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更改了点激光取值方式

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This commit is contained in:
RCiRoot
2024-08-30 17:36:15 +08:00
parent 1717f502e1
commit 2ce0d7b876
17 changed files with 121 additions and 84 deletions
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BaseModules/Hd_3DCameraLMI_module_PointLazer/Hd_3DCameraLMI_module_PointLazer_Range.cpp
+13 -5
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@@ -217,10 +217,16 @@ bool Hd_3DCameraLMI_module::sendData(std::vector<cv::Mat>& vecPic, QByteArray &d
if(dataVec.size()>0)
{
m_mutex->lock();
double rangeData = dataVec[dataVec.size()-1];
double avgData = 0;
for (auto data : dataVec)
{
avgData += data;
}
avgData /= dataVec.size();
//double rangeData = dataVec[dataVec.size()-1];
dataVec.clear();
m_mutex->unlock();
data = QByteArray::number(rangeData);
data = QByteArray::number(avgData);
}
return true;
@@ -261,17 +267,18 @@ bool Hd_3DCameraLMI_module::initParas(QByteArray &)
bool Hd_3DCameraLMI_module::run()
{
dataVec.clear();
for(auto i = 0 ;i<20000;i++)
GoSensor_Trigger(sensor);
bool result = false;
//qDebug() << "[info]" << __FUNCTION__ << " line:" << __LINE__ << " run start" << id;
try
{
int timeOut = 0;
dataVec.clear();
while (timeOut < 10000)
while (timeOut < 2000)
{
m_mutex->lock();
if (dataVec.size() > 0)
if (dataVec.size() >= 9000)
{
result = true;
m_mutex->unlock();
@@ -281,6 +288,7 @@ bool Hd_3DCameraLMI_module::run()
timeOut += 10;
QThread::msleep(10);
}
std::cout << "size" << dataVec.size() << std::endl;
}
catch (QString ev)
{
HanddleAI/HandleAiUi-new/appConfig/sqlManager/sqlManager.cpp
+1 -1
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@@ -148,7 +148,7 @@ bool sqlManager::updateData(std::string SN,sqlRowDatas data)
dbPtr->Update(getCurrentDate(), data, "SN", SN);
}
mutex.unlock();
return true;
}
//将数据存入数据库
bool sqlManager::addData(std::string SN,std::vector<sqlData> data)
HanddleAI/HandleAiUi-new/detProcess.hpp
+107 -78
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@@ -11,17 +11,17 @@
class detProcess : public QThread
{
public:
detProcess()
{
_threadManager.initialization(this);
_manualDetThread.initialization(this);
_cameraManager.initialization();
_triggerManager.initialization(this);
detProcess()
{
_threadManager.initialization(this);
_manualDetThread.initialization(this);
_cameraManager.initialization();
_triggerManager.initialization(this);
detProcessCallbackRegister();
}
}
//初始化
void run()
{
void run()
{
_cameraManager.start();
_handleAiModelManager.start();
_lightSourceManager.start();
@@ -35,16 +35,16 @@ public:
_triggerManager.start();
res3 = waitrForInitResult(&_triggerManager);
}
std::cout << "_cameraManager-initReuslt-->" << std::to_string(res1) << "\n"
std::cout << "_cameraManager-initReuslt-->" << std::to_string(res1) << "\n"
<< "_handleAiModelManager-initReuslt-->" << std::to_string(res2) << "\n"
<< "_triggerManager-initReuslt-->" << std::to_string(res3) << "\n" << std::endl;
if(res1 == true&&res2 == true && res3 == true)
if (res1 == true && res2 == true && res3 == true)
emit _core._qtFunc.sendInitFinished(InitOK);
else
emit _core._qtFunc.sendInitFinished(InitFailure);
}
}
//等待服务返回OK/NG直到超时
bool waitrForInitResult(serviceModule* ptr,int timeout=-1)
bool waitrForInitResult(serviceModule* ptr, int timeout = -1)
{
if (timeout == -1)//不会超时
{
@@ -52,7 +52,7 @@ public:
{
if (ptr->status == InitFailure)
return false;
else if(ptr->status == InitOK)
else if (ptr->status == InitOK)
return true;
QThread::msleep(100);
}
@@ -75,18 +75,18 @@ public:
}
}
simpleSiemensTcp _simpleSiemensTcp;
detDataManager _detDataManager;//检测中的数据 不需要初始化
imgSaveThreadManager _imgSaveThreadManager;//存图线程 不需要初始化
detThreadManager _threadManager;//异步检测线程 不需要初始化
handleAiModelManager _handleAiModelManager;//模型
cameraManager _cameraManager;//相机
lightSourceManager _lightSourceManager;//光源
detDataManager _detDataManager;//检测中的数据 不需要初始化
imgSaveThreadManager _imgSaveThreadManager;//存图线程 不需要初始化
detThreadManager _threadManager;//异步检测线程 不需要初始化
triggerManager _triggerManager;//MODBUS触发器
manualDetThread _manualDetThread;//手动触发线程
handleAiModelManager _handleAiModelManager;//模型
cameraManager _cameraManager;//相机
lightSourceManager _lightSourceManager;//光源
///////////////////////////////
triggerManager _triggerManager;//MODBUS触发器
manualDetThread _manualDetThread;//手动触发线程
///////////////////////////////
bool startDet = false;
QMutex detMutex;
std::string currentSn;
@@ -99,7 +99,8 @@ public:
_triggerManager.registerCallback(361, 2, [this](QByteArray& byteArray) {detectionSwitch2(byteArray); }, "检测结束1");
_triggerManager.registerCallback(362, 1, [this](QByteArray& byteArray) {detectionEnd(byteArray); }, "检测结束2");
_triggerManager.registerCallback(364, 1, [this](QByteArray& byteArray) {frontBackDet(); }, "检测正反面");
_triggerManager.registerCallback(369, 1, [this](QByteArray& byteArray) {testFunc(); }, "检测正反面");
_threadManager.registerCallback([this](std::shared_ptr<detData>data) {correctionResultHandle(data); });
_threadManager.registerCallback([this](std::shared_ptr<detData>data) {detectionResultHandle(data); });
}
@@ -109,7 +110,7 @@ public:
bool currentBack = false;
//激光校准数据缓存 //SN 数据
pointsOffsetStruct lastPointsOffsetStruct_;
correctionStruct laserDataCache;
correctionStruct laserDataCache;
//总流程开始，机器人发送1至寄存器259
//上位机确认OK之后，清零寄存器259，并发送1至寄存器260
//如产品型号为Product_1且为正面，则上位机发送1至寄存器256，发送0至寄存器257
@@ -132,12 +133,12 @@ public:
//上位机确认机器人到达点位1(264)时，确认OK后，寄存器262至1，261至0，取点完成后，发送寄存器263至1
//校准函数 261
void calibrationFunc(QByteArray& byteArray)
{
{
QThread::msleep(3000);
int armPos = _triggerManager.getValue(264, byteArray);
int xValue1 = _triggerManager.getValue(265, byteArray);
int xValue2 = _triggerManager.getValue(266, byteArray);
int xValue2 = _triggerManager.getValue(266, byteArray);
int xValue3 = _triggerManager.getValue(267, byteArray);
int yValue1 = _triggerManager.getValue(268, byteArray);
@@ -154,31 +155,33 @@ public:
auto cameraPtr = _cameraManager.getCamera("181964");
if (cameraPtr == nullptr)
return;
std::vector<double> values;
for (int i = 0; i < 10; i++)//弃用
{
cameraPtr->trigger();
double rangeData1 = cameraPtr->getCameraValue();
}
for (int i = 0; i < 70; i++)
{
cameraPtr->trigger();
double rangeData1 = cameraPtr->getCameraValue();
values.push_back(rangeData1);
}
cameraPtr->trigger();
double rangeData = cameraPtr->getCameraValue();
//std::vector<double> values;
//for (int i = 0; i < 10; i++)//弃用
//{
// cameraPtr->trigger();
// double rangeData1 = cameraPtr->getCameraValue();
//}
//for (int i = 0; i < 70; i++)
//{
// cameraPtr->trigger();
// double rangeData1 = cameraPtr->getCameraValue();
// values.push_back(rangeData1);
//}
double avgData = 0;
for (auto data : values)
{
avgData += data;
}
avgData /= values.size();
//double avgData = 0;
//for (auto data : values)
//{
// avgData += data;
//}
//avgData /= values.size();
double maxData = *std::max_element(values.begin(), values.end());
double minData = *std::min_element(values.begin(), values.end());
double rangeData = avgData;
qDebug() << " max:" << maxData << " min:" << minData << " avg:" << avgData;
std::cout << " max:" << maxData << " min:" << minData << " avg:" << avgData << std::endl;
//double maxData = *std::max_element(values.begin(), values.end());
//double minData = *std::min_element(values.begin(), values.end());
//double rangeData = avgData;
/*qDebug() << " max:" << maxData << " min:" << minData << " avg:" << avgData;
std::cout << " max:" << maxData << " min:" << minData << " avg:" << avgData << std::endl;*/
qDebug() << "jiaozhun xValue:" << xValue << " yValue:" << yValue << " zValue:" << zValue << " rangeData:" << rangeData;
std::cout << "jiaozhun xValue:" << xValue << " yValue:" << yValue << " zValue:" << zValue << " rangeData:" << rangeData << std::endl;
if (rangeData == 0)
@@ -205,13 +208,13 @@ public:
laserDataCache.in_X_Y0Z_Value.push_back(rangeData);
}
else if (armPos <= 9)
{
{
laserDataCache.in_X_X0Z.push_back(xValue);
laserDataCache.in_Y_X0Z.push_back(yValue);
laserDataCache.in_Z_X0Z.push_back(zValue);
laserDataCache.in_Y_X0Z_Value.push_back(rangeData);
}
_triggerManager.sendFinsMsg("write_short_261_0");//清零
_triggerManager.sendFinsMsg("write_short_262_1");
_triggerManager.sendFinsMsg("write_short_263_1");
@@ -226,7 +229,7 @@ public:
_threadManager.addTask(data);//添加任务
laserDataCache = correctionStruct();
}
}
}
//拍照并检测 300
void captureImageAndDetection(QByteArray& byteArray)
{
@@ -237,7 +240,7 @@ public:
_triggerManager.sendFinsMsg("write_short_300_0");//触发信号清零
_triggerManager.sendFinsMsg("write_short_301_1");//开始检测信号
int Pos = _triggerManager.getValue(303, byteArray);
emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(Pos,1);
emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(Pos, 1);
std::cout << "arm @Pos:" << Pos;
std::shared_ptr <detData> data = _detDataManager.insertDetData("Camera1", currentSn, 1, 1);
@@ -306,17 +309,17 @@ public:
if (!data.value.compare("NG"))
result = false;
//数据库结果为false时 不根据当前跑料数据判断
if(result == false)
if (result == false)
{
emit _core._qtFunc.uiModuleSummaryDataManager_SetSummaryResultText("NG", Qt::red);
return;
}
//数据库结果为true或者没有查询到数据时时 继续判断
if(productData->ngPinCount >0 || productData->ngCount>0)//NG
if (productData->ngPinCount > 0 || productData->ngCount > 0)//NG
{
emit _core._qtFunc.uiModuleSummaryDataManager_SetSummaryResultText("NG", Qt::red);
_core._appConfig._sqlManager.updateData(currentSn, {{"detResult","NG"}});
_core._appConfig._sqlManager.updateData(currentSn, { {"detResult","NG"} });
}
else
{
@@ -330,7 +333,7 @@ public:
if (currentBack == true)
currentBack = false;
else if (
_core._appConfig.productDatas[currentProductIndex].isBackExist == true
_core._appConfig.productDatas[currentProductIndex].isBackExist == true
&& result == true
&& startDet == true)
{
@@ -352,7 +355,7 @@ public:
void detectionResultHandle(std::shared_ptr<detData>data)
{
data->sqlVec.push_back({ "SN",data->SNcode });
data->sqlVec.push_back({ "ARMPOS",std::to_string(data->armPos)});
data->sqlVec.push_back({ "ARMPOS",std::to_string(data->armPos) });
//发送图片
if (data->resultImgs.size() > 0)
{
@@ -396,7 +399,7 @@ public:
pack.type = 2;
}
if(data->halconOK == true)
if (data->halconOK == true)
emit _core._qtFunc.addDashBoardData(0, data->halconOK);
else if (data->resultImgs.size() >= 2)
{
@@ -407,16 +410,16 @@ public:
pack.type = 1;
}
if (finalOk == true)
emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(data->armPos,2);
emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(data->armPos, 2);
perConnector _perConnectorData;
_perConnectorData.aiOk = data->aiDetOK;
_perConnectorData.halconOk = data->halconOK;
_perConnectorData.maxPinDetValue = data->maxPinDetValue;
auto productData = _core._productDataCache.get(currentSn);
productData->connectorResults.push_back(_perConnectorData);
data->sqlVec.push_back({ "Result",std::to_string(finalOk)});
data->sqlVec.push_back({ "Result",std::to_string(finalOk) });
}
//ct计算以及发送到界面
auto totalCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->halconEndTime - data->algoStartTime);
@@ -451,28 +454,54 @@ public:
//使用点激光测量检测是否为正面，没数据就是正面
void frontBackDet()
{
_triggerManager.sendFinsMsg("write_short_364_1");
QThread::msleep(1000);
_triggerManager.sendFinsMsg("write_short_364_0");
_triggerManager.sendFinsMsg("write_short_365_0");
auto cameraPtr = _cameraManager.getCamera("181964");
if (cameraPtr == nullptr)
return;
for (int i = 0; i < 10; i++)//弃用
//for (int i = 0; i < 10; i++)//弃用
//{
// cameraPtr->trigger();
// cameraPtr->getCameraValue();
//}
//for (int i = 0; i < 100; i++)//检测是否有数据
//{
// cameraPtr->trigger();
// if (cameraPtr->getCameraValue() > -100)//有数据 是反面
// {
// _triggerManager.sendFinsMsg("write_short_365_2");
// break;
// }
//}
//1是正面，读不到，2是反面，可以读到
cameraPtr->trigger();
double value = cameraPtr->getCameraValue();
std::cout << "camera value" << value;
if (value > -100)//有数据 是反面
{
cameraPtr->trigger();
cameraPtr->getCameraValue();
}
for (int i = 0; i < 100; i++)//检测是否有数据
{
cameraPtr->trigger();
if (cameraPtr->getCameraValue() > -100)//有数据 是反面
{
_triggerManager.sendFinsMsg("write_short_365_2");
break;
}
_triggerManager.sendFinsMsg("write_short_365_2");
return;
}
_triggerManager.sendFinsMsg("write_short_365_1");//无数据 是正面
//正面反面是否继续检测，在机械臂脚本中决定
}
void testFunc()
{
auto cameraPtr = _cameraManager.getCamera("181964");
if (cameraPtr == nullptr)
return;
std::vector<double> values;
for (int i = 0; i < 1000; i++)
{
cameraPtr->trigger();
double v = cameraPtr->getCameraValue();
std::cout << v << std::endl;
}
}
public slots:
void runBackDet()
{
lib/Hd_3DCameraLMI_module_PointLazer.exp
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