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BUG 暂时禁用了日志与qtextedit控件的联动，有线程冲突的风险

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添加 相机控制台cameraController
This commit is contained in:
RCiRoot
2024-05-19 17:44:58 +08:00
parent ae1f9a1dc7
commit 640619d508
15 changed files with 389 additions and 105 deletions
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HanddleAI/HandleAiUi-new/back/backEndController.cpp
+8
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@@ -0,0 +1,8 @@
#include <backEndController.h>
#include <triggerController.h>
backEndController::backEndController()
{
_triggerController = new triggerController();
_triggerController->init(this);
}
HanddleAI/HandleAiUi-new/back/backEndController.h
+14 -9
View File
@@ -1,12 +1,17 @@
#include <triggerController.h>
class backEndController
#ifndef BACKENDCONTROLLER_H
#define BACKENDCONTROLLER_H
#include <qobject.h>
#include <globalStruct.h>
class triggerController;
class cameraController;
class backEndController :public QObject
{
Q_OBJECT
public:
triggerController _triggerController;//触发器
backEndController()
{
_triggerController.init();
}
bool init = false;
triggerController* _triggerController;//´¥·¢Æ÷
backEndController();
signals:
void sendErrorToMainwindow(backEndError);
};
#pragma once
#endif
HanddleAI/HandleAiUi-new/back/backStruct.h
+32
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@@ -0,0 +1,32 @@
#include<base.h>
typedef Base* (*CreateFunction)();
typedef void (*ReleaseFunction)(Base* animal);
struct correctionStruct
{
std::vector<double> in_X_X0Y;
std::vector<double> in_Y_X0Y;
std::vector<double> in_Z_X0Y;
std::vector<double> in_Z_X0Y_Value;
std::vector<double> in_X_X0Z;
std::vector<double> in_Y_X0Z;;
std::vector<double> in_Z_X0Z;
std::vector<double> in_Y_X0Z_Value;
std::vector<double> in_X_Y0Z;
std::vector<double> in_Y_Y0Z;
std::vector<double> in_Z_Y0Z;
std::vector<double> in_X_Y0Z_Value;
};
typedef struct {
QString m_stationKy;
QString key; // 相机名称
QString moduleName; // 模块名称
QString task_thread_index = "-1";// 存储当前算法属于那个任务线程
QByteArray m_initByte; // 传递初始化参数
Base* module_ptr = nullptr; // 存储模块指针
ReleaseFunction destory_ptr; // 释放
int showIndex;
}cameraModule;
#pragma once
HanddleAI/HandleAiUi-new/back/cameraController.cpp
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HanddleAI/HandleAiUi-new/back/cameraController.h
+12
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@@ -0,0 +1,12 @@
#ifndef CAMERACONTROLLER_H
#define CAMERACONTROLLER_H
#include <QString>
#include <backStruct.h>
class backEndController;
class cameraController
{
public:
};
#endif
HanddleAI/HandleAiUi-new/back/laserPositioning.h
-31
View File
@@ -1,31 +0,0 @@
#include <string>
using namespace std;
struct onePointPos//单次坐标
{
//小数点默认两位
onePointPos(int countIn,
int xPos1, int xPos2, int xPos3,
int yPos1, int yPos2, int yPos3,
int zPos1, int zPos2, int zPos3)
{
count = countIn;
xPos = xPos2*100 + xPos3;
xPos = (xPos1 == 1) ? xPos : -xPos;
yPos = yPos2 * 100 + yPos3;
yPos = (yPos1 == 1) ? yPos : -yPos;
zPos = zPos2 * 100 + zPos3;
zPos = (zPos1 == 1) ? zPos : -zPos;
}
int count;
int xPos;
int yPos;
int zPos;
};
class laserPositioning
{
};
HanddleAI/HandleAiUi-new/back/myiothread.cpp
-1
View File
@@ -381,7 +381,6 @@ int MyIoThread::getValue(int dmPos, QByteArray byte)
/// 目前只负责检测fins信号,拍照和传递数据到等待队列
/// </summary>
/// <param name="byte">从reciveCommond传入，从fins(JSON->finstcp_readAllCmd)读取的数据</param>
#include <back/laserPositioning.h>
correctionStruct* correctionData=nullptr;
void MyIoThread::decodeCameraCMD(QByteArray byte)
HanddleAI/HandleAiUi-new/back/triggerController.cpp
+155
View File
@@ -0,0 +1,155 @@
#include <triggerController.h>
#include <backEndController.h>
#include <backStruct.h>
void triggerController::decodeCameraCMD(QByteArray byte)
{
#if 0
if (byte.isEmpty())
return;
double cameraData = 0;
if (checkTrigger(1, 1, byte) == true)
{
correctionData = new correctionStruct();
correctionData->in_X_X0Y = { -258.71,-447.8,-447.2 };
correctionData->in_Y_X0Y = { -1099.67,-1133.42,-938.83 };
correctionData->in_Z_X0Y = { 711.77,711.62,711.730000 };
correctionData->in_Z_X0Y_Value = { 63.9795,64.5333,65.859300 };
correctionData->in_X_X0Z = { -402.3,-455.91,-236.75 };
correctionData->in_Y_X0Z = { -539.46,-536.21,-536.2 };
correctionData->in_Z_X0Z = { -418.88,425.12,425.13 };
correctionData->in_Y_X0Z_Value = { 118.15,-228.19,-256.5 };
correctionData->in_X_Y0Z = { 395.250000,395.23,328.34 };
correctionData->in_Y_Y0Z = { -1147.29,-1147.28,-940.82 };
correctionData->in_Z_Y0Z = { 118.15,-228.19,-256.5 };
correctionData->in_X_Y0Z_Value = { -36.652200,-36.7302,41.0436 };
detData* data = dController.insertDetData("Camera1", "correctionDataThread", "TEST", 0);
data->correctionData = correctionData;
workThread->addTask(data);//添加任务
correctionData = nullptr;
}
//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
//之后机器人确认之后需发送测量点位总数具体值至寄存器258
if (checkTrigger(259, 1, byte) == true)
{
bridge.back.sendFinsMsg("write_short_259_0");//触发信号清零
bridge.back.sendFinsMsg("write_short_260_1");//开始检测信号
}
//机器人激光当前点位 264 1...9
//机器人到达激光点位1时，寄存器261至1，264至1，并将机器人在激光点位1坐标XYZ按照定义规则，保存进寄存器265~270
//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
if (checkTrigger(261, 1, byte) == true)//读取请求地址
{
int armPos = getValue(264, byte);
int xValue1 = getValue(265, byte);
int xValue2 = getValue(266, byte);
int xValue3 = getValue(267, byte);
int yValue1 = getValue(268, byte);
int yValue2 = getValue(269, byte);
int yValue3 = getValue(270, byte);
int zValue1 = getValue(271, byte);
int zValue2 = getValue(272, byte);
int zValue3 = getValue(273, byte);
double xValue = (xValue1 == 1 ? 1 : -1) * ((double)xValue2 + ((double)xValue3) / (std::pow(10, to_string(xValue3).length())));
double yValue = (yValue1 == 1 ? 1 : -1) * ((double)yValue2 + ((double)yValue3) / (std::pow(10, to_string(yValue3).length())));
double zValue = (zValue1 == 1 ? 1 : -1) * ((double)zValue2 + ((double)zValue3) / (std::pow(10, to_string(zValue3).length())));
double rangeData = threadlist[0]->getValueFromCamera();
if (armPos == 1)//第一次
correctionData = new correctionStruct();
if (correctionData != nullptr)
{
if (armPos <= 3)
{
correctionData->in_X_X0Y.push_back(xValue);
correctionData->in_Y_X0Y.push_back(yValue);
correctionData->in_Z_X0Y.push_back(zValue);
correctionData->in_Z_X0Y_Value.push_back(rangeData);
}
else if (armPos <= 6)
{
correctionData->in_X_X0Z.push_back(xValue);
correctionData->in_Y_X0Z.push_back(yValue);
correctionData->in_Z_X0Z.push_back(zValue);
correctionData->in_Y_X0Z_Value.push_back(rangeData);
}
else if (armPos <= 9)
{
correctionData->in_X_Y0Z.push_back(xValue);
correctionData->in_Y_Y0Z.push_back(yValue);
correctionData->in_Z_Y0Z.push_back(zValue);
correctionData->in_X_Y0Z_Value.push_back(rangeData);
}
}
bridge.back.sendFinsMsg("write_short_261_0");//清零
bridge.back.sendFinsMsg("write_short_262_1");
bridge.back.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)
{
detData* data = dController.insertDetData("Camera1", "correctionDataThread", "TEST", 0);
data->correctionData = correctionData;
workThread->addTask(data);//添加任务
correctionData = nullptr;
}
}
//机器人到达激光点位9时，寄存器261至1，264至9，并将机器人在激光点位9坐标XYZ按照定义规则，保存进寄存器265~270
if (checkTrigger(300, 1, byte) == true)
{
bridge.back.sendFinsMsg("write_short_300_0");//触发信号清零
bridge.back.sendFinsMsg("write_short_301_1");//开始检测信号
int Pos = getValue(303, byte);
}
#endif
}
void triggerController::init(backEndController* input)
{
_backEndController = input;
QLibrary* m_lib = new QLibrary(triggerFileName);
bool flag = m_lib->load();
if (!m_lib->isLoaded())
{
emit _backEndController->sendErrorToMainwindow(dllNotFound);
return;
}
if (flag)
{
CreateFunction createFun = (CreateFunction)m_lib->resolve("create");
ReleaseFunction releaseFun = (ReleaseFunction)m_lib->resolve("destory");
if (createFun && releaseFun)
{
trigger = createFun();
destory_finstcp = releaseFun;
QByteArray initByte = QByteArray::fromStdString("sleeptime_20_readnum_300_writetype_ushort");
std::vector<cv::Mat> dddd;
trigger->reciveData(dddd, QByteArray::fromStdString("init_127.0.0.1_502_1"));
trigger->initParas(initByte);
}
else
{
emit _backEndController->sendErrorToMainwindow(triggerInitFailure);
delete m_lib;
m_lib = nullptr;
return;
}
}
this->start();
}
HanddleAI/HandleAiUi-new/back/triggerController.h
+13 -44
View File
@@ -1,9 +1,12 @@
#ifndef TRIGGERCONTROLLER_H
#define TRIGGERCONTROLLER_H
#include <qdebug.h>
#include <qthread.h>
#include <base.h>
#include <qlibrary.h>
typedef Base* (*CreateFunction)();
typedef void (*ReleaseFunction)(Base* animal);
#include <globalStruct.h>
#include <backStruct.h>
class backEndController;
//防止重复触发
class triggerLockerT
{
@@ -55,45 +58,14 @@ private:
class triggerController : public QThread
{
public:
backEndController* _backEndController;
QString triggerFileName = QString("Hd_SocketModule_ModbusTcp");
~triggerController()
{
runFlag = false;
QThread::msleep(100);
}
void init()
{
QLibrary* m_lib = new QLibrary(triggerFileName);
bool flag = m_lib->load();
if (!m_lib->isLoaded())
{
//qDebug() << "[Error] " << " Loaded error:" << m_lib->errorString();
return ;
}
if (flag)
{
CreateFunction createFun = (CreateFunction)m_lib->resolve("create");
ReleaseFunction releaseFun = (ReleaseFunction)m_lib->resolve("destory");
if (createFun && releaseFun)
{
trigger = createFun();
destory_finstcp = releaseFun;
QByteArray initByte = QByteArray::fromStdString("sleeptime_20_readnum_300_writetype_ushort");
std::vector<cv::Mat> dddd;
trigger->reciveData(dddd, QByteArray::fromStdString("init_127.0.0.1_502_1"));
trigger->initParas(initByte);
}
else
{
delete m_lib;
m_lib = nullptr;
return;
}
}
this->start();
}
void init(backEndController* input);
void run()
{
while (runFlag)
@@ -108,7 +80,7 @@ public:
//auto start = std::chrono::high_resolution_clock::now();
//QByteArray byte = m_readAllCmd.toUtf8(); // 设置 从起始位开始读取的指令
QByteArray byte = QByteArray::fromStdString("read_byte_1_500");
if (sendFinsMsg(byte))
if (!sendFinsMsg(byte))
qCritical() << "[TCP] " << " finstcp_ptr reciveData error!";
QByteArray readByte;
if (!reciveFinsMsg(readByte))
@@ -117,12 +89,10 @@ public:
//auto end = std::chrono::high_resolution_clock::now();
//auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end - start);
//std::cout << "cost: " << duration.count() << " mm" << std::endl;
//decodeCameraCMD(readByte);
decodeCameraCMD(readByte);
//workThread->snDatas.checkSnFromWaittingVec(readByte);
}
//发送数据到
bool sendFinsMsg(QString cmdx)
{
@@ -188,7 +158,8 @@ private:
}
return true;
}
//解析并触发
void decodeCameraCMD(QByteArray byte);
//触发器的配置
int startPos = 1;//数据读取的起始位
int interval = 10;//间隔
@@ -198,6 +169,4 @@ private:
bool runFlag = true;
std::vector<cv::Mat> vec_mat;//没啥用，一直保持为空就好
};
#pragma once
#endif
HanddleAI/HandleAiUi-new/front/loadingWidget.h
+61
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@@ -0,0 +1,61 @@
#include <qwidget.h>
#include <qpainter.h>
#include <Qlabel>
#include <opencv.hpp>
static QPixmap cvMatToQPixmap(const cv::Mat& mat) {
QImage qImg;
if (mat.channels() == 3) {
//cv::cvtColor(mat, mat, cv::COLOR_BGR2RGB);
qImg = QImage(mat.data, mat.cols, mat.rows, mat.step, QImage::Format_RGB888);
}
else {
qImg = QImage((const unsigned char*)(mat.data), mat.cols, mat.rows, mat.step, QImage::Format_Grayscale8);
}
return QPixmap::fromImage(qImg);
}
class loadingWidget : public QWidget {
public:
QLabel* sign;
loadingWidget(QWidget* parent = nullptr) : QWidget(parent) {
sign = new QLabel(this);
}
void setStatus(QWidget* widget) {
screenshot_ = QPixmap::grabWindow(widget->winId());
update(); // 更新widget以显示新的截图
}
protected:
void paintEvent(QPaintEvent* event) override {
if (screenshot_.isNull())
return;
QImage image = screenshot_.toImage();
image = image.convertToFormat(QImage::Format_RGB888);
cv::Mat originalMat = cv::Mat(
image.height(),
image.width(),
CV_8UC3,
image.bits(),
image.bytesPerLine());
cv::Mat blurredMat;
cv::blur(originalMat, blurredMat, cv::Size(15, 15)); // 调整模糊半径以获得不同程度的模糊效果
QPixmap blurredPixmap = cvMatToQPixmap(blurredMat);
QPainter painter(this);
painter.drawPixmap(0, 0, blurredPixmap);
// 在模糊图片上绘制文字
QPalette palette;
palette.setColor(QPalette::WindowText, Qt::white);
QFont font("微软雅黑", 100, QFont::Bold);
QFont font2("微软雅黑", 90, QFont::Bold);
painter.setFont(font);
painter.setPen(Qt::black);
painter.drawText(this->rect(), Qt::AlignCenter, "WAIT");
painter.setFont(font2);
painter.setPen(Qt::white);
painter.drawText(this->rect(), Qt::AlignCenter, "WAIT");
}
private:
QPixmap screenshot_;
};
HanddleAI/HandleAiUi-new/front/pages/logPageWidget.h
+6 -5
View File
@@ -46,10 +46,10 @@ static void MessageHandler(QtMsgType type, const QMessageLogContext& context, co
globalQtlogFile.setDevice(&logFile);
globalQtlogFile << logStr << endl;
}
if (globalQtTextEdit != nullptr) {
globalQtTextEdit->moveCursor(QTextCursor::End);
globalQtTextEdit->insertPlainText(logStr + "\n");
}
//if (globalQtTextEdit != nullptr) {
// globalQtTextEdit->moveCursor(QTextCursor::End);
// globalQtTextEdit->insertPlainText(logStr + "\n");
//}
}
class stdConsoleRedirector : public std::basic_streambuf<char> {
@@ -191,7 +191,7 @@ public:
QLabel* toolName2 = new QLabel(u8" 正则匹配");
toolName2->setFont(font2);
toolName2->setPalette(palette);
toolName2->setPalette(palette);
toolHLayout->addWidget(toolName2);
QLineEdit* lineedit = new QLineEdit();
@@ -207,6 +207,7 @@ public:
{
globalQtTextEdit = textWidget;
//globalQtTextEdit->setUpdatesEnabled(false);
qInstallMessageHandler(MessageHandler);
qInfo() << "This is a Qt Info message.";
qWarning() << "This is a Qt Warning message.";
HanddleAI/HandleAiUi-new/front/ui_mainwindow.h
+57
View File
@@ -0,0 +1,57 @@
/********************************************************************************
** Form generated from reading UI file 'mainwindow.ui'
**
** Created by: Qt User Interface Compiler version 5.14.2
**
** WARNING! All changes made in this file will be lost when recompiling UI file!
********************************************************************************/
#ifndef UI_MAINWINDOW_H
#define UI_MAINWINDOW_H
#include <QtCore/QVariant>
#include <QtWidgets/QApplication>
#include <QtWidgets/QGridLayout>
#include <QtWidgets/QMainWindow>
#include <QtWidgets/QWidget>
QT_BEGIN_NAMESPACE
class Ui_MainWindow
{
public:
QWidget *centralwidget;
QGridLayout *gridLayout;
void setupUi(QMainWindow *MainWindow)
{
if (MainWindow->objectName().isEmpty())
MainWindow->setObjectName(QString::fromUtf8("MainWindow"));
MainWindow->resize(800, 600);
centralwidget = new QWidget(MainWindow);
centralwidget->setObjectName(QString::fromUtf8("centralwidget"));
gridLayout = new QGridLayout(centralwidget);
gridLayout->setSpacing(0);
gridLayout->setObjectName(QString::fromUtf8("gridLayout"));
gridLayout->setContentsMargins(5, 5, 5, 5);
MainWindow->setCentralWidget(centralwidget);
retranslateUi(MainWindow);
QMetaObject::connectSlotsByName(MainWindow);
} // setupUi
void retranslateUi(QMainWindow *MainWindow)
{
MainWindow->setWindowTitle(QCoreApplication::translate("MainWindow", "MainWindow", nullptr));
} // retranslateUi
};
namespace Ui {
class MainWindow: public Ui_MainWindow {};
} // namespace Ui
QT_END_NAMESPACE
#endif // UI_MAINWINDOW_H
HanddleAI/HandleAiUi-new/globalStruct.h
+7
View File
@@ -11,4 +11,11 @@
#define sColor_Black "22, 22, 22"
#define sColor_BlackWithWhite "45, 45, 45"
enum backEndError
{
dllNotFound,
triggerInitFailure,
triggerConnectionError,
camerInitFailure
};
#pragma once
HanddleAI/HandleAiUi-new/mainwindow.cpp
+4 -4
View File
@@ -1,5 +1,5 @@
#include "mainwindow.h"
#include "./ui_mainwindow.h"
#include "ui_mainwindow.h"
#include "titlebar.h"
#include "mywidget.h"
#include "cfgwindow.h"
@@ -28,13 +28,13 @@ MainWindow::MainWindow(QWidget* parent)
this->setStyleSheet(QString("QWidget#MainWidget {background-color: rgb(%1)}").arg(sColor_blue));
this->setCentralWidget(&stackedWidgets);
//加载界面初始化
//登录界面
stackedWidgets.addWidget(&_loginWindow);
connect(&_loginWindow, &loginWindow::login, this, &MainWindow::login);
//加载界面初始化
stackedWidgets.addWidget(&_loadingWidget);
//第一层 只有顶部菜单栏和第二层layout
mainWidget = new QWidget();
stackedWidgets.addWidget(mainWidget);
HanddleAI/HandleAiUi-new/mainwindow.h
+20 -11
View File
@@ -21,17 +21,9 @@
#include <pages/logPageWidget.h>
#include <LoginWindow.h>
#include <QPropertyAnimation>
#include <loadingWidget.h>
#pragma execution_character_set("utf-8")
enum DRAG_ABSOLUTE_POSITION
{
DRAG_KEEP=0, //保持不动
DRAG_LOCK_LEFT=1, //锁定左边坐标
DRAG_LOCK_TOP=2, //锁定上边坐标
DRAG_LOCK_RIGHT=3, //锁定右边坐标
DRAG_LOCK_BOTTOM=4 //锁定下边坐标
};
QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACE
@@ -48,7 +40,8 @@ private:
std::vector<toolBarButton*>pageBtns;
QStackedWidget stackedWidgets;//一共三层，加载界面，登录界面，主要界面
QStackedWidget pageWidgets;//主要界面中的页面
loginWindow _loginWindow;
loginWindow _loginWindow;//登录界面
loadingWidget _loadingWidget;//加载 等待界面
//动画效果
QGraphicsBlurEffect* blurEffect;
@@ -100,7 +93,7 @@ public slots:
blurEffectAnimation->setStartValue(0);
blurEffectAnimation->setEndValue(20);
blurEffectAnimation->start();
stackedWidgets.setCurrentIndex(1);
stackedWidgets.setCurrentIndex(2);
blurEffectAnimation->setStartValue(20);
blurEffectAnimation->setEndValue(0);
blurEffectAnimation->start();
@@ -108,6 +101,22 @@ public slots:
}
else if(input == false)stackedWidgets.setCurrentIndex(0);
}
void loading(bool input)
{
if (input == true)
{
blurEffectAnimation->setStartValue(0);
blurEffectAnimation->setEndValue(20);
blurEffectAnimation->start();
_loadingWidget.setStatus(&stackedWidgets);
stackedWidgets.setCurrentIndex(1);
blurEffectAnimation->setStartValue(20);
blurEffectAnimation->setEndValue(0);
blurEffectAnimation->start();
}
else if (input == false)stackedWidgets.setCurrentIndex(2);
}
signals:
protected: