990 lines
35 KiB
C++
990 lines
35 KiB
C++
#include "Hd_FangDing_module.h"
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#include <QDateTime>
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#include <global.h>
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#include <QtConcurrent/QtConcurrent>
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#include <qfuture.h>
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#include "nlohmannJson.hpp"
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#include "generalJsonParsing.hpp"
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#include <filesystem>
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////逻辑UI头文件
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//
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//#include "CPPTaskLoader/pbloadtask.h"
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//
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//#include "io.h"
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//#include <direct.h>
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//#include <stdio.h>
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//#include <iterator>
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//#include <regex>
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//628算法
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#include <handleAI.h>
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#pragma execution_character_set("utf-8")
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using namespace cv;
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using namespace std;
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using namespace handdleAI;
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//using namespace HalconCpp;
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//总保存文件夹
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QString AllImgSaveDir = "D:/CCD/";
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//检测线程锁
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QMutex* detect_mutex;
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//保存线程锁
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QMutex* saveStruct_mutex;
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//检测线程运行标志
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bool ifdetectThread = false;
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//检测标志
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QString qstring_data;
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QString cameraKey_index = "";
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QString sData;
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QStringList splitDataList;
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//初始化参数列表
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QByteArrayList initValueList;
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QString sdataTime; //产品名里的时间戳
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QString okngText = "OK";
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QString shortData_result = "1";//返回给PLC的结果
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QString floatData_offsetX = "-1.1", floatData_offsetY = "-1.1";//偏移值
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// 缺陷信息结构体
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typedef struct {
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QString defectName = "";//缺陷名称
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cv::Rect defectRect = { 0,0,0,0 };//缺陷位置
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cv::Scalar defectScalar = cv::Scalar(0, 0, 0);//画框颜色
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double defectArea = 0;//缺陷真实面积
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double defectDepth = 0;//缺陷深度/高度，3D信息
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}defectInfo;
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static void createDirectoryIfNotExists(const QString& path) {
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QDir dir;
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dir.mkpath(path);
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}
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static std::string getCurrentTime() {
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// 获取当前时间点
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auto now = std::chrono::system_clock::now();
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// 转换为字符串
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auto currentTime = std::chrono::system_clock::to_time_t(now);
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auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()) % 100;
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std::tm* localTime = std::localtime(¤tTime);
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std::stringstream ss;
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ss << std::put_time(localTime, "%H-%M-%S") << "-" << std::setfill('0') << std::setw(2) << ms.count();
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return ss.str();
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}
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static QString getCurrentDate()
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{
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QDateTime currentDateTime = QDateTime::currentDateTime();
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return currentDateTime.toString("yyyy-MM-dd");
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}
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static QString getCurrentHour()
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{
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QDateTime currentDateTime = QDateTime::currentDateTime();
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return QString::number(currentDateTime.time().hour()) + "H";
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}
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std::pair<QString, QString> getResSaveFormat(QString SN, QString okNgText = "", int count = 0)
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{
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QString path = AllImgSaveDir + "//" + getCurrentDate() + "//结果图//" + splitDataList[1].split("_")[0] + "//" + getCurrentHour() + "//" + okNgText + "//";
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return { path,path + SN + "_" + cameraKey_index + "_" + sdataTime + ".jpg" };
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//QString path = resImgSaveDir + getCurrentDate() + "//结果图//" + getCurrentHour() + "//" + okNgText + "//" + SN + "//";
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//return { path,path + SN + "_" + cameraKey_index + "_" + QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz") + "_" + okNgText + ".jpg" };
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}
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std::pair<QString, QString> getOriSaveFormat(QString SN, QString okNgText = "", int count = 0)
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{
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QString path = AllImgSaveDir + "//" + getCurrentDate() + "//原图//" + splitDataList[1].split("_")[0] + "//" + getCurrentHour() + "//";
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return{ path, path + SN + "_" + cameraKey_index + "_" + okNgText + "_" + sdataTime + ".bmp" };
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//QString path = oriImgSaveDir + getCurrentDate() + "//原图//" + getCurrentHour() + "//" + okNgText + "//" + SN + "//";
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//return{ path, path + SN + "_" + cameraKey_index + "_" + QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz") + ".bmp" };
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}
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std::pair<QString, QString> getSegSaveFormat(QString SN, QString okNgText = "", int count = 0)
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{
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QString path = AllImgSaveDir + "//" + getCurrentDate() + "//seg图//" + splitDataList[1].split("_")[0] + "//" + getCurrentHour() + "//";
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return { path,path + SN + "_" + cameraKey_index + "_" + okNgText + "_" + sdataTime + ".bmp" };
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//QString path = oriImgSaveDir + getCurrentDate() + "//Seg图//" + getCurrentHour() + "//" + okNgText + "//" + SN + "//";
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//return { path,path + SN + "_" + cameraKey_index + "_" + QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz") + ".bmp" };
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}
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std::pair<QString, QString> getClsSaveFormat(QString SN, QString okNgText = "", int count = 0, int clsResult = 99)
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{
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QString path = AllImgSaveDir + "//" + getCurrentDate() + "//cls图//" + splitDataList[1].split("_")[0] + "//" + getCurrentHour() + "//";
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return{ path, path + SN + "_" + cameraKey_index + "_" + okNgText + "_" + QString::number(clsResult) + "_" + QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz") + ".bmp" };
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//QString path = oriImgSaveDir + getCurrentDate() + "//Cls图//" + getCurrentHour() + "//" + okNgText + "//" + SN + "//";
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//return{ path, path + SN + "_" + cameraKey_index + "_" + QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz") + ".bmp" };
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}
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std::pair<QString, QString> getTiffSaveFormat(QString SN, QString okNgText = "", int count = 0)
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{
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QString path = AllImgSaveDir + "//" + getCurrentDate() + "//原图//" + splitDataList[1].split("_")[0] + "//" + getCurrentHour() + "//" + okNgText + "//";
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return { path,path + SN + "_" + cameraKey_index + "_" + sdataTime + ".tiff" };
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//QString path = oriImgSaveDir + getCurrentDate() + "//原图//" + getCurrentHour() + "//" + okNgText + "//" + SN + "//";
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//return { path,path + SN + "_" + cameraKey_index + "_" + QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz") + ".tiff" };
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}
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QString byteArrayToUnicode(const QByteArray array) {
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// state用于保存转换状态，它的成员invalidChars，可用来判断是否转换成功
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// 如果转换成功，则值为0，如果值大于0，则说明转换失败
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QTextCodec::ConverterState state;
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// 先尝试使用utf-8的方式把QByteArray转换成QString
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QString text = QTextCodec::codecForName("UTF-8")->toUnicode(array.constData(), array.size(), &state);
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// 如果转换时无效字符数量大于0，说明编码格式不对
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if (state.invalidChars > 0)
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{
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// 再尝试使用GBK的方式进行转换，一般就能转换正确(当然也可能是其它格式，但比较少见了)
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text = QTextCodec::codecForName("GBK")->toUnicode(array);
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}
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return text;
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}
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HalconCpp::HObject MatToHObject(cv::Mat& image)
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{
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HalconCpp::HObject Hobj;
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int hgt = image.rows;
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int wid = image.cols;
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int i;
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if (image.type() == CV_8UC3)
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{
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HalconCpp::HImage himage = HalconCpp::HImage();
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std::vector<cv::Mat> imgchannel;
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split(image, imgchannel);
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cv::Mat imgB = imgchannel[0];
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cv::Mat imgG = imgchannel[1];
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cv::Mat imgR = imgchannel[2];
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uchar* dataR = new uchar[hgt * wid];
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uchar* dataG = new uchar[hgt * wid];
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uchar* dataB = new uchar[hgt * wid];
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for (i = 0; i < hgt; i++)
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{
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memcpy(dataR + wid * i, imgR.data + imgR.step * i, wid);
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memcpy(dataG + wid * i, imgG.data + imgG.step * i, wid);
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memcpy(dataB + wid * i, imgB.data + imgB.step * i, wid);
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}
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himage.GenImage3("byte", wid, hgt, dataR, dataG, dataB);
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HalconCpp::HString tmpType;
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Hlong tmpW, tmpH;
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void* hImgPtR, * hImgPtG, * hImgPtB;
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himage.GetImagePointer3(&hImgPtR, &hImgPtG, &hImgPtB, &tmpType, &tmpW, &tmpH);
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GenImage3(&Hobj, "byte", wid, hgt, (Hlong)hImgPtR, (Hlong)hImgPtG, (Hlong)hImgPtB);
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delete[]dataR;
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delete[]dataG;
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delete[]dataB;
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dataR = NULL;
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dataG = NULL;
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dataB = NULL;
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}
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else if (image.type() == CV_8UC1)
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{
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//HalconCpp::HImage himage = HalconCpp::HImage();
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////uchar* data = new uchar[hgt * wid];
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////for (i = 0; i < hgt; i++)
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////{
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//// memcpy(data + wid * i, image.data + image.step * i, wid);
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////}
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////gen_image_const
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//himage.GenImage1("byte", wid, hgt, image.data);
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//HalconCpp::HString tmpType;
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//Hlong tmpW, tmpH;
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//void* hImgPt;
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//hImgPt = himage.GetImagePointer1(&tmpType, &tmpW, &tmpH);
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//GenImage1(&Hobj, "byte", wid, hgt, (Hlong)hImgPt);
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//GenImage1(&Hobj, "byte", wid, hgt, (Hlong)image.data);
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/* delete[] data;
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data = NULL;*/
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uchar* data = new uchar[hgt * wid];
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for (i = 0; i < hgt; i++)
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memcpy(data + wid * i, image.data + image.step * i, wid);
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GenImage1(&Hobj, "byte", wid, hgt, (Hlong)data);
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delete[] data;
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data = NULL;
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}
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else if (image.type() == CV_16UC1)
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{
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HalconCpp::HImage himage = HalconCpp::HImage();
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ushort* data = new ushort[hgt * wid * 2];
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memcpy(data, image.data, hgt * wid * 2);
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himage.GenImage1("uint2", wid, hgt, data);
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HalconCpp::HString tmpType;
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Hlong tmpW, tmpH;
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void* hImgPt;
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hImgPt = himage.GetImagePointer1(&tmpType, &tmpW, &tmpH);
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GenImage1(&Hobj, "uint2", wid, hgt, (Hlong)hImgPt);
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delete[] data;
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data = NULL;
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}
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else if (image.type() == CV_16SC1)
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{
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HalconCpp::HImage himage = HalconCpp::HImage();
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short* data = new short[hgt * wid * 2];
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memcpy(data, image.data, hgt * wid * 2);
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himage.GenImage1("int2", wid, hgt, data);
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HalconCpp::HString tmpType;
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Hlong tmpW, tmpH;
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void* hImgPt;
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hImgPt = himage.GetImagePointer1(&tmpType, &tmpW, &tmpH);
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GenImage1(&Hobj, "int2", wid, hgt, (Hlong)hImgPt);
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delete[] data;
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data = NULL;
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}
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return Hobj;
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}
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cv::Mat HObject2Mat(HalconCpp::HObject& Hobj) //HObject类型转Mat类型
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{
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HalconCpp::HTuple htCh;
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HalconCpp::HString cType;
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cv::Mat Image;
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ConvertImageType(Hobj, &Hobj, "byte");
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CountChannels(Hobj, &htCh);
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Hlong wid = 0;
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Hlong hgt = 0;
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if (htCh[0].I() == 1)
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{
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HImage hImg(Hobj);
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void* ptr = hImg.GetImagePointer1(&cType, &wid, &hgt);//GetImagePointer1(Hobj, &ptr, &cType, &wid, &hgt);
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int W = wid;
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int H = hgt;
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Image.create(H, W, CV_8UC1);
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unsigned char* pdata = static_cast<unsigned char*>(ptr);
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memcpy(Image.data, pdata, W * H);
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}
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else if (htCh[0].I() == 3)
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{
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void* Rptr;
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void* Gptr;
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void* Bptr;
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HImage hImg(Hobj);
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hImg.GetImagePointer3(&Rptr, &Gptr, &Bptr, &cType, &wid, &hgt);
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int W = wid;
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int H = hgt;
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Image.create(H, W, CV_8UC3);
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std::vector<cv::Mat> VecM(3);
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VecM[0].create(H, W, CV_8UC1);
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VecM[1].create(H, W, CV_8UC1);
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VecM[2].create(H, W, CV_8UC1);
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unsigned char* R2 = (unsigned char*)Rptr;
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unsigned char* G = (unsigned char*)Gptr;
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unsigned char* B = (unsigned char*)Bptr;
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memcpy(VecM[2].data, R2, W * H);
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memcpy(VecM[1].data, G, W * H);
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memcpy(VecM[0].data, B, W * H);
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cv::merge(VecM, Image);
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}
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return Image;
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}
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void GetStringSize(HDC hdc, const char* str, int* w, int* h)
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{
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SIZE size;
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GetTextExtentPoint32A(hdc, str, strlen(str), &size);
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if (w != 0) *w = size.cx;
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if (h != 0) *h = size.cy;
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}
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//在图像写中文，英文也可以写
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void putTextZH(cv::Mat& dst, const char* str, cv::Point org, cv::Scalar color, int fontsize,
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const char* fn = "Arial", bool italic = false, bool underline = false)
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{
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CV_Assert(dst.data != 0 && (dst.channels() == 1 || dst.channels() == 3));
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if (std::string(str).length() == 0)return;
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int x, y, r, b;
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//坐标点大于图像宽和高直接返回
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if (org.x > dst.cols || org.y > dst.rows) return;
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x = org.x < 0 ? -org.x : 0;
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y = org.y < 0 ? -org.y : 0;
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LOGFONTA lf;
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lf.lfHeight = -fontsize; //字体高度
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lf.lfWidth = 0; //平均宽度
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lf.lfEscapement = 0; //字符排列角度
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lf.lfOrientation = 0; //字符本身旋转的角度
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lf.lfWeight = 5; //设置字体线条的宽度
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lf.lfItalic = italic; //斜体
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lf.lfUnderline = underline; //下划线
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lf.lfStrikeOut = 0; //是否字符中央加横线
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lf.lfCharSet = DEFAULT_CHARSET; //字符集
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lf.lfOutPrecision = 0; //字体的精确度
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lf.lfQuality = PROOF_QUALITY; //字体质量
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lf.lfPitchAndFamily = 0; //选择字体的间距和字体家族
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strcpy_s(lf.lfFaceName, fn); //字体的名称
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HFONT hf = CreateFontIndirectA(&lf);
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HDC hdc = CreateCompatibleDC(0);
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HFONT holdfont = (HFONT)SelectObject(hdc, hf);
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int strBaseW = 0, strBaseH = 0;
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int singleRow = 0;
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char buf[1 << 12];
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strcpy_s(buf, str);
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char* bufT[1 << 12]; //这个用于分隔字符串后剩余的字符，可能会超出。
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//处理多行
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{
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int nnh = 0;
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int cw, ch;
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const char* ln = strtok_s(buf, "\n", bufT);
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while (ln != 0)
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{
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GetStringSize(hdc, ln, &cw, &ch);
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strBaseW = max(strBaseW, cw);
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strBaseH = max(strBaseH, ch);
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ln = strtok_s(0, "\n", bufT);
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nnh++;
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}
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singleRow = strBaseH;
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strBaseH *= nnh;
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}
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if (org.x + strBaseW < 0 || org.y + strBaseH < 0)
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{
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SelectObject(hdc, holdfont);
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DeleteObject(hf);
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DeleteObject(hdc);
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return;
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}
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r = org.x + strBaseW > dst.cols ? dst.cols - org.x - 1 : strBaseW - 1;
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b = org.y + strBaseH > dst.rows ? dst.rows - org.y - 1 : strBaseH - 1;
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org.x = org.x < 0 ? 0 : org.x;
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org.y = org.y < 0 ? 0 : org.y;
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BITMAPINFO bmp = { 0 };
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BITMAPINFOHEADER& bih = bmp.bmiHeader;
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int strDrawLineStep = strBaseW * 3 % 4 == 0 ? strBaseW * 3 : (strBaseW * 3 + 4 - ((strBaseW * 3) % 4));
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bih.biSize = sizeof(BITMAPINFOHEADER);
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bih.biWidth = strBaseW;
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bih.biHeight = strBaseH;
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bih.biPlanes = 1;
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bih.biBitCount = 24;
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bih.biCompression = BI_RGB;
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bih.biSizeImage = strBaseH * strDrawLineStep;
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bih.biClrUsed = 0;
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bih.biClrImportant = 0;
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void* pDibData = 0;
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HBITMAP hBmp = CreateDIBSection(hdc, &bmp, DIB_RGB_COLORS, &pDibData, 0, 0);
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CV_Assert(pDibData != 0);
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HBITMAP hOldBmp = (HBITMAP)SelectObject(hdc, hBmp);
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//color.val[2], color.val[1], color.val[0]
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SetTextColor(hdc, RGB(255, 255, 255));
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SetBkColor(hdc, 0);
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//SetStretchBltMode(hDC, COLORONCOLOR);
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strcpy_s(buf, str);
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const char* ln = strtok_s(buf, "\n", bufT);
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int outTextY = 0;
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while (ln != 0)
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{
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TextOutA(hdc, 0, outTextY, ln, strlen(ln));
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outTextY += singleRow;
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ln = strtok_s(0, "\n", bufT);
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}
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|
uchar* dstData = (uchar*)dst.data;
|
|
int dstStep = dst.step / sizeof(dstData[0]);
|
|
unsigned char* pImg = (unsigned char*)dst.data + org.x * dst.channels() + org.y * dstStep;
|
|
unsigned char* pStr = (unsigned char*)pDibData + x * 3;
|
|
for (int tty = y; tty <= b; ++tty)
|
|
{
|
|
unsigned char* subImg = pImg + (tty - y) * dstStep;
|
|
unsigned char* subStr = pStr + (strBaseH - tty - 1) * strDrawLineStep;
|
|
for (int ttx = x; ttx <= r; ++ttx)
|
|
{
|
|
for (int n = 0; n < dst.channels(); ++n) {
|
|
double vtxt = subStr[n] / 255.0;
|
|
int cvv = vtxt * color.val[n] + (1 - vtxt) * subImg[n];
|
|
subImg[n] = cvv > 255 ? 255 : (cvv < 0 ? 0 : cvv);
|
|
}
|
|
|
|
|
|
subStr += 3;
|
|
subImg += dst.channels();
|
|
}
|
|
}
|
|
|
|
|
|
SelectObject(hdc, hOldBmp);
|
|
SelectObject(hdc, holdfont);
|
|
DeleteObject(hf);
|
|
DeleteObject(hBmp);
|
|
DeleteDC(hdc);
|
|
}
|
|
|
|
void drawDefects(cv::Mat& sourceMat, QQueue<defectInfo> defectInfoList)
|
|
{
|
|
for (int i = 0; i < defectInfoList.size(); i++)
|
|
{
|
|
defectInfo mdefect = defectInfoList[i];
|
|
|
|
cv::rectangle(sourceMat, cv::Point(mdefect.defectRect.x, mdefect.defectRect.y),
|
|
cv::Point(mdefect.defectRect.x + mdefect.defectRect.width, mdefect.defectRect.y + mdefect.defectRect.height), mdefect.defectScalar, 3, 8);
|
|
|
|
QByteArray path_arr = mdefect.defectName.toLocal8Bit();
|
|
const char* path = path_arr.data();
|
|
putTextZH(sourceMat, path, cv::Point(mdefect.defectRect.x, mdefect.defectRect.y - 50), mdefect.defectScalar, 50, "微软雅黑");
|
|
}
|
|
}
|
|
|
|
Hd_FangDing_module* create()
|
|
{
|
|
qDebug() << "[INFO] " << " Hd_FangDing_module create success!" ;
|
|
return new Hd_FangDing_module;
|
|
}
|
|
|
|
void destory(Hd_FangDing_module* ptr)
|
|
{
|
|
qDebug() << "[INFO] " << "Hd_FangDing_module destory success!";
|
|
if(ptr)
|
|
{
|
|
delete ptr;
|
|
ptr = nullptr;
|
|
}
|
|
}
|
|
|
|
Hd_FangDing_module::Hd_FangDing_module()
|
|
{
|
|
detect_mutex = new QMutex;
|
|
saveStruct_mutex = new QMutex;
|
|
ifdetectThread = false;
|
|
}
|
|
|
|
Hd_FangDing_module::~Hd_FangDing_module()
|
|
{
|
|
ifdetectThread = false;
|
|
Sleep(10);
|
|
if (detect_mutex)
|
|
{
|
|
delete detect_mutex;
|
|
detect_mutex = nullptr;
|
|
}
|
|
if (saveStruct_mutex)
|
|
{
|
|
delete saveStruct_mutex;
|
|
saveStruct_mutex = nullptr;
|
|
}
|
|
/*DestroySegObj(pSeg);
|
|
DestroyClsObj(pCls);*/
|
|
}
|
|
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<cv::Mat>&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)
|
|
{
|
|
vec_mat.push_back(resMat[0]);
|
|
resMat.clear();
|
|
}
|
|
else
|
|
{
|
|
vec_mat.push_back(HikMat[0]);
|
|
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " resMat.data err:";
|
|
}
|
|
|
|
data = logicUiTransport::encodeAllData(SN, {floatData_offsetX,floatData_offsetY,shortData_result }, {});
|
|
resByte.clear();
|
|
addImgToSaveStruct(HikMat[0], "0", getOriSaveFormat(SN, okngText));//保存原图
|
|
//{
|
|
// okngText = shortData_result == "1" ? "OK":"NG";
|
|
|
|
// for (int i = 0; i < initValueList.size(); i++)
|
|
// {
|
|
// QString minit = byteArrayToUnicode(initValueList[i]);
|
|
// if (initValueList[i].contains(moduleData.split(',')[2].split('_')[0]))
|
|
// if (initValueList[i].contains(QString("原图_保存").toLocal8Bit()))
|
|
// {
|
|
// addImgToSaveStruct(HikMat[0], "0", getOriSaveFormat(SN, okngText));//保存原图
|
|
// }
|
|
// }
|
|
|
|
// resize(vec_mat[0], vec_mat[0], cv::Size(), 0.5, 0.5);
|
|
|
|
// for (int i = 0; i < initValueList.size(); i++)
|
|
// {
|
|
// QString minit = byteArrayToUnicode(initValueList[i]);
|
|
// if (initValueList[i].contains(moduleData.split(',')[2].split('_')[0]))
|
|
// if (initValueList[i].contains(QString("结果图_保存").toLocal8Bit()))
|
|
// {
|
|
// addImgToSaveStruct(vec_mat[0], "0", getResSaveFormat(SN, okngText));//保存结果图
|
|
// }
|
|
// }
|
|
//}
|
|
|
|
detect_mutex->unlock();
|
|
return true;
|
|
}
|
|
//从类中读数据到实例对象
|
|
bool Hd_FangDing_module::encodeResultValue(QVector<std::string> append_value,QByteArray &resultByte)
|
|
{
|
|
try
|
|
{
|
|
std::string sendMsg;
|
|
for(int i = 0 ; i < append_value.size();i++)
|
|
{
|
|
std::string value = append_value.at(1);
|
|
//type
|
|
int type = 3;
|
|
std::string m_type;
|
|
m_type.insert(0,4,'1');
|
|
memcpy ( (void*)m_type.c_str(),(void*)&type,4 );
|
|
sendMsg.append(m_type);
|
|
|
|
//len
|
|
int len = value.length();
|
|
std::string m_len;
|
|
m_len.insert(0,4,'1');
|
|
memcpy ( (void*)m_len.c_str(),(void*)&len,4 );
|
|
sendMsg.append(m_len);
|
|
|
|
//data x
|
|
sendMsg.append(value);
|
|
}
|
|
resultByte = QByteArray::fromStdString(sendMsg);
|
|
} catch (QString ev)
|
|
{
|
|
qCritical() << "[Error] " << " ev:" << ev;
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
//接收数据
|
|
bool Hd_FangDing_module::writeData(std::vector<cv::Mat>& vec_mat, QByteArray &data)
|
|
{
|
|
qDebug() << __FUNCTION__ << "line:" << __LINE__ << " data:" << data;
|
|
if (vec_mat.empty())
|
|
{
|
|
qCritical() << "[Error] " << " vec_mat is null !";
|
|
return false;
|
|
}
|
|
detect_mutex->lock();
|
|
HikMat.clear();
|
|
qstring_data = byteArrayToUnicode(data);
|
|
for (int i = 0; i < vec_mat.size(); i++)
|
|
{
|
|
if (vec_mat[i].channels() == 3&& qstring_data.contains("放钉"))
|
|
cv::cvtColor(vec_mat[i], vec_mat[i], COLOR_BGR2GRAY);
|
|
HikMat.enqueue(vec_mat[i]);
|
|
}
|
|
|
|
//hv_Image.push_back(MatToHObject(HikMat[0]));
|
|
//std::cout << "vec_mat.size()" << vec_mat.size() << std::endl;
|
|
//QByteArray source_savePath;
|
|
sData = byteArrayToUnicode(data);
|
|
splitDataList = sData.split(',');
|
|
SN = splitDataList[3];
|
|
cameraKey_index = splitDataList[2];
|
|
sdataTime = QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz");
|
|
moduleData = data;
|
|
|
|
detect_mutex->unlock();
|
|
return true;
|
|
}
|
|
//初始化
|
|
bool Hd_FangDing_module::initParas(QByteArray& byte)
|
|
{
|
|
|
|
initValueList = byte.split('+');
|
|
QStringList valueiList;
|
|
|
|
for (int i = 0; i < initValueList.size(); i++)
|
|
{
|
|
QString valuei = byteArrayToUnicode(initValueList[i]);
|
|
if (valuei.contains("hv_model") && valuei.contains("#"))
|
|
{
|
|
m_hv_model = valuei.split("#")[1].toInt();
|
|
{
|
|
qDebug() << __FUNCTION__ << " line:" << __LINE__ << "m_hv_model::" << m_hv_model;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (byte.contains("onlySetParameter")) //只设置参数，不重新初始化
|
|
{
|
|
qDebug() << __FUNCTION__ << " line:" << __LINE__ << "onlySetParameter,valueList[0]:" << initValueList[0];
|
|
if (initValueList.size() > 1)
|
|
for (int i = 1; i < initValueList.size(); i++)
|
|
{
|
|
QString valuei = byteArrayToUnicode(initValueList[i]);
|
|
qDebug() << __FUNCTION__ << " line:" << __LINE__ << "onlySetParameter,lastName:" << initValueList[0] << " ,valuei:" << valuei;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
////运行检测线程
|
|
ifdetectThread = true;
|
|
|
|
////线程检测：结果类完成时，使用
|
|
////ifThreadRunDetect = true;
|
|
////QFuture<void> future1 = QtConcurrent::run(this, &Hd_FangDing_module::detectThread);
|
|
//运行存图线程
|
|
QFuture<void> future2 = QtConcurrent::run(this, &Hd_FangDing_module::saveImgThread);
|
|
|
|
//cv::Mat initimg = cv::imread("../bin/initimg.bmp");
|
|
//if (initimg.channels() == 3)
|
|
// cv::cvtColor(initimg, initimg, COLOR_BGR2GRAY);
|
|
myEngine.SetProcedurePath("./halconFilesAlgo/AlgoLibrary_602.hdpl"); //设置hdvp路径
|
|
//MatToHObject(initimg);
|
|
|
|
//InitModels();
|
|
//qDebug() << "[INFO] " << " StationNo:" << StationNo << " img2D:" << img2D ;
|
|
return true;
|
|
}
|
|
|
|
bool Hd_FangDing_module::InitModels()
|
|
{
|
|
int flag = 0;
|
|
//seg_aokeng = CreateSegObjS((char*)modelPath_seg_aokeng.c_str(), 1, 0); if (seg_aokeng->getStatus() != SegStatus::Seg_Success)flag++;
|
|
//seg_zhenyan = CreateSegObjS((char*)modelPath_seg_zhenyan.c_str(), 1, 0); if (seg_zhenyan->getStatus() != SegStatus::Seg_Success)flag++;
|
|
//seg_pianhan = CreateSegObjS((char*)modelPath_seg_pianhan.c_str(), 1, 0); if (seg_pianhan->getStatus() != SegStatus::Seg_Success)flag++;
|
|
//seg_rongding = CreateSegObjS((char*)modelPath_seg_rongding.c_str(), 1, 0); if (seg_rongding->getStatus() != SegStatus::Seg_Success)flag++;
|
|
|
|
//det_DJY = CreateDetObjS((char*)modelPath_det_DJY.c_str(), 1, 0); if (det_DJY->getStatus() != DetStatus::Det_Success)flag++;
|
|
// det_neiquan = CreateDetObjS((char*)modelPath_det_neiquan.c_str(), 1, 0); if (det_neiquan->getStatus() != DetStatus::Det_Success)flag++;
|
|
//cls_DJY = CreateClsObjV3((char*)modelPath_cls_DJY.c_str(), 0, 1); if (cls_DJY->getStatus() != ClsStatus::Cls_Success)flag++;
|
|
return (flag == 0);
|
|
}
|
|
// 解码
|
|
bool Hd_FangDing_module::decodeAiValue(QByteArray byte,QVector<QByteArray> &vec_ret)
|
|
{
|
|
if(byte.isEmpty())
|
|
{
|
|
qCritical() << "[Error] " << " byte is null!";
|
|
return false;
|
|
}
|
|
|
|
/*******************************************/
|
|
byte.remove(0,8);
|
|
QByteArray mm_data = byte.mid(0,4);
|
|
memcpy((void*)¶mNum,(void*)mm_data.data(), 4);
|
|
qDebug() << "[INFO] " << " paramNum:" << paramNum;
|
|
byte.remove(0,4);
|
|
/*******************************************/
|
|
|
|
while (!byte.isEmpty())
|
|
{
|
|
int type = 0;
|
|
QByteArray m_type = byte.mid(0,4);
|
|
memcpy((void*)&type,(void*)m_type.data(), 4);
|
|
byte.remove(0,4);
|
|
|
|
int len = 0;
|
|
QByteArray m_len = byte.mid(0,4);
|
|
memcpy((void*)&len,(void*)m_len.data(), 4);
|
|
byte.remove(0,4);
|
|
|
|
QByteArray mm_data = byte.mid(0,len);
|
|
vec_ret.append(mm_data);
|
|
byte.remove(0,len);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
//存图加入队列
|
|
void Hd_FangDing_module::addImgToSaveStruct(cv::Mat img2D, QString mysaveKey, std::pair<QString, QString> savePath)
|
|
{
|
|
//存图数据加保存队列，加锁，避免数据访问冲突
|
|
saveStruct_mutex->lock();
|
|
saveImgStruct mySave;
|
|
mySave.out_Mat = img2D.clone();
|
|
//img2D.copyTo(mySave.out_Mat);
|
|
mySave.saveKey = mysaveKey.toLocal8Bit().toStdString();
|
|
mySave.savePath = savePath.second.toLocal8Bit().toStdString();
|
|
mySave.createDirPath = savePath.first;
|
|
saveStruct.enqueue(mySave);
|
|
saveStruct_mutex->unlock();
|
|
}
|
|
void Hd_FangDing_module::saveImgThread()
|
|
{
|
|
while (1)
|
|
{
|
|
if (!ifdetectThread)return;
|
|
_sleep(5);
|
|
qApp->processEvents();
|
|
if (saveStruct.size() < 1)continue;
|
|
for (int i = 0; i < saveStruct.size(); i++)
|
|
{
|
|
clock_t start, stop;
|
|
start = clock();
|
|
saveStruct_mutex->lock();
|
|
saveImgStruct mysaveStruct = saveStruct.dequeue();
|
|
saveStruct_mutex->unlock();
|
|
createDirectoryIfNotExists(mysaveStruct.createDirPath);
|
|
stop = clock();
|
|
if (stop - start > 1000)
|
|
std::cout << "lock stop-start >1000::************************" << stop - start << std::endl;
|
|
start = clock();
|
|
if (mysaveStruct.out_Mat.data)
|
|
imwrite(mysaveStruct.savePath, mysaveStruct.out_Mat);
|
|
//std::cout << "savePath::" << mysaveStruct.savePath << std::endl;
|
|
stop = clock();
|
|
if (stop - start > 1000)
|
|
std::cout << "imwrite stop-start >1000::--------------------------" << stop - start << std::endl;
|
|
_sleep(1);
|
|
}
|
|
}
|
|
}
|
|
//检测线程,应当只运行一次
|
|
void Hd_FangDing_module::detectThread()
|
|
{
|
|
do
|
|
{
|
|
if (!ifdetectThread)return;
|
|
|
|
//此两行代码，避免程序卡死；_sleep的时间根据实际项目调整
|
|
_sleep(2);
|
|
qApp->processEvents();
|
|
//取数据加锁，避免数据访问冲突
|
|
detect_mutex->lock();
|
|
//if (HikMat.size() < 1 || saveKey.size() < 1 || Dir2D.size() < 1 || SN.size() < 1 )//|| DateTime1.size() < 1)
|
|
//{
|
|
// detect_mutex->unlock();
|
|
// continue;
|
|
//}
|
|
|
|
cv::Mat sourceImg1 = HikMat[0];// .dequeue();
|
|
QString mysaveKey = "saveKey";// .dequeue();
|
|
QString myDir2D = "Dir2D";// .dequeue();
|
|
QString mySN = "SN";// .dequeue();
|
|
QString myDataTime = "DateTime1";
|
|
detect_mutex->unlock();
|
|
|
|
////判断存图文件夹是否存在,不存在则创建
|
|
//{
|
|
// //原图总文件夹
|
|
// isDirExist(oriImgSaveDir + mysaveKey);
|
|
// //原图class总文件夹
|
|
// isDirExist(classImgSaveDir + mysaveKey);
|
|
// //结果图总文件夹
|
|
// isDirExist(resImgSaveDir + mysaveKey);
|
|
|
|
//}
|
|
|
|
//测试相机的，
|
|
//while (sourceImg1.cols > 2000)cv::resize(sourceImg1, sourceImg1, cv::Size(), 0.5, 0.5);
|
|
|
|
//存图数据入队
|
|
//addImgToSaveStruct(sourceImg1, mysaveKey, oriImgSaveDir + mysaveKey + "/" + mySN + myDataTime + ".bmp");
|
|
|
|
//-------检测流程，根据实际项目修改---------
|
|
//AIdetect(sourceImg1, mysaveKey, oriImgSaveDir, mySN, myDataTime);
|
|
//sourceImg1.release();
|
|
|
|
mysaveKey.clear();
|
|
myDir2D.clear();
|
|
mySN.clear();
|
|
myDataTime.clear();
|
|
qApp->processEvents();
|
|
|
|
} while (ifThreadRunDetect);
|
|
|
|
}
|
|
|
|
bool Hd_FangDing_module::run()
|
|
{
|
|
try
|
|
{
|
|
shortData_result = "0";
|
|
floatData_offsetX = "0";
|
|
floatData_offsetY = "0";
|
|
if (HikMat.isEmpty())
|
|
{
|
|
shortData_result = "2";
|
|
cv::Mat null_mat = cv::Mat::zeros(cv::Size(100, 100), CV_8UC3);
|
|
resMat.push_back(null_mat);
|
|
return true;
|
|
}
|
|
|
|
if (HikMat.isEmpty() || HikMat[0].rows < 200 || HikMat[0].cols < 200)//超时补图
|
|
{
|
|
shortData_result = "2";
|
|
cv::Mat null_mat = cv::Mat::zeros(cv::Size(100, 100), CV_8UC3);
|
|
resMat.push_back(null_mat);
|
|
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;
|
|
// }
|
|
// 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();
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HalconCpp::HObject in_Image = MatToHObject(HikMat[0]);
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//<c>* Function Name : _9_shangding < / c>
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// <c>* Author : < / c>
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// <c>*Description : < / c>
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// <c>< / c>
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// <c>*Input(HObject) : in_Image, 图像(bmp), < / c>
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// <c> < / c>
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// <c>*output(HObject) : < / c>
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// <c>*Input(HTuple) : in_ProductionType, 生产类别 : 0, 生产模式： 1, 标定模式 < / c>
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// <c>* in_CameraNumber, 相机序列号 < / c>
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// <c>* in_FilePath1, 模板文件路径; 示例:'./模板文件/' < / c >
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// <c>*in_FilePath2, 基准文件路径; < / c>
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std::string cameraNumberStr = "1";
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if (cameraKey_index == "DA4940770_0")
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cameraNumberStr = "2";
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HDevEngineCpp::HDevProcedure proc("_9_shangding");
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HDevProcedureCall procedureCall(proc);
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procedureCall.SetInputIconicParamObject("in_Image", in_Image);
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procedureCall.SetInputCtrlParamTuple("in_ProductionType", 0);
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procedureCall.SetInputCtrlParamTuple("in_CameraNumber", HTuple(cameraNumberStr.c_str()));
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procedureCall.SetInputCtrlParamTuple("in_FilePath1", HTuple("./halconFiles/template/"));
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procedureCall.SetInputCtrlParamTuple("in_FilePath2", HTuple("./halconFiles/base/"));
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procedureCall.Execute();
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// <c>*output(HTuple) : < / c>
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// <c>*out_Circle, 圆心坐标(y, x, radius) < / c >
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// <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>
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// <c>*out_OffsetX : 模组X轴的补偿量(mm) < / c >
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// <c>*out_OffsetY : 模组Y轴的补偿量(mm) < / c >
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HTuple out_Circle = procedureCall.GetOutputCtrlParamTuple("out_Circle");
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HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag");
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HTuple out_OffsetX = procedureCall.GetOutputCtrlParamTuple("out_OffsetX");
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HTuple out_OffsetY = procedureCall.GetOutputCtrlParamTuple("out_OffsetY");
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int outFlag = out_Flag.D();
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉" << "_SN::" << SN << ",放钉算法结果;" << out_Flag[0].D();
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if (outFlag == 1){ //-1为失败，无结果
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//圆及十字
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cv::circle(img_dst, cv::Point(out_Circle[1].D(), out_Circle[0].D()), out_Circle[2].D(), cv::Scalar(0, 255, 0), 20);
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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);
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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);
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double offsetX = 0 - out_OffsetX.D();
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double offsetY = 0 - out_OffsetY.D();
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QString UP_Down = "X偏移：" + QString::number(offsetX);
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QByteArray path_arr = UP_Down.toLocal8Bit();
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const char* path = path_arr.data();
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putTextZH(img_dst, path, cv::Point(50, 100), cv::Scalar(0, 255, 0), 150, "微软雅黑");
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UP_Down = "Y偏移：" + QString::number(offsetY);
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path_arr = UP_Down.toLocal8Bit();
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path = path_arr.data();
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putTextZH(img_dst, path, cv::Point(50, 300), cv::Scalar(0, 255, 0), 150, "微软雅黑");
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if (abs(offsetX) >= 6000 || abs(offsetY) >= 6000)
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{
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shortData_result = "2";
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floatData_offsetX = "-1.1";
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floatData_offsetY = "-1.1";
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " 放钉X偏移abs(resultData[0]) >= 6000,may err,set 0";
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}
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else {
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shortData_result = "1";
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floatData_offsetX = QString::number(offsetX);
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floatData_offsetY = QString::number(offsetY);
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}
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addImgToSaveStruct(img_dst, "0", getResSaveFormat(SN, okngText));//保存结果图
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putTextZH(img_dst, "OK", cv::Point(50, 500), cv::Scalar(0, 255, 0), 150, "微软雅黑");
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}
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else
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{
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shortData_result = "2";
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floatData_offsetX = "-0.123";
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floatData_offsetY = "-0.123";
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putTextZH(img_dst, "算法异常", cv::Point(50, 300), cv::Scalar(0, 0, 255), 150, "微软雅黑");
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putTextZH(img_dst, "NG", cv::Point(50, 500), cv::Scalar(0, 0, 255), 150, "微软雅黑");
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}
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resMat.push_back(img_dst);
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//qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera::放钉:" << hv_CameraNumber.D() << "_SN::" << SN << ",放钉算法结果;" << out_Flag.D();
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//qDebug() << __FUNCTION__ << " line:" << __LINE__ << "Mat_name: run end" << "model uesd time::" << stop - start << "ms";
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return true;
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}
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catch (HDevEngineCpp::HDevEngineException& ex) {
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std::cerr << "HDevEngineException: " << ex.Message() << std::endl;
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}
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catch (HException& ex) {
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// 捕获Halcon异常
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std::cerr << "Halcon Exception Caught!" << std::endl;
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std::cerr << "Error Code: " << ex.ErrorCode() << std::endl;
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std::cerr << "Error Message: " << ex.ErrorMessage() << std::endl;
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}
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catch (std::exception& ex) {
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// 捕获其他标准异常
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std::cerr << "Standard Exception Caught: " << ex.what() << std::endl;
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}
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catch (...)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << cameraKey_index <<"Mat_error: run end";
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}
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shortData_result = "2";
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cv::Mat null_mat = cv::Mat::zeros(cv::Size(100, 100), CV_8UC3);
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resMat.push_back(null_mat);
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return true;
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}
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bool Hd_FangDing_module::checkStatus()
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{
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status = moduleStatus;
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return status;
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}
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