAY); + else + srcImg = HikMat[0]; + + cv::Mat img_dst; + cvtColor(HikMat[0], img_dst, cv::COLOR_GRAY2BGR); + + /* HalconCpp::HTuple hv_BenchmarkFile; + hv_BenchmarkFile.Append("C:\\Hd_Mifengding-1\\env\\628\\FD\\"); + HalconCpp::HTuple hv_NinePointDocument; + if (qstring_data.contains("放钉1")) + hv_NinePointDocument.Append("C:\\Hd_Mifengding-1\\env\\628\\FD\\jiudian1.tup"); + if (qstring_data.contains("放钉2")) + hv_NinePointDocument.Append("C:\\Hd_Mifengding-1\\env\\628\\FD\\jiudian2.tup"); + if (qstring_data.contains("放钉3")) + hv_NinePointDocument.Append("C:\\Hd_Mifengding-1\\env\\628\\FD\\jiudian3.tup"); + if (qstring_data.contains("放钉4")) + hv_NinePointDocument.Append("C:\\Hd_Mifengding-1\\env\\628\\FD\\jiudian4.tup"); + HalconCpp::HTuple hv_CameraNumber; + if (qstring_data.contains("放钉1")) + hv_CameraNumber.Append(1); + if (qstring_data.contains("放钉2")) + hv_CameraNumber.Append(2); + if (qstring_data.contains("放钉3")) + hv_CameraNumber.Append(3); + if (qstring_data.contains("放钉4")) + hv_CameraNumber.Append(4);*/ + + //HalconCpp::HTuple hv_model = 1; + //int BiaoDingFlag = 2; + //int YiWuFlag = 2; + //hv_model.Append(m_hv_model); //后续开放参数窗口 + //try { + // auto jsonConfig = readJsonFromPath("./config/editableConfig.json"); + // BiaoDingFlag = jsonConfig["上钉标定"]; + // YiWuFlag = jsonConfig["上钉异物检测"]; + // if (BiaoDingFlag != 1) + // { + // hv_model = 0; + // } + // else + // { + // hv_model = 1; + // } + //} + //catch (...) { + // qDebug() << __FUNCTION__ << " line:" << __LINE__ << "getJsonError"; + //} + //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "放钉标定::" << BiaoDingFlag; + ////hv_model = 1; + //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "放钉标定::" << hv_model.I(); + HalconCpp::HObject in_Image = MatToHObject(HikMat[0]); + //* Function Name : _9_shangding < / c> + // * Author : < / c> + // *Description : < / c> + // < / c> + // *Input(HObject) : in_Image, 图像(bmp), < / c> + // < / c> + // *output(HObject) : < / c> + // *Input(HTuple) : in_ProductionType, 生产 + // 类别 : 0, 生产模式： 1, 标定模式 < / c> + // * in_CameraNumber, 相机序列号 < / c> + // * in_FilePath1, 模板文件路径; 示例:'./模板文件/' < / c > + // *in_FilePath2, 基准文件路径; < / c> + std::string cameraNumberStr = "1"; + if (singal_sign.contains("D19000")) + cameraNumberStr = "2"; + else if(singal_sign.contains("D19200")) + cameraNumberStr = "3"; + else if (singal_sign.contains("D19400")) + cameraNumberStr = "4"; + HDevEngineCpp::HDevProcedure proc("_9_shangding"); + HDevProcedureCall procedureCall(proc); + procedureCall.SetInputIconicParamObject("in_Image", in_Image); + procedureCall.SetInputCtrlParamTuple("in_ProductionType", 0); + procedureCall.SetInputCtrlParamTuple("in_CameraNumber", HTuple(cameraNumberStr.c_str())); + procedureCall.SetInputCtrlParamTuple("in_FilePath1", HTuple("./halconFiles/template/")); + procedureCall.SetInputCtrlParamTuple("in_FilePath2", HTuple("./halconFiles/base/")); + procedureCall.Execute(); + // *output(HTuple) : < / c> + // *out_Circle, 圆心坐标(y, x, radius) < / c > + // * out_Flag, 算法执行成功标志位, 0 : 算法执行失败 1 : 算法执行成功< / c> + // *out_OffsetX : 模组X轴的补偿量(mm) < / c > + // *out_OffsetY : 模组Y轴的补偿量(mm) < / c > + HTuple out_Circle = procedureCall.GetOutputCtrlParamTuple("out_Circle"); + HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag"); + HTuple out_OffsetX = procedureCall.GetOutputCtrlParamTuple("out_OffsetX"); + HTuple out_OffsetY = procedureCall.GetOutputCtrlParamTuple("out_OffsetY"); + int outFlag = out_Flag.D(); + qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉" << "_SN::" << SN << ",放钉算法结果;" << out_Flag[0].D(); + if (outFlag == 1){ //-1为失败，无结果 + //圆及十字 + cv::circle(img_dst, cv::Point(out_Circle[1].D(), out_Circle[0].D()), out_Circle[2].D(), cv::Scalar(0, 255, 0), 20); + cv::line(img_dst, cv::Point(out_Circle[1].D() - 300, out_Circle[0].D()), cv::Point(out_Circle[1].D() + 300, out_Circle[0].D()), cv::Scalar(0, 255, 0), 15); + cv::line(img_dst, cv::Point(out_Circle[1].D(), out_Circle[0].D() - 300), cv::Point(out_Circle[1].D(), out_Circle[0].D() + 300), cv::Scalar(0, 255, 0), 15); - double offsetX = 0 - out_OffsetX.D(); - double offsetY = 0 - out_OffsetY.D(); + double offsetX; + double offsetY; + //if (cameraKey_index.contains("DA4940802") || cameraKey_index.contains("DA4940782")) {//B Part Camera + // offsetX = out_OffsetX.D(); + // offsetY = out_OffsetY.D(); + //} + //else { + // offsetX = 0 - out_OffsetX.D(); + // offsetY = 0 - out_OffsetY.D(); + //} + offsetX = 0 - out_OffsetX.D(); + offsetY = 0 - out_OffsetY.D(); + QString UP_Down = "X偏移：" + QString::number(offsetX); + QByteArray path_arr = UP_Down.toLocal8Bit(); + const char* path = path_arr.data(); + putTextZH(img_dst, path, cv::Point(50, 150), cv::Scalar(0, 255, 0), 150, "微软雅黑"); + UP_Down = "Y偏移：" + QString::number(offsetY); + path_arr = UP_Down.toLocal8Bit(); + path = path_arr.data(); + putTextZH(img_dst, path, cv::Point(50, 350), cv::Scalar(0, 255, 0), 150, "微软雅黑"); - QString UP_Down = "X偏移：" + QString::number(offsetX); - QByteArray path_arr = UP_Down.toLocal8Bit(); - const char* path = path_arr.data(); - putTextZH(img_dst, path, cv::Point(50, 100), cv::Scalar(0, 255, 0), 150, "微软雅黑"); - - UP_Down = "Y偏移：" + QString::number(offsetY); - path_arr = UP_Down.toLocal8Bit(); - path = path_arr.data(); - putTextZH(img_dst, path, cv::Point(50, 300), cv::Scalar(0, 255, 0), 150, "微软雅黑"); - - if (abs(offsetX) >= 6000 || abs(offsetY) >= 6000) + UP_Down = "相机：" + QString::fromStdString(cameraNumberStr); + path_arr = UP_Down.toLocal8Bit(); + path = path_arr.data(); + putTextZH(img_dst, path, cv::Point(50, 0), cv::Scalar(0, 255, 0), 150, "微软雅黑"); + if (abs(offsetX) >= 6000 || abs(offsetY) >= 6000) + { + shortData_result = "2"; + floatData_offsetX = "-1.1"; + floatData_offsetY = "-1.1"; + qDebug() << __FUNCTION__ << " line:" << __LINE__ << " 放钉X偏移abs(resultData[0]) >= 6000,may err,set 0"; + } + else { + shortData_result = "1"; + floatData_offsetX = QString::number(offsetX); + floatData_offsetY = QString::number(offsetY); + } + addImgToSaveStruct(img_dst, "0", getResSaveFormat(SN, okngText));//保存结果图 + } + else { + //resultOKNG = 2; + //resultData[0] = 0; + //resultData[1] = 0; + //QString s; + //if (hv_Make[0].D() == -1) + //{ + // s = "算法异常"; + //} + //else if (hv_model == 1) + //{ + // s = "基准标定"; + // cv::circle(img_dst, cv::Point(hv_out_circle[1].D(), hv_out_circle[0].D()), hv_out_circle[2].D(), cv::Scalar(0, 0, 255), 20); + // cv::line(img_dst, cv::Point(hv_out_circle[1].D() - 300, hv_out_circle[0].D()), cv::Point(hv_out_circle[1].D() + 300, hv_out_circle[0].D()), cv::Scalar(0, 0, 255), 15); + // cv::line(img_dst, cv::Point(hv_out_circle[1].D(), hv_out_circle[0].D() - 300), cv::Point(hv_out_circle[1].D(), hv_out_circle[0].D() + 300), cv::Scalar(0, 0, 255), 15); + + //} shortData_result = "2"; floatData_offsetX = "-1.1"; floatData_offsetY = "-1.1"; - qDebug() << __FUNCTION__ << " line:" << __LINE__ << " 放钉X偏移abs(resultData[0]) >= 6000,may err,set 0"; + putTextZH(img_dst, "算法异常", cv::Point(50, 300), cv::Scalar(0, 0, 255), 150, "微软雅黑"); } - else { - shortData_result = "1"; - floatData_offsetX = QString::number(offsetX); - floatData_offsetY = QString::number(offsetY); + + if (shortData_result == "1") + { + putTextZH(img_dst, "OK", cv::Point(50, 550), cv::Scalar(0, 255, 0), 150, "微软雅黑"); } - addImgToSaveStruct(img_dst, "0", getResSaveFormat(SN, okngText));//保存结果图 - putTextZH(img_dst, "OK", cv::Point(50, 500), cv::Scalar(0, 255, 0), 150, "微软雅黑"); + else + { + putTextZH(img_dst, "NG", cv::Point(50, 500), cv::Scalar(0, 0, 255), 150, "微软雅黑"); + } + + resMat.push_back(img_dst); + //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉:" << hv_CameraNumber.D() << "_SN::" << SN << ",放钉算法结果;" << out_Flag.D(); } - else - { - shortData_result = "2"; - floatData_offsetX = "-0.123"; - floatData_offsetY = "-0.123"; - putTextZH(img_dst, "算法异常", cv::Point(50, 300), cv::Scalar(0, 0, 255), 150, "微软雅黑"); - putTextZH(img_dst, "NG", cv::Point(50, 500), cv::Scalar(0, 0, 255), 150, "微软雅黑"); - } - resMat.push_back(img_dst); - //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉:" << hv_CameraNumber.D() << "_SN::" << SN << ",放钉算法结果;" << out_Flag.D(); + + runNum++; + //HikMat.clear(); //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "Mat_name: run end" << "model uesd time::" << stop - start << "ms"; return true; } @@ -976,7 +1207,7 @@ bool Hd_YuHang_module::run() return true; } -bool Hd_YuHang_module::checkStatus() +bool Hd_ShangDing_module::checkStatus() { status = moduleStatus; return status; diff --git a/BaseModules/algoModules/Hd_YuHang_module/Hd_YuHang_module.h b/BaseModules/algoModules/Hd_ShangDing_module/Hd_ShangDing_module.h similarity index 83% rename from BaseModules/algoModules/Hd_YuHang_module/Hd_YuHang_module.h rename to BaseModules/algoModules/Hd_ShangDing_module/Hd_ShangDing_module.h index 62b5a2e..ffc9c1b 100644 --- a/BaseModules/algoModules/Hd_YuHang_module/Hd_YuHang_module.h +++ b/BaseModules/algoModules/Hd_ShangDing_module/Hd_ShangDing_module.h @@ -1,5 +1,5 @@ -#ifndef Hd_YuHang_module_H -#define Hd_YuHang_module_H +#ifndef Hd_ShangDing_module_H +#define Hd_ShangDing_module_H #include #include @@ -37,14 +37,14 @@ struct saveImgStruct; // std::string savePath; //保存路径 //}; -//初始化流程（一次）：Hd_YuHang_module，initParas +//初始化流程（一次）：Hd_ShangDing_module，initParas //运行流程：writeData主线程把数据传过来，run，readData此线程把数据传主线程 -class Hd_YuHang_module :public Base +class Hd_ShangDing_module :public Base { Q_OBJECT public: - Hd_YuHang_module(); - virtual ~Hd_YuHang_module(); + Hd_ShangDing_module(); + virtual ~Hd_ShangDing_module(); //从类中读数据到实例对象 bool readData(std::vector&,QByteArray&); //实例对象把数据写入到类 @@ -59,6 +59,13 @@ public: bool encodeResultValue(QVector append_value,QByteArray &resultByte); bool decodeAiValue(QByteArray byte,QVector &vec_ret); //---------检测流程，根据实际项目修改--------- + bool AIdetect(cv::Mat img2D, QString saveKey, QString Dir2D, QString SN, QString DataTime); + + cv::Mat srcImg1;//电解液图片 + cv::Mat srcImg2; + cv::Mat srcImg3; + cv::Mat srcImg4; + cv::Mat workImg; private: HDevEngine myEngine; int allNum = 0; @@ -78,6 +85,7 @@ private: //结果路径文件夹队列 QString Dir2D="Dir2D"; //产品SN队列 + QString singal_sign = ""; QString SN="SN"; //产品时间戳队列 QString DateTime1="DateTime1"; @@ -126,8 +134,8 @@ private: extern "C" { - Q_DECL_EXPORT Hd_YuHang_module * create(); - Q_DECL_EXPORT void destory(Hd_YuHang_module * ptr); + Q_DECL_EXPORT Hd_ShangDing_module * create(); + Q_DECL_EXPORT void destory(Hd_ShangDing_module * ptr); } //保存图片的结构体 struct saveImgStruct diff --git a/BaseModules/algoModules/Hd_FangDing_module/base.h b/BaseModules/algoModules/Hd_ShangDing_module/base.h similarity index 100% rename from BaseModules/algoModules/Hd_FangDing_module/base.h rename to BaseModules/algoModules/Hd_ShangDing_module/base.h diff --git a/BaseModules/algoModules/Hd_FangDing_module/generalJsonParsing.hpp b/BaseModules/algoModules/Hd_ShangDing_module/generalJsonParsing.hpp similarity index 100% rename from BaseModules/algoModules/Hd_FangDing_module/generalJsonParsing.hpp rename to BaseModules/algoModules/Hd_ShangDing_module/generalJsonParsing.hpp diff --git a/BaseModules/algoModules/Hd_FangDing_module/nlohmannJson.hpp b/BaseModules/algoModules/Hd_ShangDing_module/nlohmannJson.hpp similarity index 100% rename from BaseModules/algoModules/Hd_FangDing_module/nlohmannJson.hpp rename to BaseModules/algoModules/Hd_ShangDing_module/nlohmannJson.hpp diff --git a/BaseModules/algoModules/Hd_YuHang_module/CMakeLists.txt b/BaseModules/algoModules/Hd_YuHan_module/CMakeLists.txt similarity index 100% rename from BaseModules/algoModules/Hd_YuHang_module/CMakeLists.txt rename to BaseModules/algoModules/Hd_YuHan_module/CMakeLists.txt diff --git a/BaseModules/algoModules/Hd_FangDing_module/Hd_FangDing_module.cpp b/BaseModules/algoModules/Hd_YuHan_module/Hd_YuHan_module.cpp similarity index 62% rename from BaseModules/algoModules/Hd_FangDing_module/Hd_FangDing_module.cpp rename to BaseModules/algoModules/Hd_YuHan_module/Hd_YuHan_module.cpp index 8d5dd7e..14c0ba3 100644 --- a/BaseModules/algoModules/Hd_FangDing_module/Hd_FangDing_module.cpp +++ b/BaseModules/algoModules/Hd_YuHan_module/Hd_YuHan_module.cpp @@ -1,4 +1,4 @@ -#include "Hd_FangDing_module.h" +#include "Hd_YuHan_module.h" #include #include #include @@ -27,6 +27,20 @@ using namespace handdleAI; //总保存文件夹 QString AllImgSaveDir = "D:/CCD/"; + +//切图的class的width，根据项目实际设置！ +static int sizeW = 150; +//切图的class的height，根据项目实际设置！ +static int sizeH = 150; +//切图的class的width，根据项目实际设置！0为黑，255为白； +static int fillColour = 0; + +pDetection* det_DJY; +pClassification* cls_DJY; + +std::string modelPath_det_DJY = "../bin/model/det_DJY.BHD"; +std::string modelPath_cls_DJY = "../bin/model/cls_DJY.BHD"; + //检测线程锁 QMutex* detect_mutex; //保存线程锁 @@ -42,8 +56,8 @@ QStringList splitDataList; QByteArrayList initValueList; QString sdataTime; //产品名里的时间戳 QString okngText = "OK"; -QString shortData_result = "1";//返回给PLC的结果 -QString floatData_offsetX = "-1.1", floatData_offsetY = "-1.1";//偏移值 +QString shortData_result = "1"; +QString floatData_offsetX = "-1.1", floatData_offsetY = "-1.1"; // 缺陷信息结构体 typedef struct { QString defectName = "";//缺陷名称 @@ -462,15 +476,15 @@ void drawDefects(cv::Mat& sourceMat, QQueue defectInfoList) } } -Hd_FangDing_module* create() +Hd_YuHan_module* create() { - qDebug() << "[INFO] " << " Hd_FangDing_module create success!" ; - return new Hd_FangDing_module; + qDebug() << "[INFO] " << " Hd_YuHan_module create success!" ; + return new Hd_YuHan_module; } -void destory(Hd_FangDing_module* ptr) +void destory(Hd_YuHan_module* ptr) { - qDebug() << "[INFO] " << "Hd_FangDing_module destory success!"; + qDebug() << "[INFO] " << "Hd_YuHan_module destory success!"; if(ptr) { delete ptr; @@ -478,14 +492,14 @@ void destory(Hd_FangDing_module* ptr) } } -Hd_FangDing_module::Hd_FangDing_module() +Hd_YuHan_module::Hd_YuHan_module() { detect_mutex = new QMutex; saveStruct_mutex = new QMutex; ifdetectThread = false; } -Hd_FangDing_module::~Hd_FangDing_module() +Hd_YuHan_module::~Hd_YuHan_module() { ifdetectThread = false; Sleep(10); @@ -505,10 +519,8 @@ Hd_FangDing_module::~Hd_FangDing_module() static int defectNums = 0; //static cv::Mat resMat; //从类中读数据到实例对象 -bool Hd_FangDing_module::readData(std::vector&vec_mat,QByteArray &data) +bool Hd_YuHan_module::readData(std::vector&vec_mat,QByteArray &data) { - if (HikMat[0].cols == 200) - return true; detect_mutex->lock(); //qDebug() << __FUNCTION__ << " line:" <<__LINE__ << " data len:" << data.length(); if (resMat.size() > 0) @@ -522,7 +534,13 @@ bool Hd_FangDing_module::readData(std::vector&vec_mat,QByteArray &data) qDebug() << __FUNCTION__ << " line:" << __LINE__ << " resMat.data err:"; } - data = logicUiTransport::encodeAllData(SN, {floatData_offsetX,floatData_offsetY,shortData_result }, {}); + if (singal_sign.contains("D19600") || singal_sign.contains("D19800")) { + data = logicUiTransport::encodeAllData(SN, { floatData_offsetX,floatData_offsetY,shortData_result,0,0,0 }, {}); + } + else { + data = logicUiTransport::encodeAllData(SN, {0,0,0,floatData_offsetX,floatData_offsetY,shortData_result }, {}); + } + resByte.clear(); addImgToSaveStruct(HikMat[0], "0", getOriSaveFormat(SN, okngText));//保存原图 //{ @@ -555,7 +573,7 @@ bool Hd_FangDing_module::readData(std::vector&vec_mat,QByteArray &data) return true; } //从类中读数据到实例对象 -bool Hd_FangDing_module::encodeResultValue(QVector append_value,QByteArray &resultByte) +bool Hd_YuHan_module::encodeResultValue(QVector append_value,QByteArray &resultByte) { try { @@ -591,7 +609,7 @@ bool Hd_FangDing_module::encodeResultValue(QVector append_value,QBy //接收数据 -bool Hd_FangDing_module::writeData(std::vector& vec_mat, QByteArray &data) +bool Hd_YuHan_module::writeData(std::vector& vec_mat, QByteArray &data) { qDebug() << __FUNCTION__ << "line:" << __LINE__ << " data:" << data; if (vec_mat.empty()) @@ -614,6 +632,7 @@ bool Hd_FangDing_module::writeData(std::vector& vec_mat, QByteArray &da //QByteArray source_savePath; sData = byteArrayToUnicode(data); splitDataList = sData.split(','); + singal_sign = splitDataList[1]; SN = splitDataList[3]; cameraKey_index = splitDataList[2]; sdataTime = QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz"); @@ -623,7 +642,7 @@ bool Hd_FangDing_module::writeData(std::vector& vec_mat, QByteArray &da return true; } //初始化 -bool Hd_FangDing_module::initParas(QByteArray& byte) +bool Hd_YuHan_module::initParas(QByteArray& byte) { initValueList = byte.split('+'); @@ -658,9 +677,9 @@ bool Hd_FangDing_module::initParas(QByteArray& byte) ////线程检测：结果类完成时，使用 ////ifThreadRunDetect = true; - ////QFuture future1 = QtConcurrent::run(this, &Hd_FangDing_module::detectThread); + ////QFuture future1 = QtConcurrent::run(this, &Hd_YuHan_module::detectThread); //运行存图线程 - QFuture future2 = QtConcurrent::run(this, &Hd_FangDing_module::saveImgThread); + QFuture future2 = QtConcurrent::run(this, &Hd_YuHan_module::saveImgThread); //cv::Mat initimg = cv::imread("../bin/initimg.bmp"); //if (initimg.channels() == 3) @@ -673,7 +692,7 @@ bool Hd_FangDing_module::initParas(QByteArray& byte) return true; } -bool Hd_FangDing_module::InitModels() +bool Hd_YuHan_module::InitModels() { int flag = 0; //seg_aokeng = CreateSegObjS((char*)modelPath_seg_aokeng.c_str(), 1, 0); if (seg_aokeng->getStatus() != SegStatus::Seg_Success)flag++; @@ -687,7 +706,7 @@ bool Hd_FangDing_module::InitModels() return (flag == 0); } // 解码 -bool Hd_FangDing_module::decodeAiValue(QByteArray byte,QVector &vec_ret) +bool Hd_YuHan_module::decodeAiValue(QByteArray byte,QVector &vec_ret) { if(byte.isEmpty()) { @@ -722,8 +741,113 @@ bool Hd_FangDing_module::decodeAiValue(QByteArray byte,QVector &vec_ return true; } +//---------检测流程，根据实际项目修改--------- +bool Hd_YuHan_module::AIdetect(cv::Mat img2D, QString mysaveKey, QString myDir2D, QString mySN, QString myDataTime) +{ + /*try + {*/ + //存图数据加保存队列，加锁，避免数据访问冲突 + saveStruct_mutex->lock(); + saveImgStruct mySave; + Mat sourceImg, sourceImg1, sourceImg2; + sourceImg = img2D.clone(); + //img2D.copyTo(sourceImg); + //img2D.release(); + QString mysaveKey1 = mysaveKey; //"offlineStation1_off_1" + saveStruct_mutex->unlock(); + + QJsonDocument document; + QJsonObject obj; + obj.insert("result_key", "mysaveKey"); + obj.insert("SN", "mySN"); + obj.insert("DataTime", "myDataTime"); + + + //QFile csvName("test.csv"); + //QStringList lines; + //lines << "class,name\n" << "3,4,5,6,7\n" << "a,b,c,d\n"; + //if (csvName.open(QIODevice::WriteOnly)) //若文件不存在，会自动创建 + //{ + // for (int i = 0; i < lines.size(); i++) + // csvName.write(lines[i].toStdString().c_str()); + // csvName.close(); + //} + + QQueue defectInfoList; + + detect_mutex->lock(); + + //结果图画框和缺陷，在resMat上绘制 + /*if (resMat.size() > 0) + drawDefects(resMat[0], defectInfoList);*/ + + //QByteArray，根据实际项目进行解析 + //参数,例：返回结果图;相机关键字（SN或userID）+保存路径+缺陷信息列表(缺陷名称，缺陷位置int（x,y,w,h）,画框颜色Scalar（a，b，c），缺陷面积double) + + QJsonArray detaillists; + //QByteArrayList resQbyte; + for (int i = 0; i < defectInfoList.size(); i++) + { + defectInfo mdefect = defectInfoList[i]; + //resQbyte.push_back(mdefect.defectName.toLocal8Bit()); //中文也可以QString::number(1.1).toUtf8() + //resQbyte.push_back(QString::number(mdefect.defectRect.x).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectRect.y).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectRect.width).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectRect.height).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectScalar[0]).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectScalar[1]).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectScalar[2]).toUtf8()); + //resQbyte.push_back(QString::number(mdefect.defectArea).toUtf8()); + QJsonObject detailObj; + detailObj.insert("defectName", "mdefect.defectName"); + detailObj.insert("defectRect.x", QString::number(mdefect.defectRect.x)); + detailObj.insert("defectRect.y", QString::number(mdefect.defectRect.y)); + detailObj.insert("defectRect.width", QString::number(mdefect.defectRect.width)); + detailObj.insert("defectRect.height", QString::number(mdefect.defectRect.height)); + detailObj.insert("defectScalar0", QString::number(mdefect.defectScalar[0])); + detailObj.insert("defectScalar1", QString::number(mdefect.defectScalar[1])); + detailObj.insert("defectScalar2", QString::number(mdefect.defectScalar[2])); + detailObj.insert("defectArea", QString::number(mdefect.defectArea)); + detailObj.insert("defectLength", QString::number(sqrt(mdefect.defectRect.width* mdefect.defectRect.width+ mdefect.defectRect.height* mdefect.defectRect.height))); + + detaillists.append(detailObj); + } + + + //使用完删除 + defectInfoList.clear(); + + /* isDirExist(resImgSaveDir + mysaveKey1 + "/"); + QString qimgsavePath = resImgSaveDir + mysaveKey1 + "/" + mySN + myDataTime + ".jpg";*/ + //存图数据入队,按需 + /*if (resMat.size() > 0 ) + addImgToSaveStruct(resMat[0], mysaveKey1, resImgSaveDir + mysaveKey1 + "/" + mySN + myDataTime + ".jpg");*/ + detect_mutex->unlock(); + + obj.insert("detaillists", detaillists); + //obj.insert("qimgsavePath", qimgsavePath); + document.setObject(obj); + + QByteArray qa = document.toJson(); + + mySave.out_Mat.resize(0); + mysaveKey1.clear(); + qApp->processEvents(); + + /* } + catch (...) + { + qDebug() << "[Error] " << QString::fromUtf8("检测失败!"); + hv_Image.clear(); + number = 0; + return false; + }*/ + return true; + +} + //存图加入队列 -void Hd_FangDing_module::addImgToSaveStruct(cv::Mat img2D, QString mysaveKey, std::pair savePath) +void Hd_YuHan_module::addImgToSaveStruct(cv::Mat img2D, QString mysaveKey, std::pair savePath) { //存图数据加保存队列，加锁，避免数据访问冲突 saveStruct_mutex->lock(); @@ -736,7 +860,7 @@ void Hd_FangDing_module::addImgToSaveStruct(cv::Mat img2D, QString mysaveKey, st saveStruct.enqueue(mySave); saveStruct_mutex->unlock(); } -void Hd_FangDing_module::saveImgThread() +void Hd_YuHan_module::saveImgThread() { while (1) { @@ -767,7 +891,7 @@ void Hd_FangDing_module::saveImgThread() } } //检测线程,应当只运行一次 -void Hd_FangDing_module::detectThread() +void Hd_YuHan_module::detectThread() { do { @@ -822,13 +946,27 @@ void Hd_FangDing_module::detectThread() } -bool Hd_FangDing_module::run() +bool myMath(double a, double b) +{ + return a > b; +} + +static int runNum = 0; +QQueue timeAll_A; +QQueue timeAll_B; +bool Hd_YuHan_module::run() { try { shortData_result = "0"; floatData_offsetX = "0"; floatData_offsetY = "0"; + defectNums = 0; + + cv::Mat resImg1, resImg2; + //cv::Mat mat; + float prob = 0; + if (HikMat.isEmpty()) { shortData_result = "2"; @@ -837,7 +975,7 @@ bool Hd_FangDing_module::run() return true; } - if (HikMat.isEmpty() || HikMat[0].rows < 200 || HikMat[0].cols < 200)//超时补图 + if (HikMat.isEmpty() || HikMat[0].rows < 200 || HikMat[0].cols < 200) { shortData_result = "2"; cv::Mat null_mat = cv::Mat::zeros(cv::Size(100, 100), CV_8UC3); @@ -845,114 +983,214 @@ bool Hd_FangDing_module::run() return true; } - - cv::Mat srcImg; - if (HikMat[0].channels() == 3)// && (qstring_data.contains("jizu") || qstring_data.contains("fangbaofa"))) - cv::cvtColor(HikMat[0], srcImg, COLOR_BGR2GRAY); - else - srcImg = HikMat[0]; - - cv::Mat img_dst; - cvtColor(HikMat[0], img_dst, cv::COLOR_GRAY2BGR); - //hv_model.Append(m_hv_model); //后续开放参数窗口 - //try { - // auto jsonConfig = readJsonFromPath("./config/editableConfig.json"); - // BiaoDingFlag = jsonConfig["上钉标定"]; - // YiWuFlag = jsonConfig["上钉异物检测"]; - // if (BiaoDingFlag != 1) - // { - // hv_model = 0; - // } + //if (splitDataList[1].contains("20400_2") || splitDataList[1].contains("20600_2") || + // splitDataList[1].contains("20800_2") || splitDataList[1].contains("21000_2")) + //{ + // cv::Mat srcImg; + // if (HikMat[0].channels() == 3)// && (qstring_data.contains("jizu") || qstring_data.contains("fangbaofa"))) + // cv::cvtColor(HikMat[0], srcImg, COLOR_BGR2GRAY); // else - // { - // hv_model = 1; - // } + // srcImg = HikMat[0]; + + + // cv::Mat img_dst; + // cvtColor(HikMat[0], img_dst, cv::COLOR_GRAY2BGR); + // resMat.push_back(img_dst); + // //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉" << "_SN::" << SN << splitDataList[1].split("_")[0] << "_" << stop - start << "ms"; + // //return true; //} - //catch (...) { - // qDebug() << __FUNCTION__ << " line:" << __LINE__ << "getJsonError"; - //} - //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "放钉标定::" << BiaoDingFlag; - ////hv_model = 1; - //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "放钉标定::" << hv_model.I(); - HalconCpp::HObject in_Image = MatToHObject(HikMat[0]); - //* Function Name : _9_shangding < / c> - // * Author : < / c> - // *Description : < / c> - // < / c> - // *Input(HObject) : in_Image, 图像(bmp), < / c> - // < / c> - // *output(HObject) : < / c> - // *Input(HTuple) : in_ProductionType, 生产类别 : 0, 生产模式： 1, 标定模式 < / c> - // * in_CameraNumber, 相机序列号 < / c> - // * in_FilePath1, 模板文件路径; 示例:'./模板文件/' < / c > - // *in_FilePath2, 基准文件路径; < / c> - std::string cameraNumberStr = "1"; - if (cameraKey_index == "DA4940770_0") - cameraNumberStr = "2"; - HDevEngineCpp::HDevProcedure proc("_9_shangding"); - HDevProcedureCall procedureCall(proc); - procedureCall.SetInputIconicParamObject("in_Image", in_Image); - procedureCall.SetInputCtrlParamTuple("in_ProductionType", 0); - procedureCall.SetInputCtrlParamTuple("in_CameraNumber", HTuple(cameraNumberStr.c_str())); - procedureCall.SetInputCtrlParamTuple("in_FilePath1", HTuple("./halconFiles/template/")); - procedureCall.SetInputCtrlParamTuple("in_FilePath2", HTuple("./halconFiles/base/")); - procedureCall.Execute(); - // *output(HTuple) : < / c> - // *out_Circle, 圆心坐标(y, x, radius) < / c > - // * out_Flag, 算法执行成功标志位, 0 : 算法执行失败 1 : 算法执行成功< / c> - // *out_OffsetX : 模组X轴的补偿量(mm) < / c > - // *out_OffsetY : 模组Y轴的补偿量(mm) < / c > - HTuple out_Circle = procedureCall.GetOutputCtrlParamTuple("out_Circle"); - HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag"); - HTuple out_OffsetX = procedureCall.GetOutputCtrlParamTuple("out_OffsetX"); - HTuple out_OffsetY = procedureCall.GetOutputCtrlParamTuple("out_OffsetY"); - int outFlag = out_Flag.D(); - qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉" << "_SN::" << SN << ",放钉算法结果;" << out_Flag[0].D(); - if (outFlag == 1){ //-1为失败，无结果 - //圆及十字 - cv::circle(img_dst, cv::Point(out_Circle[1].D(), out_Circle[0].D()), out_Circle[2].D(), cv::Scalar(0, 255, 0), 20); - cv::line(img_dst, cv::Point(out_Circle[1].D() - 300, out_Circle[0].D()), cv::Point(out_Circle[1].D() + 300, out_Circle[0].D()), cv::Scalar(0, 255, 0), 15); - cv::line(img_dst, cv::Point(out_Circle[1].D(), out_Circle[0].D() - 300), cv::Point(out_Circle[1].D(), out_Circle[0].D() + 300), cv::Scalar(0, 255, 0), 15); + + //if (splitDataList[1].contains("放钉")) + { + cv::Mat srcImg; + if (HikMat[0].channels() == 3)// && (qstring_data.contains("jizu") || qstring_data.contains("fangbaofa"))) + cv::cvtColor(HikMat[0], srcImg, COLOR_BGR2GRAY); + else + srcImg = HikMat[0]; + + cv::Mat img_dst; + cvtColor(HikMat[0], img_dst, cv::COLOR_GRAY2BGR); + + /* HalconCpp::HTuple hv_BenchmarkFile; + hv_BenchmarkFile.Append("C:\\Hd_Mifengding-1\\env\\628\\FD\\"); + HalconCpp::HTuple hv_NinePointDocument; + if (qstring_data.contains("放钉1")) + hv_NinePointDocument.Append("C:\\Hd_Mifengding-1\\env\\628\\FD\\jiudian1.tup"); + if (qstring_data.contains("放钉2")) + hv_NinePointDocument.Append("C:\\Hd_Mifengding-1\\env\\628\\FD\\jiudian2.tup"); + if (qstring_data.contains("放钉3")) + hv_NinePointDocument.Append("C:\\Hd_Mifengding-1\\env\\628\\FD\\jiudian3.tup"); + if (qstring_data.contains("放钉4")) + hv_NinePointDocument.Append("C:\\Hd_Mifengding-1\\env\\628\\FD\\jiudian4.tup"); + HalconCpp::HTuple hv_CameraNumber; + if (qstring_data.contains("放钉1")) + hv_CameraNumber.Append(1); + if (qstring_data.contains("放钉2")) + hv_CameraNumber.Append(2); + if (qstring_data.contains("放钉3")) + hv_CameraNumber.Append(3); + if (qstring_data.contains("放钉4")) + hv_CameraNumber.Append(4);*/ + + //HalconCpp::HTuple hv_model = 1; + //int BiaoDingFlag = 2; + //int YiWuFlag = 2; + //hv_model.Append(m_hv_model); //后续开放参数窗口 + //try { + // auto jsonConfig = readJsonFromPath("./config/editableConfig.json"); + // BiaoDingFlag = jsonConfig["上钉标定"]; + // YiWuFlag = jsonConfig["上钉异物检测"]; + // if (BiaoDingFlag != 1) + // { + // hv_model = 0; + // } + // else + // { + // hv_model = 1; + // } + //} + //catch (...) { + // qDebug() << __FUNCTION__ << " line:" << __LINE__ << "getJsonError"; + //} + //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "放钉标定::" << BiaoDingFlag; + ////hv_model = 1; + //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "放钉标定::" << hv_model.I(); + HalconCpp::HObject in_Image = MatToHObject(HikMat[0]); + //* Function Name : _9_shangding < / c> + // * Author : < / c> + // *Description : < / c> + // < / c> + // *Input(HObject) : in_Image, 图像(bmp), < / c> + // < / c> + // *output(HObject) : < / c> + // *Input(HTuple) : in_ProductionType, 生产 + // 类别 : 0, 生产模式： 1, 标定模式 < / c> + // * in_CameraNumber, 相机序列号 < / c> + // * in_FilePath1, 模板文件路径; 示例:'./模板文件/' < / c > + // *in_FilePath2, 基准文件路径; < / c> + std::string cameraNumberStr = "1", FixtureNumber = "1"; + + if (singal_sign.contains("D19600")) { + cameraNumberStr = "1"; + FixtureNumber = "1"; + } + else if(singal_sign.contains("D19602")) { + cameraNumberStr = "1"; + FixtureNumber = "2"; + } + else if (singal_sign.contains("D19800")) { + cameraNumberStr = "2"; + FixtureNumber = "1"; + } + else if (singal_sign.contains("D19802")) { + cameraNumberStr = "2"; + FixtureNumber = "2"; + } + HDevEngineCpp::HDevProcedure proc("_9_yuhan"); + HDevProcedureCall procedureCall(proc); + procedureCall.SetInputIconicParamObject("in_Image", in_Image); + procedureCall.SetInputCtrlParamTuple("in_ProductionType", 0); + procedureCall.SetInputCtrlParamTuple("in_CameraNumber", HTuple(cameraNumberStr.c_str())); + procedureCall.SetInputCtrlParamTuple("in_FixtureNumber", HTuple(FixtureNumber.c_str())); + procedureCall.SetInputCtrlParamTuple("in_FilePath1", HTuple("./halconFiles/template/")); + procedureCall.SetInputCtrlParamTuple("in_FilePath2", HTuple("./halconFiles/base/")); + procedureCall.Execute(); + // *output(HTuple) : < / c> + // *out_Circle, 圆心坐标(y, x, radius) < / c > + // * out_Flag, 算法执行成功标志位, 0 : 算法执行失败 1 : 算法执行成功< / c> + // *out_OffsetX : 模组X轴的补偿量(mm) < / c > + // *out_OffsetY : 模组Y轴的补偿量(mm) < / c > + HTuple out_Circle = procedureCall.GetOutputCtrlParamTuple("out_Circle"); + HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag"); + HTuple out_OffsetX = procedureCall.GetOutputCtrlParamTuple("out_OffsetX"); + HTuple out_OffsetY = procedureCall.GetOutputCtrlParamTuple("out_OffsetY"); + int outFlag = out_Flag.D(); + qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉" << "_SN::" << SN << ",放钉算法结果;" << out_Flag[0].D(); + if (outFlag == 1){ //-1为失败，无结果 + //圆及十字 + cv::circle(img_dst, cv::Point(out_Circle[1].D(), out_Circle[0].D()), out_Circle[2].D(), cv::Scalar(0, 255, 0), 20); + cv::line(img_dst, cv::Point(out_Circle[1].D() - 300, out_Circle[0].D()), cv::Point(out_Circle[1].D() + 300, out_Circle[0].D()), cv::Scalar(0, 255, 0), 15); + cv::line(img_dst, cv::Point(out_Circle[1].D(), out_Circle[0].D() - 300), cv::Point(out_Circle[1].D(), out_Circle[0].D() + 300), cv::Scalar(0, 255, 0), 15); - double offsetX = 0 - out_OffsetX.D(); - double offsetY = 0 - out_OffsetY.D(); + double offsetX; + double offsetY; + //if (cameraKey_index.contains("DA4940802") || cameraKey_index.contains("DA4940782")) {//B Part Camera + // offsetX = out_OffsetX.D(); + // offsetY = out_OffsetY.D(); + //} + //else { + // offsetX = 0 - out_OffsetX.D(); + // offsetY = 0 - out_OffsetY.D(); + //} + offsetX = 0 - out_OffsetX.D(); + offsetY = 0 - out_OffsetY.D(); + QString UP_Down = "X偏移：" + QString::number(offsetX); + QByteArray path_arr = UP_Down.toLocal8Bit(); + const char* path = path_arr.data(); + putTextZH(img_dst, path, cv::Point(50, 150), cv::Scalar(0, 255, 0), 150, "微软雅黑"); + UP_Down = "Y偏移：" + QString::number(offsetY); + path_arr = UP_Down.toLocal8Bit(); + path = path_arr.data(); + putTextZH(img_dst, path, cv::Point(50, 350), cv::Scalar(0, 255, 0), 150, "微软雅黑"); - QString UP_Down = "X偏移：" + QString::number(offsetX); - QByteArray path_arr = UP_Down.toLocal8Bit(); - const char* path = path_arr.data(); - putTextZH(img_dst, path, cv::Point(50, 100), cv::Scalar(0, 255, 0), 150, "微软雅黑"); - - UP_Down = "Y偏移：" + QString::number(offsetY); - path_arr = UP_Down.toLocal8Bit(); - path = path_arr.data(); - putTextZH(img_dst, path, cv::Point(50, 300), cv::Scalar(0, 255, 0), 150, "微软雅黑"); - - if (abs(offsetX) >= 6000 || abs(offsetY) >= 6000) + UP_Down = "相机：" + QString::fromStdString(cameraNumberStr); + path_arr = UP_Down.toLocal8Bit(); + path = path_arr.data(); + putTextZH(img_dst, path, cv::Point(50, 0), cv::Scalar(0, 255, 0), 150, "微软雅黑"); + if (abs(offsetX) >= 6000 || abs(offsetY) >= 6000) + { + shortData_result = "2"; + floatData_offsetX = "-1.1"; + floatData_offsetY = "-1.1"; + qDebug() << __FUNCTION__ << " line:" << __LINE__ << " 放钉X偏移abs(resultData[0]) >= 6000,may err,set 0"; + } + else { + shortData_result = "1"; + floatData_offsetX = QString::number(offsetX); + floatData_offsetY = QString::number(offsetY); + } + addImgToSaveStruct(img_dst, "0", getResSaveFormat(SN, okngText));//保存结果图 + } + else { + //resultOKNG = 2; + //resultData[0] = 0; + //resultData[1] = 0; + //QString s; + //if (hv_Make[0].D() == -1) + //{ + // s = "算法异常"; + //} + //else if (hv_model == 1) + //{ + // s = "基准标定"; + // cv::circle(img_dst, cv::Point(hv_out_circle[1].D(), hv_out_circle[0].D()), hv_out_circle[2].D(), cv::Scalar(0, 0, 255), 20); + // cv::line(img_dst, cv::Point(hv_out_circle[1].D() - 300, hv_out_circle[0].D()), cv::Point(hv_out_circle[1].D() + 300, hv_out_circle[0].D()), cv::Scalar(0, 0, 255), 15); + // cv::line(img_dst, cv::Point(hv_out_circle[1].D(), hv_out_circle[0].D() - 300), cv::Point(hv_out_circle[1].D(), hv_out_circle[0].D() + 300), cv::Scalar(0, 0, 255), 15); + + //} shortData_result = "2"; floatData_offsetX = "-1.1"; floatData_offsetY = "-1.1"; - qDebug() << __FUNCTION__ << " line:" << __LINE__ << " 放钉X偏移abs(resultData[0]) >= 6000,may err,set 0"; + putTextZH(img_dst, "算法异常", cv::Point(50, 300), cv::Scalar(0, 0, 255), 150, "微软雅黑"); } - else { - shortData_result = "1"; - floatData_offsetX = QString::number(offsetX); - floatData_offsetY = QString::number(offsetY); + + if (shortData_result == "1") + { + putTextZH(img_dst, "OK", cv::Point(50, 550), cv::Scalar(0, 255, 0), 150, "微软雅黑"); } - addImgToSaveStruct(img_dst, "0", getResSaveFormat(SN, okngText));//保存结果图 - putTextZH(img_dst, "OK", cv::Point(50, 500), cv::Scalar(0, 255, 0), 150, "微软雅黑"); + else + { + putTextZH(img_dst, "NG", cv::Point(50, 500), cv::Scalar(0, 0, 255), 150, "微软雅黑"); + } + + resMat.push_back(img_dst); + //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉:" << hv_CameraNumber.D() << "_SN::" << SN << ",放钉算法结果;" << out_Flag.D(); } - else - { - shortData_result = "2"; - floatData_offsetX = "-0.123"; - floatData_offsetY = "-0.123"; - putTextZH(img_dst, "算法异常", cv::Point(50, 300), cv::Scalar(0, 0, 255), 150, "微软雅黑"); - putTextZH(img_dst, "NG", cv::Point(50, 500), cv::Scalar(0, 0, 255), 150, "微软雅黑"); - } - resMat.push_back(img_dst); - //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉:" << hv_CameraNumber.D() << "_SN::" << SN << ",放钉算法结果;" << out_Flag.D(); + + runNum++; + //HikMat.clear(); //qDebug() << __FUNCTION__ << " line:" << __LINE__ << "Mat_name: run end" << "model uesd time::" << stop - start << "ms"; return true; } @@ -981,7 +1219,7 @@ bool Hd_FangDing_module::run() return true; } -bool Hd_FangDing_module::checkStatus() +bool Hd_YuHan_module::checkStatus() { status = moduleStatus; return status; diff --git a/BaseModules/algoModules/Hd_FangDing_module/Hd_FangDing_module.h b/BaseModules/algoModules/Hd_YuHan_module/Hd_YuHan_module.h similarity index 84% rename from BaseModules/algoModules/Hd_FangDing_module/Hd_FangDing_module.h rename to BaseModules/algoModules/Hd_YuHan_module/Hd_YuHan_module.h index e7d4f9a..e006af7 100644 --- a/BaseModules/algoModules/Hd_FangDing_module/Hd_FangDing_module.h +++ b/BaseModules/algoModules/Hd_YuHan_module/Hd_YuHan_module.h @@ -1,5 +1,5 @@ -#ifndef Hd_FangDing_module_H -#define Hd_FangDing_module_H +#ifndef Hd_YuHan_module_H +#define Hd_YuHan_module_H #include #include @@ -37,14 +37,14 @@ struct saveImgStruct; // std::string savePath; //保存路径 //}; -//初始化流程（一次）：Hd_FangDing_module，initParas +//初始化流程（一次）：Hd_YuHan_module，initParas //运行流程：writeData主线程把数据传过来，run，readData此线程把数据传主线程 -class Hd_FangDing_module :public Base +class Hd_YuHan_module :public Base { Q_OBJECT public: - Hd_FangDing_module(); - virtual ~Hd_FangDing_module(); + Hd_YuHan_module(); + virtual ~Hd_YuHan_module(); //从类中读数据到实例对象 bool readData(std::vector&,QByteArray&); //实例对象把数据写入到类 @@ -59,6 +59,13 @@ public: bool encodeResultValue(QVector append_value,QByteArray &resultByte); bool decodeAiValue(QByteArray byte,QVector &vec_ret); //---------检测流程，根据实际项目修改--------- + bool AIdetect(cv::Mat img2D, QString saveKey, QString Dir2D, QString SN, QString DataTime); + + cv::Mat srcImg1;//电解液图片 + cv::Mat srcImg2; + cv::Mat srcImg3; + cv::Mat srcImg4; + cv::Mat workImg; private: HDevEngine myEngine; int allNum = 0; @@ -78,6 +85,7 @@ private: //结果路径文件夹队列 QString Dir2D="Dir2D"; //产品SN队列 + QString singal_sign = ""; QString SN="SN"; //产品时间戳队列 QString DateTime1="DateTime1"; @@ -126,8 +134,8 @@ private: extern "C" { - Q_DECL_EXPORT Hd_FangDing_module * create(); - Q_DECL_EXPORT void destory(Hd_FangDing_module * ptr); + Q_DECL_EXPORT Hd_YuHan_module * create(); + Q_DECL_EXPORT void destory(Hd_YuHan_module * ptr); } //保存图片的结构体 struct saveImgStruct diff --git a/BaseModules/algoModules/Hd_YuHang_module/base.h b/BaseModules/algoModules/Hd_YuHan_module/base.h similarity index 100% rename from BaseModules/algoModules/Hd_YuHang_module/base.h rename to BaseModules/algoModules/Hd_YuHan_module/base.h diff --git a/BaseModules/algoModules/Hd_YuHang_module/generalJsonParsing.hpp b/BaseModules/algoModules/Hd_YuHan_module/generalJsonParsing.hpp similarity index 100% rename from BaseModules/algoModules/Hd_YuHang_module/generalJsonParsing.hpp rename to BaseModules/algoModules/Hd_YuHan_module/generalJsonParsing.hpp diff --git a/BaseModules/algoModules/Hd_YuHang_module/nlohmannJson.hpp b/BaseModules/algoModules/Hd_YuHan_module/nlohmannJson.hpp similarity index 100% rename from BaseModules/algoModules/Hd_YuHang_module/nlohmannJson.hpp rename to BaseModules/algoModules/Hd_YuHan_module/nlohmannJson.hpp diff --git a/BaseModules/hardwareModules/Hd_CameraModule_HIK_soft_GIGE/Hd_CameraModule_HIK_soft_GIGE.cpp b/BaseModules/hardwareModules/Hd_CameraModule_HIK_soft_GIGE/Hd_CameraModule_HIK_soft_GIGE.cpp index bffc37d..ad5c5a1 100644 --- a/BaseModules/hardwareModules/Hd_CameraModule_HIK_soft_GIGE/Hd_CameraModule_HIK_soft_GIGE.cpp +++ b/BaseModules/hardwareModules/Hd_CameraModule_HIK_soft_GIGE/Hd_CameraModule_HIK_soft_GIGE.cpp @@ -134,8 +134,8 @@ bool connectDevice() MV_CC_CreateHandle(&handle, m_stDevList.pDeviceInfo[index]); int nRet = MV_CC_OpenDevice(handle); ////触发模式 - MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_LINE0); MV_CC_SetEnumValue(handle, "TriggerMode", MV_TRIGGER_MODE_ON); + MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_SOFTWARE); // //加载用户集，相机设置应当UserSet1 nRet = MV_CC_SetEnumValueByString(handle, "UserSetSelector", "UserSet1"); if (MV_OK != nRet) @@ -311,11 +311,10 @@ Hd_CameraModule_HIK_hard_PCIE::Hd_CameraModule_HIK_hard_PCIE() //关闭设备 void CloseDevice() { - - unsigned int nRet = MV_CC_StopGrabbing(handle); - CloseHandle(handle); - //nRet = MV_CC_CloseDevice(handle); - //nRet = MV_CC_DestroyHandle(handle); + MV_CC_StopGrabbing(handle); + MV_CC_CloseDevice(handle); + MV_CC_DestroyHandle(handle); + handle = nullptr; //此处注释掉的话，软件断开再连接，回调函数不出图 } Hd_CameraModule_HIK_hard_PCIE::~Hd_CameraModule_HIK_hard_PCIE() { @@ -483,7 +482,7 @@ bool Hd_CameraModule_HIK_hard_PCIE::run() bool result = false; ifRunning = true; ifBreak = false; - //MV_CC_SetCommandValue(handle, "TriggerSoftware"); + try { m_flag = false; @@ -497,6 +496,8 @@ bool Hd_CameraModule_HIK_hard_PCIE::run() imgShouldGetIndex++; return true; } + else + MV_CC_SetCommandValue(handle, "TriggerSoftware"); imgShouldGetIndex++; } int cnt = 0;