修复

Doc/bug/新建文本文档 (2).txt

@@ -0,0 +1,103 @@
+QObject::startTimer: Timers can only be used with threads started with QThread
+Could not open the file -
+Could not open the file - .//config//communicateConfig
+Could not open the file -
+Could not open the file -
+Could not open the file -
+init IP:192.168.1.200 Host:502 Sta:100007FFC4E324370SQL runing Init...
+sleepname:sleeptime sleepvalue:20 readname:readnum readvalue:300 write_type:writetype write_value:ushort m_host:50200007FFC4E324370CreatePtr
+[2024-06-25 16:35:45.397] [Info] [DetModule] GPU: NVIDIA GeForce RTX 3090
+[2024-06-25 16:35:45.398] [Info] [ClsModule] GPU:  NVIDIA GeForce RTX 3090
+[2024-06-25 16:35:45.399] [Info] [DetModule] GPU: NVIDIA GeForce RTX 3090
+[2024-06-25 16:35:45.399] [Info] [SegModule] GPU:  NVIDIA GeForce RTX 3090
+[2024-06-25 16:35:45.399] [Info] HanddleAI4.1-cls
+[2024-06-25 16:35:45.399] [Info] HanddleAI4.1-seg
+SQL init end
+[2024-06-25 16:35:45.833] [Info] [SegModule] ./HandleAiModels/ASR-Seg.BHD has been successfully loaded.
+[2024-06-25 16:35:45.848] [Info] [SegModule] runtime batch size is 1
+[2024-06-25 16:35:45.848] [Info] [SegModule] seg model init success.
+[2024-06-25 16:35:46.554] [Info] [ClsModule] ./HandleAiModels/ASR-Cls.BHD has been successfully loaded.
+[2024-06-25 16:35:46.554] [Info] [DetModule] ./HandleAiModels/connectorDet.BHD has been successfully loaded.
+[2024-06-25 16:35:46.555] [Info] [ClsModule] runtime batch size is 1
+[2024-06-25 16:35:46.556] [Info] [ClsModule] cls model init success.
+[2024-06-25 16:35:46.568] [Info] [DetModule] det model init success.
+Range Message batch count: 1
+ pointZ:-73.686600
+Range Message batch count: 1
+ pointZ:-73.686600
+Range Message batch count: 1
+ pointZ:-73.694400
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-73.6892
+Range Message batch count: 1
+ pointZ:-76.416600
+Range Message batch count: 1
+ pointZ:-76.416600
+Range Message batch count: 1
+ pointZ:-76.389300
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-76.4075
+Range Message batch count: 1
+ pointZ:-75.652200
+Range Message batch count: 1
+ pointZ:-75.648300
+Range Message batch count: 1
+ pointZ:-75.648300
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-75.6496
+Range Message batch count: 1
+ pointZ:-61.713600
+Range Message batch count: 1
+ pointZ:-61.721400
+Range Message batch count: 1
+ pointZ:-61.713600
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-61.7162
+Range Message batch count: 1
+ pointZ:-61.928100
+Range Message batch count: 1
+ pointZ:-61.928100
+Range Message batch count: 1
+ pointZ:-61.932000
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-61.9294
+Range Message batch count: 1
+ pointZ:-67.158000
+Range Message batch count: 1
+ pointZ:-67.158000
+Range Message batch count: 1
+ pointZ:-67.158000
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-67.158
+Range Message batch count: 1
+ pointZ:16.068000
+Range Message batch count: 1
+ pointZ:16.056300
+Range Message batch count: 1
+ pointZ:16.064100
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:16.0628
+Range Message batch count: 1
+ pointZ:15.982200
+Range Message batch count: 1
+ pointZ:15.993900
+Range Message batch count: 1
+ pointZ:15.986100
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:15.9874
+Range Message batch count: 1
+ pointZ:14.874600
+Range Message batch count: 1
+ pointZ:14.874600
+Range Message batch count: 1
+ pointZ:14.878500
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:14.8759
+error修改数组为空
+arm @Pos:1修改数组为空
+arm @Pos:2修改数组为空
+arm @Pos:3修改数组为空
+arm @Pos:4修改数组为空
+arm @Pos:5修改数组为空
+arm @Pos:6修改数组为空
+arm @Pos:7修改数组为空
+arm @Pos:8修改数组为空
+arm @Pos:9修改数组为空
+arm @Pos:10修改数组为空
+arm @Pos:11修改数组为空
+arm @Pos:12修改数组为空
+
+D:\ciscoAoiUi\bin\HandleAiUi-new.exe (进程 18796)已退出，代码为 -1。
+要在调试停止时自动关闭控制台，请启用“工具”->“选项”->“调试”->“调试停止时自动关闭控制台”。
+按任意键关闭此窗口. . .

Doc/bug/新建文本文档.txt

@@ -0,0 +1,87 @@
+QObject::startTimer: Timers can only be used with threads started with QThread
+Could not open the file -
+Could not open the file - .//config//communicateConfig
+Could not open the file -
+Could not open the file -
+Could not open the file -
+init IP:192.168.1.200 Host:502 Sta:100007FFC4D414370sleepname:SQL runing Init...
+sleeptime sleepvalue:20 readname:readnum readvalue:300 write_type:writetype write_value:ushort m_host:50200007FFC4D414370CreatePtr
+[2024-06-25 16:18:33.468] [Info] [DetModule] GPU: NVIDIA GeForce RTX 3090
+[2024-06-25 16:18:33.469] [Info] [DetModule] GPU: NVIDIA GeForce RTX 3090
+[2024-06-25 16:18:33.469] [Info] [ClsModule] GPU:  NVIDIA GeForce RTX 3090
+[2024-06-25 16:18:33.469] [Info] [SegModule] GPU:  NVIDIA GeForce RTX 3090
+[2024-06-25 16:18:33.469] [Info] HanddleAI4.1-cls
+[2024-06-25 16:18:33.469] [Info] HanddleAI4.1-seg
+SQL init end
+[2024-06-25 16:18:33.933] [Info] [SegModule] ./HandleAiModels/ASR-Seg.BHD has been successfully loaded.
+[2024-06-25 16:18:33.952] [Info] [SegModule] runtime batch size is 1
+[2024-06-25 16:18:33.953] [Info] [SegModule] seg model init success.
+[2024-06-25 16:18:34.655] [Info] [ClsModule] ./HandleAiModels/ASR-Cls.BHD has been successfully loaded.
+[2024-06-25 16:18:34.656] [Info] [DetModule] ./HandleAiModels/connectorDet.BHD has been successfully loaded.
+[2024-06-25 16:18:34.657] [Info] [ClsModule] runtime batch size is 1
+[2024-06-25 16:18:34.657] [Info] [ClsModule] cls model init success.
+[2024-06-25 16:18:34.677] [Info] [DetModule] det model init success.
+Range Message batch count: 1
+ pointZ:-73.710000
+Range Message batch count: 1
+ pointZ:-73.710000
+Range Message batch count: 1
+ pointZ:-73.706100
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-73.7087
+Range Message batch count: 1
+ pointZ:-76.385400
+Range Message batch count: 1
+ pointZ:-76.401000
+Range Message batch count: 1
+ pointZ:-76.393200
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-76.3932
+Range Message batch count: 1
+ pointZ:-75.679500
+Range Message batch count: 1
+ pointZ:-75.656100
+Range Message batch count: 1
+ pointZ:-75.667800
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-75.6678
+Range Message batch count: 1
+ pointZ:-61.701900
+Range Message batch count: 1
+ pointZ:-61.694100
+Range Message batch count: 1
+ pointZ:-61.686300
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-61.6941
+Range Message batch count: 1
+ pointZ:-61.951500
+Range Message batch count: 1
+ pointZ:-61.951500
+Range Message batch count: 1
+ pointZ:-61.955400
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-61.9528
+Range Message batch count: 1
+ pointZ:-67.169700
+Range Message batch count: 1
+ pointZ:-67.161900
+Range Message batch count: 1
+ pointZ:-67.158000
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:-67.1632
+Range Message batch count: 1
+ pointZ:16.130400
+Range Message batch count: 1
+ pointZ:16.161600
+Range Message batch count: 1
+ pointZ:16.157700
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:16.1499
+Range Message batch count: 1
+ pointZ:15.954900
+Range Message batch count: 1
+ pointZ:15.939300
+Range Message batch count: 1
+ pointZ:15.931500
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:15.9419
+Range Message batch count: 1
+ pointZ:14.894100
+Range Message batch count: 1
+ pointZ:14.905800
+Range Message batch count: 1
+ pointZ:14.894100
+jiaozhun xValue:462.22 yValue:-427.5 zValue:108.17 rangeData:14.898
+errorox:

HanddleAI/HandleAiUi-new/FrontendBackendBridge.cpp

@@ -1,6 +1,7 @@
 #include <FrontendBackendBridge.h>
 #include <uiModule/uiModule_switchProduct.h>
 #include <appConfig/appConfig.hpp>
+#include <lightSource.hpp>
 fbBridge bridge;
 //INIT
 backEnd::backEnd(QObject* parent)
@@ -9,27 +10,6 @@ backEnd::backEnd(QObject* parent)
 }
 void backEnd::Init()
 {
-    
-    //
-    for (auto data : json.LightSources.LightSourceList)
-    {
-        //QSerialPort* serialPort = new QSerialPort;//밟都눔왯
-        ////serialPort->clear();
-        //serialPort->close();
-        //serialPort->setPortName(data.comPort);
-        //serialPort->open(QIODevice::ReadWrite);
-        //serialPort->setBaudRate(data.baudRate);
-        //serialPort->setDataBits(QSerialPort::Data8);
-        //serialPort->setParity(QSerialPort::NoParity);
-        //serialPort->setStopBits(QSerialPort::OneStop);
-        //serialPort->setFlowControl(QSerialPort::NoFlowControl);
-        //serialPort->write(data.initStr.toUtf8());
-        //serialPort->waitForBytesWritten();
-        //if (serialPort->isOpen() != true)
-        //    qDebug() << data.comPort << "open failure!!";
-        //QSerialPorts.append(serialPort);
-        //QSerialPortsName.append(data.name);
-    }
 
 }
 

HanddleAI/HandleAiUi-new/FrontendBackendBridge.h

@@ -8,6 +8,7 @@
 #include <appConfig/jsonParsing.h>
 #include <qmutex.h>
 #include <uiModule/uiModule_tableView.h>
+#include <lightSource.hpp>
 //数据指针
 struct productDataStruct;
 class appConfig;
@@ -61,6 +62,7 @@ public:
 	{
 
 	}
+	lightSourceManager _lightSourceManager;
 	appConfig* _appConfig = nullptr;
 private:
 

HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h

@@ -306,7 +306,11 @@ void ALGO_Correction(std::shared_ptr <detData> data)
 		return;
 
 	CorrectionPoints resultPoints;
-	HalconCorrection(data->correctionData, resultPoints);
+	if (HalconCorrection(data->correctionData, resultPoints) == false)
+	{
+		data->writeBack("short", 274, "1");
+		return;
+	}
 	Point3d point = getRPY(resultPoints); 
 
 	std::cout << "ox:" << resultPoints.Origin[0] << "oy:" << resultPoints.Origin[1] << "oz:" << resultPoints.Origin[2] << std::endl;

HanddleAI/HandleAiUi-new/algo/ALGO_Inspection.h

@@ -5,7 +5,7 @@
 #include <algo/simpleAlgo.h>
 cv::Mat pinHandleAiEvaluate(std::shared_ptr <detData> data, cv::Mat& src,
     handleAiModelSeg* segPtr, handleAiModelCls* clsPtr);
-bool pinHalconEvaluate(cv::Rect& Result, cv::Mat& src, cv::Mat& out, int productType);
+bool pinHalconEvaluate(std::shared_ptr <detData> data, cv::Rect& Result, cv::Mat& src, cv::Mat& out, int productType);
 
 //公头定位
 std::vector<handdleAI::Bbox> pinDetEvaluate(std::shared_ptr <detData> data ,cv::Mat& src, handleAiModelManager* _handleAiModelManager)
@@ -44,12 +44,12 @@ void halconEvaluate(std::shared_ptr <detData> data, std::vector<handdleAI::Bbox>
     for (auto& box : connectorPos)
     {
         cv::Mat halconMatResult;
-        bool halconBoolResult = pinHalconEvaluate(BboxToRect(box), src, halconMatResult, box.classes);
+        bool halconBoolResult = pinHalconEvaluate(data,BboxToRect(box), src, halconMatResult, box.classes);
         if (halconBoolResult == true)
             halconImgResult.push_back(halconMatResult);//HALCON检测结果
     }
 }
-bool pinHalconEvaluate(cv::Rect& Result, cv::Mat& src,cv::Mat& out,int productType)
+bool pinHalconEvaluate(std::shared_ptr <detData> data, cv::Rect& Result, cv::Mat& src,cv::Mat& out,int productType)
 {
 #pragma region halcon变量定义
     //测量
@@ -107,6 +107,8 @@ bool pinHalconEvaluate(cv::Rect& Result, cv::Mat& src,cv::Mat& out,int productTy
         out = HObject2Mat(hv_out_Img_INS);
         return true;
     }
+    if (hv_out_Pings_X.Length() > 0)
+        data->halconOK = false;
     out = HObject2Mat(hv_out_Img_INS);
     return false;
     //Pings_ROI(ho_in_Image, hv_in_ShapePath, hv_in_Parameter, &hv_out_ROI_Value, &hv_out_Flag_ROI);
@@ -160,9 +162,11 @@ cv::Mat pinHandleAiEvaluate(std::shared_ptr <detData> data, cv::Mat& src,
         case 1:
             color = cv::Scalar(0, 0, 255, 30);
             clsFileName = "NG1";
+            data->aiDetOK = false;
             break;
         default:
             clsFileName = std::to_string(clsRes);
+            data->aiDetOK = false;
         }
         data->clsOriginImgs.push_back(std::make_pair(clsFileName, clsImg));
         cv::rectangle(Paint, originRect, color, 2);

HanddleAI/HandleAiUi-new/back/backEndManager.cpp

@@ -93,7 +93,7 @@ void backEndManager::writeArmStartSignal(int productTypeIn)
 	_appConfig->productDatasMutex.lock();
 	productTypeStr = _appConfig->productDatas[productTypeIn].name;
 	_appConfig->productDatasMutex.unlock();
-	productType = productTypeIn;
-	_triggerManager->sendFinsMsg("write_short_350_"+QString::number(productTypeIn));
+	productType = _appConfig->productDatas[productTypeIn].indexOfArm;
+	_triggerManager->sendFinsMsg("write_short_350_"+QString::number(productType));
 	_triggerManager->sendFinsMsg("write_short_351_1");
 }

HanddleAI/HandleAiUi-new/back/detData.h

@@ -68,8 +68,8 @@ public:
     }
     productDataStruct _productDataStruct;
     //结果
-    bool aiDetOK = false;
-    bool halconOK = false;
+    bool aiDetOK = true;
+    bool halconOK = true;
     //存图相关
     QMutex resultMutex;//结果图锁
     std::vector<cv::Mat> resultImgs;//结果图

HanddleAI/HandleAiUi-new/back/lightSource.hpp

@@ -0,0 +1,74 @@
+#include <qserialport.h>
+#include <unordered_map>
+enum lightSourceChannel
+{
+    AChannel, BChannel, CChannel, DChannel
+};
+class lightSource   
+{
+public:
+    QSerialPort* serialPort = new QSerialPort();
+    lightSource(std::string comName, int baudRate, std::string initStr)
+    {
+        serialPort->close();
+        serialPort->setPortName(QString::fromStdString(comName));
+        serialPort->open(QIODevice::ReadWrite);
+        serialPort->setBaudRate(baudRate);
+        serialPort->setDataBits(QSerialPort::Data8);
+        serialPort->setParity(QSerialPort::NoParity);
+        serialPort->setStopBits(QSerialPort::OneStop);
+        serialPort->setFlowControl(QSerialPort::NoFlowControl);
+        serialPort->write(initStr.c_str());
+        serialPort->waitForBytesWritten();
+        if (serialPort->isOpen() != true)
+            qDebug() << comName.c_str() << "open failure!!";
+    }
+    void setValue(lightSourceChannel channelIn,unsigned char value)
+    {
+        std::string controlStr;
+        switch (channelIn)
+        {
+        case lightSourceChannel::AChannel:
+            controlStr = "SA0";
+            break;
+        case lightSourceChannel::BChannel:
+            controlStr = "SB0";
+            break;
+        case lightSourceChannel::CChannel:
+            controlStr = "SC0";
+            break;
+        case lightSourceChannel::DChannel:
+            controlStr = "SD0";
+            break;
+        }
+        std::string valueStr = std::to_string(value);
+        if (valueStr.length() < 3)
+            for (int i = 0; i < 3 - valueStr.length(); i++)
+                controlStr += "0";
+        controlStr += valueStr + "#";
+        serialPort->write(controlStr.c_str());
+        serialPort->waitForBytesWritten();
+    }
+};
+class lightSourceManager
+{
+public:
+    lightSourceManager()
+    {
+        insertLightSource("COM8", 19200, "SA0000#SB0000#SC0000#SD0000#");
+    }
+	std::unordered_map<std::string, lightSource*>lightSources;
+	void insertLightSource(std::string comName ,int baudRate,std::string initStr)
+	{
+        lightSource* newLigthSource = new lightSource(comName, baudRate, initStr);
+        lightSources.insert(std::make_pair(comName, newLigthSource));
+	}
+    lightSource* getLightSourcePtr(std::string comName)
+    {
+        auto ptr = lightSources.find(comName);
+        if (ptr != lightSources.end())
+            return ptr->second;
+        return nullptr;
+    }
+};
+#pragma once

HanddleAI/HandleAiUi-new/back/threadPoolManager.cpp

@@ -109,7 +109,7 @@ void threadManager::resultHandle(std::shared_ptr <detData> data)
 			cnt++;
 		}
 	}
-	emit _backEndManager->addDashBoardData(0, data->aiDetOK);
+	emit _backEndManager->addDashBoardData(1, data->aiDetOK);
 	emit _backEndManager->addDashBoardData(0, data->halconOK);
 	//SQL
 	std::vector<sqlData> sqlDatas;

HanddleAI/HandleAiUi-new/back/triggerManager.cpp

@@ -295,11 +295,9 @@ void triggerManager::decodeCameraCMD(QByteArray byte)
             correctionData->in_Z_Y0Z.push_back(zValue);
             correctionData->in_X_Y0Z_Value.push_back(rangeData);
         }
-        
         sendFinsMsg("write_short_261_0");//清零
         sendFinsMsg("write_short_262_1");
         sendFinsMsg("write_short_263_1");
-
         //上位机校正完成，将寄存器274置为1，并将结果按照定义XYZ规则放入310~336中
         if (armPos == 9)
         {
@@ -317,6 +315,7 @@ void triggerManager::decodeCameraCMD(QByteArray byte)
 
     if (checkTrigger(300, 1, byte) == true)
     {
+        bridge._lightSourceManager.getLightSourcePtr("COM8")->setValue(lightSourceChannel::DChannel, 255);
         QThread::msleep(1500);//延时一秒等待机械臂停稳
         sendFinsMsg("write_short_300_0");//触发信号清零
         sendFinsMsg("write_short_301_1");//开始检测信号
@@ -339,6 +338,7 @@ void triggerManager::decodeCameraCMD(QByteArray byte)
 
         QThread::msleep(1000);//延时一秒完成拍照，后续改成拍完直接发送
         sendFinsMsg("write_short_302_1");//开始检测信号
+        bridge._lightSourceManager.getLightSourcePtr("COM8")->setValue(lightSourceChannel::DChannel, 0);
     }
 
     if (checkTrigger(361, 1, byte) == true && armIsRunning == false)

HanddleAI/HandleAiUi-new/globalStruct.h

@@ -17,8 +17,8 @@
 #define sColor_Black "22, 22, 22"
 #define sColor_BlackWithWhite "45, 45, 45"
 
-#define enableHandleAiModel 0
-#define disableBackEndCheck 1 
+#define enableHandleAiModel 1
+#define disableBackEndCheck 0
 #define disableeAlgo 0
 
 //窗口设置

HanddleAI/HandleAiUi-new/mainwindow.cpp

@@ -59,6 +59,7 @@ MainWindow::MainWindow(appConfig* appData, QWidget* parent)
     
     showMaximized();
     QObject::connect(_loadingWidget.manualBtn, &QPushButton::clicked, this, &MainWindow::switchToManulMode);
+    //addDashBoardData(0, false);
 }
 
 MainWindow::~MainWindow()

HanddleAI/HandleAiUi-new/uiModule/components/dashBoard.h

@@ -3,7 +3,7 @@
 class DashboardWidget : public QWidget {
 public:
     DashboardWidget(QWidget *parent = nullptr) : QWidget(parent) {
-        currentValue = 0;
+        currentValue = 0;//NG占比
         showText = "100%";
         setMinimumSize(80, 80);
         setMaximumSize(100, 100);
@@ -16,13 +16,13 @@ public:
             update();
         }
     }
-    void setCurrentValue(int value) {
-        if (value != currentValue) {
-            currentValue = value;
-            showText = QString::number((360-value)/360)+ "%";
-            update();
-        }
-    }
+    //void setCurrentValue(int value) {
+    //    if (value != currentValue) {
+    //        currentValue = value;
+    //        showText = QString::number((360-value)/360)+ "%";
+    //        update();
+    //    }
+    //}
 
 protected:
     void paintEvent(QPaintEvent* event) override {

HanddleAI/HandleAiUi-new/uiModule/uiModule_summaryDataManager.h

@@ -103,8 +103,12 @@ public:
         totalLabel->setText(QString::number(OKCount + NGCount));
         if(OKCount + NGCount == 0)
             dashBoard->setCurrentPercentage(0);
+        else if (NGCount == 0 && OKCount > 0)
+            dashBoard->setCurrentPercentage(0);
+        else if (OKCount == 0 && NGCount > 0)
+            dashBoard->setCurrentPercentage(100);
         else 
-            dashBoard->setCurrentPercentage(((OKCount * 100) / ((OKCount + NGCount))));
+            dashBoard->setCurrentPercentage(((NGCount * 100) / ((OKCount + NGCount))));
     }
 };