524 lines
20 KiB
C++
524 lines
20 KiB
C++
#include "Logic_camera_thread.h"
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//QMap<QString, bool> Logic_camera_thread::Map_getImageflag;
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void Logic_camera_thread::adddataIntegrationThread(Logic_hdataintegration* mythread)
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{
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mydataIntegrationThread.enqueue( mythread);
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ifMissImage_mutex = new QMutex;
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}
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Logic_camera_thread::~Logic_camera_thread()
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{
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Sleep(100);
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wait(100);
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exit();
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " m_name:" << m_name << " delete thread success! ";
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}
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//设置相机key、取图超时、模块、拍照面描述、触发方式
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bool Logic_camera_thread::setModule( QString station_name,MyModule module,QJsonObject obj)
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{
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//相机SN或usrID
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m_name = obj.value("相机key").toString();
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m_type = "camera";// camera_obj.value("camera_type").toString();
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getImgTimeout = obj.value("取图超时").toString().toInt();
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maxCheckTime = obj.value("拍照信号-检查完成的时间").toString().toDouble();
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if (m_name.isEmpty() || m_type.isEmpty())
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{
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qCritical() << "[Error] " << " camera_key or camera_type is null";
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return false;
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}
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QJsonArray SurfaceArray = obj.value("拍照面描述").toArray();
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for (int i = 0; i < SurfaceArray.size(); i++)
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cameraProductSurface.enqueue(SurfaceArray[i].toString());
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if (getImgTimeout < 10)
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getImgTimeout = 1000;
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//m_name = name;
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// m_type = type;
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m_Module = module;
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m_moduleobj = obj;
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m_stationName = station_name;
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// getImgTimeout = ImgTimeout;
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m_missImgae_add = obj.value("缺图时，补图宽高-张数-图像格式").toString();
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if ( m_type == "camera" )
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{
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m_triggermodel = m_moduleobj.value("触发方式").toString();
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if ( m_triggermodel.isEmpty() )
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " trigger_mod is null ! ";
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return false;
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}
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}
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QJsonArray read_sn_format = m_moduleobj.value("获取SN方式列表").toArray();
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for (int i = 0; i < read_sn_format.size(); i++)
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{
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QJsonObject obj = read_sn_format.at(i).toObject();
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QString read_sn_area_index = obj.value("读哪个上料通道的SN").toString();
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QString trggier_signals_access = obj.value("触发信号").toString();
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//触发信号检查
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if (!trggier_signals_access.isEmpty())//&& !read_sn_start_data_queue.isEmpty())
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{
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SN_signalList.append(trggier_signals_access);
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}
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}
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return true;
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}
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//设置ifMissImage；Logic_myiothread要进行设置，加锁
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void Logic_camera_thread::set_ifMissImage(bool flage)
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{
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QMutexLocker locker(ifMissImage_mutex); // 加锁
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ifMissImage = flage;
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}
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void Logic_camera_thread::set_m_stoprun(bool val)
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{
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QMutexLocker locker(ifMissImage_mutex); // 加锁
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m_stoprun = val;
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}
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clock_t maxTime_start, maxTime_stop;
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void Logic_camera_thread::run()
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{
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while (ifRun)
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{
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QThread::msleep(1);
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//qApp->processEvents();
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if (getImgNums == 0)
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continue;
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m_stoprun = false;
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getImg_faileNums = 0;
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ifsaveImage = false;
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set_ifMissImage(false);
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cu_runNum = 0;
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int last_addImageNums = addImageNums;
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maxTime_start = clock();
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try
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{
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//QString tmpDate = QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz");
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "runCameraModule::" << runCameraModuleNums++ << " cameraKey::"<< m_Module.module_key <<" getImgNums::"<< getImgNums;
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if (m_type == "camera")
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{
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#if YH_LOGIC_SWITCH > 0
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//602 读2个触发信号并传入相机
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QByteArray camera_trigger_signal("cameraTriggerSignal");
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for (int i = 1; i < cameraKeyS_runNumS.size(); i++)
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{
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camera_trigger_signal.append("_");
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camera_trigger_signal.append(cameraKeyS_runNumS[i].toLocal8Bit());
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}
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#endif
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for (int i = 0; i < getImgNums; i++)
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{
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if (!runCameraModule())
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << "runCameraModule run failed! ";
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getImg_faileNums++;
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//return;
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}
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maxTime_stop = clock();
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if (maxTime_stop - maxTime_start > maxCheckTime)
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << "maxTime_stop - maxTime_start > maxCheckTime! " << m_Module.module_key;
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std::cout << "maxTime_stop - maxTime_start > maxCheckTime! " << m_Module.module_key.toStdString() << std::endl;
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//break;
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}
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}
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//qCritical() << "camera_name::" << m_name << " addImageNums::" << addImageNums <<" thisNums::"<< addImageNums- last_addImageNums ;
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//判断有无取图失败情况
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if (addImageNums - last_addImageNums < getImgNums)
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " err add Img::" << m_Module.module_key << " " << addImageNums - last_addImageNums;
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for (int i = 0; i < mydataIntegrationThread.size(); i++)
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{
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mydataIntegrationThread[i]->wait();
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}
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trigger_signal = "";
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getImgNums = 0;
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std::vector<cv::Mat> vec_mat; //无数据，拿来充函数的参数
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if (send_byte.split('_').size() < 2) //为空分割size为1，不崩溃
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{
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//一个开始拍照对应多个相机的，回复的信号只保留一个，后面的不发了。
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if (send_byte != "pass")
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "feedback_signal err: " << send_byte;
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}
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else
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{
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QMutexLocker locker(m_iomutex);
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if (!finstcp_ptr->writeData(vec_mat, send_byte))
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{
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qCritical() << __FUNCTION__ << "line:" << __LINE__ << " finstcp_ptr reciveData error! ";
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return;
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}
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/* else
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "feedback_signal: " << send_byte;
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}*/
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}
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send_byte.clear();
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//break;
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}
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}
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catch (QString ev)
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << "catch ev:" << ev;
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return;
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}
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}
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}
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int Logic_camera_thread::matType(QString qstype)
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{
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int baseN = -1;
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if (qstype.contains("CV_8U"))
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baseN = 0;
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else if (qstype.contains("CV_8S"))
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baseN = 1;
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else if (qstype.contains("CV_16U"))
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baseN = 2;
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else if (qstype.contains("CV_16S"))
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baseN = 3;
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else if (qstype.contains("CV_32S"))
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baseN = 4;
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else if (qstype.contains("CV_32F"))
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baseN = 5;
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else if (qstype.contains("CV_64F"))
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baseN = 6;
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else if (qstype.contains("CV_16F"))
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baseN = 7;
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int lastN = 0;
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if (qstype.contains("C1"))
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lastN = 1;
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else if (qstype.contains("C2"))
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lastN = 2;
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else if (qstype.contains("C3"))
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lastN = 3;
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else if (qstype.contains("C4"))
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lastN = 4;
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if (baseN == -1 || lastN == 0)
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << "type err:" << m_missImgae_add;
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return (lastN - 1) * 8 + baseN;
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}
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//缺图补图
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void Logic_camera_thread::missImgae_addImage(std::vector<cv::Mat>& camera_mat)
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{
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set_ifMissImage(true);
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//"100*100*2*CV_8SC1#CV_8SC3",
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QStringList missList = m_missImgae_add.split("*");
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if (missList.size() < 4)
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << "data err:" << m_missImgae_add;
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return;
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}
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if(missList[3].split("#").size()< missList[2].toInt())
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << "data3 err:" << m_missImgae_add;
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return;
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}
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for (int i = 0; i < missList[2].toInt(); i++)
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{
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cv::Mat tmpType;
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int type = matType(missList[3].split("#")[i]);
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if (type < 0)
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return;
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tmpType = cv::Mat::zeros(cv::Size(missList[0].toInt(), missList[1].toInt()), type);
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camera_mat.push_back(tmpType);
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}
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}
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bool Logic_camera_thread::runCameraModule()
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{
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clock_t start, stop;
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start = clock();
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// 判断触发模式
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auto detDataPtr = dManager->createDetData();
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if ( m_triggermodel.contains("software") )
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{
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QByteArray task_name;
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if ( m_Module.module_ptr->run() ){
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if ( !m_Module.module_ptr->readData(detDataPtr->imageVec,task_name) )
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " camera_mat is error! ";
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missImgae_addImage(detDataPtr->imageVec);
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}
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}else{
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qCritical() << __FUNCTION__ << " line:"<< __LINE__ << " m_name:" << m_name << " get image is error failed!";
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missImgae_addImage(detDataPtr->imageVec);
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}
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//stop = clock();
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//qDebug() << "m_Module.module_key::" << m_Module.module_key << " runCameraModule get image Time ::" << stop - start;
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if (detDataPtr->imageVec.empty() )
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " camera_mat is null! ";
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missImgae_addImage(detDataPtr->imageVec);
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}
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//int de = camera_mat[0].rows * camera_mat[0].cols * camera_mat[0].channels() * camera_mat[0].depth() / 8;
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//图像检查
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//for (int i = 0; i < camera_mat.size(); i++)
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// if ((camera_mat[i].dataend - camera_mat[i].datastart) < camera_mat[i].rows * camera_mat[i].cols * camera_mat[i].channels()) //尝试能否解决mtx内容异常问题
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// {
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// camera_mat[i] = cv::Mat::zeros(camera_mat[i].rows, camera_mat[i].cols, camera_mat[i].type());
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// qCritical() << __FUNCTION__ << " line:" << __LINE__ << " camera_mat[i] data err! zeros";
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// }
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//保存图片到容器，并运行对应的条件判断
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saveImage(detDataPtr->uuid); //最大耗时30-40ms；
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// 界面传输图片来显示
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if (ifshowSoureImg == true) //task_thread_num < 1 没有检测任务时，显示原图
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if ((detDataPtr->imageVec.at(0).cols > 0) && (detDataPtr->imageVec.at(0).rows > 0) )
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{
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sendDataCommond(m_type, detDataPtr->uuid, "");
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}
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//qDebug() << __FUNCTION__ << " line:" << __LINE__ << " m_name: " << m_name << " software get mat is success! camera_mat len:" << camera_mat.size();
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return true;
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}
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else if ( m_triggermodel.contains("hardware") ) // 硬触发 hardware_trigger
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{
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myTime = 0;
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while (true)
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{
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if (CommunicationProcessLevel == 2)
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{
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maxTime_stop = clock();
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/*if (maxTime_stop - maxTime_start > maxCheckTime)
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << "maxCheckTime! hardware" << m_Module.module_key;
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std::cout << " maxCheckTime! " << m_Module.module_key.toStdString() << std::endl;
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return true;
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}*/
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}
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if (!ifRun || m_stoprun == true)
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " !ifRun || m_stoprun == true"<< m_Module.module_key;
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return true;
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}
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//QMutexLocker locker(ifMissImage_mutex); // 加锁
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QByteArray task_name;
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if (CommunicationProcessLevel == 2 && maxTime_stop - maxTime_start > maxCheckTime)
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " m_name:" << m_name << " maxTime_stop - maxTime_start > maxCheckTime,missImgae_addImage!";
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missImgae_addImage(detDataPtr->imageVec);
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}
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else
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{
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if (m_Module.module_ptr->run())
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{
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if (!m_Module.module_ptr->readData(detDataPtr->imageVec, task_name))
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{
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Sleep(10);
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qApp->processEvents();
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maxTime_stop = clock();
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if (maxTime_stop - maxTime_start > getImgTimeout)
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{
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if (CommunicationProcessLevel == 2)
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{
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missImgae_addImage(detDataPtr->imageVec);
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " m_name:" << m_name << " get image is getImgTimeout failed!";
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}
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}
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else continue;
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}
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}
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/*else
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{
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if (CommunicationProcessLevel == 2)
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " m_name:" << m_name << " get image is error failed!";
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missImgae_addImage(camera_mat);
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}
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}*/
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}
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if (detDataPtr->imageVec.empty())
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{
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Sleep(2);
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continue;
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}
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////图像检查
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//for (int i = 0; i < camera_mat.size(); i++)
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// if ((camera_mat[i].dataend - camera_mat[i].datastart) < camera_mat[i].rows * camera_mat[i].cols * camera_mat[i].channels()) //尝试能否解决mtx内容异常问题;camera_mat[i].depth()不是8的倍数
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// {
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// camera_mat[i] = cv::Mat::zeros(camera_mat[i].rows, camera_mat[i].cols, camera_mat[i].type());
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// qCritical() << __FUNCTION__ << " line:" << __LINE__ << " camera_mat[i] data err! zeros";
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// }
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//保存图片到容器，并运行对应的条件判断
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saveImage(detDataPtr->uuid);
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if (ifshowSoureImg == true) //task_thread_num < 1 没有检测任务时，显示原图
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if ((detDataPtr->imageVec.at(0).cols > 0) && (detDataPtr->imageVec.at(0).rows > 0))
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{
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sendDataCommond(m_type, detDataPtr->uuid, "");
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}
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//qDebug() << __FUNCTION__ << " line:" << __LINE__ << " m_name: " << m_name << " hardware get mat is success! get_mat len:" << camera_mat.size();
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m_stoprun = false;
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if (CommunicationProcessLevel == 2)//标准通信流程
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break;//注意，硬触发有开始信号的，取图完返回;
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else if(m_Module.moduleName.contains("readImage"))
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Sleep(1000);
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else
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Sleep(2);
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}
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}
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return true;
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}
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//保存图片到容器，并运行对应的条件判断
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bool Logic_camera_thread::saveImage(const QString& uuid)
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{
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clock_t start, stop;
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start = clock();
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HCameraData *cameraPtr = station_list.value(m_stationName)->getCameraData(m_name);
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if ( cameraPtr )
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{
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// 获取当前相机容器的下标
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int camera_index = cameraPtr->getCameraIndex();//addImageData函数camera_index加一
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// 根据相机下标获取sn码容器中的sn码
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QVector<QString> vector_sn = getSnData(camera_index);
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QString channel_index = nullptr;
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//拍照面描述
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QString Surface;
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if (cameraProductSurface.size() > 0)
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Surface = SN_signal;
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//camera_index，0,1,2；cameraProductSurface，tp1,tp2;对应，tp1,tp2,tp1;
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//qDebug() << "m_Module.module_key::" << m_Module.module_key << " saveImage getCameraData Time ::" << stop - start;
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//添加到容器SnCameraData
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cameraPtr->addImageData(channel_index,vector_sn,uuid,Surface);
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for (int i = 0; i < mydataIntegrationThread.size(); i++)
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{
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mydataIntegrationThread[i]->run();//一个mydataIntegrationThread对应多个相机
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}
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stop = clock();
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//if((stop - start)>20)
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// qDebug() << "m_Module.module_key::" << m_Module.module_key << " saveImage mydataIntegrationThread Time ::" << stop - start;
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start = clock();
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addImageNums++;
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//std::cout <<"camera_name::" << m_name.toStdString() << " addImageNums::" << addImageNums++ << std::endl;
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}else{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " cameraPtr is null saveImage failed!";
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return false;
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}
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ifsaveImage = true;
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return true;
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}
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//index为图片序号
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QVector<QString> Logic_camera_thread::getSnData(int index)
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{
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HSnData* m_sndata = nullptr;
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QString m_sn_key = nullptr; // 获取下标对应的sn key
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//QString read_sn_num = nullptr; // 读取sn的方式
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QString my_read_sn_area_index = nullptr; // 属于哪个区域的sn
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QString delete_sn = nullptr; // 是否删除sn 931 -3 使用
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//m_moduleobj为当前相机的配置文件
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QJsonArray read_sn_format = m_moduleobj.value("获取SN方式列表").toArray();
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for ( int i = 0; i < read_sn_format.size(); i++ )
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{
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QJsonObject obj = read_sn_format.at(i).toObject();
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QString read_sn_area_index = obj.value("读哪个上料通道的SN").toString();
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QString trggier_signals_access = obj.value("触发信号").toString();
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//触发信号检查
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if (!trggier_signals_access.isEmpty())//&& !read_sn_start_data_queue.isEmpty())
|
||
{
|
||
if (trggier_signals_access != SN_signal)
|
||
{
|
||
continue;
|
||
}
|
||
}
|
||
QJsonArray sn_data_array = obj.value("SN数据列表").toArray();
|
||
for (int vvv = 0; vvv < sn_data_array.size(); vvv++)
|
||
{
|
||
QJsonObject sn_obj = sn_data_array.at(vvv).toObject();
|
||
QString sn_key = sn_obj.value("哪个SN").toString(); // 下标对应的 sn key
|
||
QJsonArray sn_vaule_array = sn_obj.value("第几张图").toArray();
|
||
for (int ggg = 0; ggg < sn_vaule_array.size(); ggg++)
|
||
{
|
||
QString value = sn_vaule_array.at(ggg).toString();
|
||
if (!value.isEmpty())
|
||
{
|
||
if (value.toInt() == index) //相机第几张图，对应sn_data的value值，
|
||
{
|
||
my_read_sn_area_index = read_sn_area_index;
|
||
m_sn_key = sn_key;
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
if (!my_read_sn_area_index.isEmpty()){
|
||
m_sndata = station_list.value(m_stationName)->getSnInfoData(my_read_sn_area_index.toInt()); // 获取相应区域SN
|
||
}else{
|
||
m_sndata = station_list.value(m_stationName)->getSnInfoData(0); // 默认只有一个区域
|
||
}
|
||
QVector<QString> vector_sn;
|
||
if ( m_sndata )
|
||
{
|
||
if (!m_sn_key.isEmpty())
|
||
{
|
||
int sn_index = 0;
|
||
QString snsnsn = m_sn_key.split("sn")[1]; //5-2:sn1,sn2
|
||
if (!snsnsn.isEmpty())
|
||
{
|
||
sn_index = m_sn_key.split("sn")[1].toInt();
|
||
}
|
||
QVector<QString> mVec_sn = m_sndata->getFirstValue();
|
||
if (sn_index - 1 < mVec_sn.size() && sn_index > 0)
|
||
{
|
||
vector_sn.push_back(mVec_sn.at(sn_index - 1));
|
||
}
|
||
}
|
||
}
|
||
return vector_sn;
|
||
}
|
||
|
||
void Logic_camera_thread::setMutex(QMutex *mutex)
|
||
{
|
||
if (m_mutex == nullptr)
|
||
m_mutex = new QMutex;// mutex;
|
||
}
|
||
|
||
bool Logic_camera_thread::sendDataCommond( QString m_type, const QString& uuid,QByteArray byteArray)
|
||
{
|
||
QMutexLocker locker(m_mutex);
|
||
dataPack m_pack;
|
||
m_pack.uuid = uuid;
|
||
m_pack.byteArray = byteArray;
|
||
m_pack.retFlag = m_type;
|
||
m_pack.cameraName = m_name;
|
||
|
||
if (ifshowSoureImg == true) //task_thread_num < 1 没有检测任务时，显示原图
|
||
{
|
||
// 界面显示包
|
||
camera_ImageDataPack.enqueue(m_pack);
|
||
}
|
||
return true;
|
||
}
|
||
|
||
void Logic_camera_thread::degressSnIndex()
|
||
{
|
||
QMutexLocker locker(m_mutex);
|
||
if (m_sn_index == 0)
|
||
return;
|
||
m_sn_index--;
|
||
}
|
||
|
||
//获取一个数据包，并删除列表的头一个
|
||
dataPack Logic_camera_thread::getdataPack()
|
||
{
|
||
QMutexLocker locker(m_mutex); // 加锁
|
||
dataPack m_pack = camera_ImageDataPack.dequeue();
|
||
return m_pack;
|
||
}
|
||
|
||
int Logic_camera_thread::dataPack_size()
|
||
{
|
||
QMutexLocker locker(m_mutex); // 加锁
|
||
return camera_ImageDataPack.size();
|
||
} |