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This commit is contained in:
RCiRoot
2024-07-24 14:32:11 +08:00
parent 879404c808
commit c506af234d
48 changed files with 589 additions and 309 deletions
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HanddleAI/HandleAiUi-new/.vscode/settings.json
Vendored
+83
View File
@@ -0,0 +1,83 @@
{
"files.associations": {
"algorithm": "cpp",
"any": "cpp",
"array": "cpp",
"atomic": "cpp",
"cctype": "cpp",
"charconv": "cpp",
"chrono": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"codecvt": "cpp",
"condition_variable": "cpp",
"cstddef": "cpp",
"cstdint": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"deque": "cpp",
"exception": "cpp",
"filesystem": "cpp",
"resumable": "cpp",
"forward_list": "cpp",
"fstream": "cpp",
"functional": "cpp",
"future": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"ios": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"iterator": "cpp",
"limits": "cpp",
"list": "cpp",
"locale": "cpp",
"map": "cpp",
"memory": "cpp",
"mutex": "cpp",
"new": "cpp",
"numeric": "cpp",
"optional": "cpp",
"ostream": "cpp",
"random": "cpp",
"ratio": "cpp",
"set": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"string": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"xthread": "cpp",
"thread": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"typeinfo": "cpp",
"unordered_map": "cpp",
"utility": "cpp",
"valarray": "cpp",
"variant": "cpp",
"vector": "cpp",
"xfacet": "cpp",
"xhash": "cpp",
"xiosbase": "cpp",
"xlocale": "cpp",
"xlocbuf": "cpp",
"xlocinfo": "cpp",
"xlocmes": "cpp",
"xlocmon": "cpp",
"xlocnum": "cpp",
"xloctime": "cpp",
"xmemory": "cpp",
"xmemory0": "cpp",
"xstddef": "cpp",
"xstring": "cpp",
"xtr1common": "cpp",
"xtree": "cpp",
"xutility": "cpp"
}
}
HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h
+1 -4
View File
@@ -302,11 +302,8 @@ double doubleLmit(double input, int num)
}
void ALGO_Correction(std::shared_ptr <detData> data)
{
if (data->correctionData == nullptr)
return;
CorrectionPoints resultPoints;
if (HalconCorrection(data->correctionData, resultPoints) == false)
if (HalconCorrection(&data->laserData, resultPoints) == false)
{
data->writeBack("short", 274, "1");
return;
HanddleAI/HandleAiUi-new/appConfig/appConfig.cpp
+3 -1
View File
@@ -14,11 +14,13 @@ void appConfig::parsingTriggerData()
{
nlohmann::json triggerJson = readJsonFromPath("./config/triggerSetting.json");
_triggerStruct.key = triggerJson["key"];
_triggerStruct.frequency = triggerJson["frequency"];
_triggerStruct.sleepTime = triggerJson["sleepTime"];
_triggerStruct.initStr = triggerJson["initStr"];
_triggerStruct.heartCmd = triggerJson["heartCmd"];
_triggerStruct.readAllCmd = triggerJson["readAllCmd"];
_triggerStruct.modelName = triggerJson["modelName"];
_triggerStruct.readNum = triggerJson["readNum"];
_triggerStruct.writeType = triggerJson["writeType"];
_triggerStruct.startPos = QString::fromStdString(_triggerStruct.readAllCmd).split("_")[2].toInt();;
}
void appConfig::parsingCameraData()
HanddleAI/HandleAiUi-new/appConfig/appconfigStruct.h
+3 -1
View File
@@ -193,11 +193,13 @@ struct lightSourceStruct
struct triggerStruct
{
std::string key;
std::string frequency;//per Sec
std::string initStr;
std::string heartCmd;
std::string readAllCmd;
std::string modelName;
int sleepTime;
int readNum;
std::string writeType;
int startPos;
};
struct cameraStruct
HanddleAI/HandleAiUi-new/appCoreQtFunction.h
+5 -1
View File
@@ -18,6 +18,10 @@ signals:
void addShowPerformanceWidgetData(int index, int timeCost);
void addCtData(int index, int value);//增加ct数据
void resetShowPerformanceWidget();
void setProductSignStatus(int pos, int status);//设置产品示意图指定位置的状态
void uiModuleLocationMapResetToDefault();
void uiModuleLocationMapSetProductSignStatus(int pos, int status);//设置产品示意图指定位置的状态
void uiModuleImageDoubleCheckQdialogShowWindows(QPixmap);
};
#pragma once
HanddleAI/HandleAiUi-new/back/detData.h
+2 -1
View File
@@ -29,7 +29,7 @@ public:
int algoThreadIndex = -1;
//检测参数
correctionStruct* correctionData = nullptr;
correctionStruct laserData;
int armPos = -1;
int productType = -1;
@@ -71,6 +71,7 @@ public:
//结果
bool aiDetOK = true;
bool halconOK = true;
int aiNgCount = 0, aiOkCount = 0, halconOkCount = 0, halconNgCount = 0;
//存图相关
QMutex resultMutex;//结果图锁
std::vector<cv::Mat> resultImgs;//结果图
HanddleAI/HandleAiUi-new/back/manualDetThread.h
+11
View File
@@ -17,6 +17,7 @@ public:
//检测参数
std::string imgPathStr = "";
int algoIndex = 0;
int Pos = 0;
manualDetThread()
{
_appConfig = &_core._appConfig;
@@ -31,12 +32,16 @@ public:
{
std::shared_ptr <detData> data = _detDataManager->insertDetData("Manual", "Manual", 0, 1);
data->productType = algoIndex;
data->armPos = Pos;
data->resShowIndex = 0;
data->oriImgMutex.lock();
data->oriImgs.push_back(cv::imread(file, -1));
data->oriImgMutex.unlock();
data->_productDataStruct = _appConfig->productDatas[algoIndex];
_threadManager->addTask(data);//添加任务
emit _core._qtFunc.uiModuleLocationMapSetProductSignStatus(Pos, 1);
Pos++;
//QThread::msleep(3000);
}
files.clear();
fileManager::getAllFiles(imgPathStr, files, "bmp");
@@ -44,17 +49,23 @@ public:
{
std::shared_ptr <detData> data = _detDataManager->insertDetData("Manual", "Manual", 0, 1);
data->productType = algoIndex;
data->armPos = Pos;
data->resShowIndex = 0;
data->oriImgMutex.lock();
data->oriImgs.push_back(cv::imread(file, -1));
data->oriImgMutex.unlock();
data->_productDataStruct = _appConfig->productDatas[algoIndex];
_threadManager->addTask(data);//添加任务
emit _core._qtFunc.uiModuleLocationMapSetProductSignStatus(Pos, 1);
Pos++;
//QThread::msleep(3000);
}
emit finishImgReadSignal();
}
void startDet(std::string path,int index)
{
Pos = 0;
emit _core._qtFunc.uiModuleLocationMapResetToDefault();
imgPathStr = path;
algoIndex = index;
this->start();
HanddleAI/HandleAiUi-new/back/threadPoolManager.cpp
+2 -55
View File
@@ -66,61 +66,8 @@ void detThreadManager::process()
}
void detThreadManager::resultHandle(std::shared_ptr <detData> data)
{
//发送图片
if (data->resultImgs.size() > 0)
{
int cnt = 0;
for(auto showMat: data->resultImgs)
{
//打包发送
QPixmap pixmap;
cvMatToQPixMap(showMat, pixmap);
showImgPack* pack = new showImgPack();
pack->img = pixmap;
pack->type = imgWidgetRes;
pack->index = data->resShowIndex+ cnt;
emit _core._qtFunc.sendPixmapImageWidget(pack);
historyPack _historyPack;
_historyPack.img = pixmap;
_historyPack.filePath = std::shared_ptr<std::string>(new std::string);
data->resImgSavePath.push_back(_historyPack.filePath);
emit _core._qtFunc.addHistoryDataSignal((data->aiDetOK == true && data->halconOK == true), _historyPack);
cnt++;
}
}
if(data->armPos != -1)
{
emit _core._qtFunc.addDashBoardData(0, data->halconOK);
emit _core._qtFunc.addDashBoardData(1, data->aiDetOK);
}
auto totalCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->halconEndTime - data->algoStartTime);
auto aiCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->handleAiEndTime - data->algoStartTime);
auto halconCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->halconEndTime - data->handleAiEndTime);
if (totalCt.count() > 0)
emit _core._qtFunc.addCtData(0, totalCt.count());
if (aiCt.count() > 0)
emit _core._qtFunc.addCtData(1, aiCt.count());
if (halconCt.count() > 0)
emit _core._qtFunc.addCtData(2, halconCt.count());
//SQL
std::vector<sqlData> sqlDatas;
for (auto sqlData : data->sqlVec)
sqlDatas.push_back({ sqlData.first, std::to_string(sqlData.second) });
_core._appConfig._sqlManager.addData(data->SNcode, sqlDatas);
//写入plc
for (auto writeBackStr : data->writeBackData)
_triggerManager->sendFinsMsg(writeBackStr);
//储存结果图
std::async(std::launch::async, &imgSaveThreadManager::saveRes, _imgSaveThreadManager, data);
//删除 不再持有
detDataManager* dManager = data->dManager;
data->dManager->deleteDetData(data->timeCode);
for (auto func : resultHandleCallbacks)
func(data);
}
void detThreadManager::run()
{
HanddleAI/HandleAiUi-new/back/threadPoolManager.h
+10 -7
View File
@@ -54,11 +54,12 @@ class detThreadManager : public QThread
Q_OBJECT
public:
using resultHandleCallback = std::function<void(std::shared_ptr <detData>)>;
bool initFlag = false;
detThreadManager();
~detThreadManager();
QQueue<std::shared_ptr <detData>> detDataQueue;
autoDelete* autoDeleteThread;
void initialization(detProcess* appCore);
void run();
void stop()
@@ -66,18 +67,19 @@ public:
runFlag = false;
this->terminate();
}
void resultHandle(std::shared_ptr <detData>);
void addTask(std::shared_ptr <detData>);
sncodeCls snDatas;
~detThreadManager();
QMutex queueMutex;
QMutex insertQueueMutex;
QQueue<std::shared_ptr <detData>>insertQueue;
void process();
void registerCallback(resultHandleCallback func)
{
resultHandleCallbacks.push_back(func);
}
private:
std::vector< resultHandleCallback>resultHandleCallbacks;
handleAiModelManager* _handleAiModelManager;
triggerManager* _triggerManager;
imgSaveThreadManager* _imgSaveThreadManager;
@@ -90,7 +92,8 @@ private:
std::chrono::seconds zeroSec = std::chrono::seconds(0);
std::unordered_map<unsigned long long, std::future<bool>>::iterator futrueIte;
void resultHandle(std::shared_ptr <detData>);
bool runFlag = true;
QList<std::shared_ptr <detData>>imgWaitList;
std::vector<std::shared_ptr <detData>>deleteVec;
HanddleAI/HandleAiUi-new/back/triggerManager.cpp
+11 -184
View File
@@ -7,7 +7,6 @@
#include <detProcess.hpp>
#include <lightSource.hpp>
#define debugTesting 0
static correctionStruct* correctionData;
void triggerManager::initialization(detProcess* _detProcessIn)
{
_detProcess = _detProcessIn;
@@ -20,6 +19,10 @@ void triggerManager::initialization(detProcess* _detProcessIn)
triggerFileName = QString::fromStdString(_core._appConfig._triggerStruct.modelName);
IpAndPort = QString::fromStdString(_core._appConfig._triggerStruct.initStr);
readAllCmd = QByteArray::fromStdString(_core._appConfig._triggerStruct.readAllCmd);
triggerFileName = QString::fromStdString(_core._appConfig._triggerStruct.modelName);
sleepTime = _core._appConfig._triggerStruct.sleepTime;
readNum = _core._appConfig._triggerStruct.readNum;
writeType = _core._appConfig._triggerStruct.writeType;
m_lib = new QLibrary(triggerFileName);
libLoadedflag = m_lib->load();
if (!m_lib->isLoaded())
@@ -44,10 +47,15 @@ void triggerManager::connectHost()
{
trigger = createFun();
destory_finstcp = releaseFun;
QByteArray initByte = QByteArray::fromStdString("sleeptime_20_readnum_300_writetype_ushort");
QByteArray initByte =
QByteArray::fromStdString
("sleeptime_"+std::to_string(sleepTime)
+ "_readnum_" + std::to_string(readNum)
+ "_writetype_" + writeType);
trigger->reciveData(vec_mat, QByteArray(IpAndPort.toUtf8()));
emit _core._qtFunc.sendInitString(triggerFileName + "连接到" + IpAndPort);
initFailure = trigger->initParas(initByte);
this->start();
}
if (initFailure == false)
@@ -198,190 +206,9 @@ void triggerManager::decodeCameraCMD(QByteArray byte)
}
#endif
//相机测试
#if 0
if (checkTrigger(1, 2, byte) == true)
{
std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "TEST",0, 0);
data->correctionData = correctionData;
_threadManager->addTask(data);//添加任务
auto camera = _cameraManager->getCamera("123");
if (camera != nullptr)
camera->captureImage(data);
}
if (checkTrigger(2, 2, byte) == true)
{
std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "TEST", 0, 0);
data->correctionData = correctionData;
_threadManager->addTask(data);//添加任务
auto camera = _cameraManager->getCamera("456");
if (camera != nullptr)
camera->captureImage(data);
}
#endif
//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)
{
sendFinsMsg("write_short_259_0");//触发信号清零
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
{
QThread::msleep(3000);
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, std::to_string(xValue3).length())));
double yValue = (yValue1 == 1 ? 1 : -1) * ((double)yValue2 + ((double)yValue3) / (std::pow(10, std::to_string(yValue3).length())));
double zValue = (zValue1 == 1 ? 1 : -1) * ((double)zValue2 + ((double)zValue3) / (std::pow(10, std::to_string(zValue3).length())));
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 < 100;i++)
{
cameraPtr->trigger();
double rangeData1 = cameraPtr->getCameraValue();
values.push_back(rangeData1);
}
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;
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)
{
std::cout << "激光取图错误" << std::endl;
return;
}
if (armPos == 1)//第一次
correctionData = new correctionStruct();
if (correctionData == nullptr)
return;
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);
}
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)
{
std::shared_ptr <detData> data = dManager->insertDetData("181964", "TEST", 0 , 0);
data->productType = _core._detGlobalData.productType;
data->_productDataStruct = _core._appConfig.productDatas[_core._detGlobalData.productType];
data->imgAmountMin = 0;
data->correctionData = correctionData;
_threadManager->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)
{
_lightSourceManager->getLightSourcePtr("COM8")->setValue(lightSourceChannel::DChannel, 255);
QThread::msleep(2000);//延时等待机械臂停稳
sendFinsMsg("write_short_300_0");//触发信号清零
sendFinsMsg("write_short_301_1");//开始检测信号
int Pos = getValue(303, byte);
std::cout << "arm @Pos:" << Pos;
std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "TEST", 1, 1);
data->oriShowIndex = 0;
data->resShowIndex = 0;
data->armPos = Pos;
data->productType = _core._detGlobalData.productType;
data->_productDataStruct = _core._appConfig.productDatas[_core._detGlobalData.productType];
auto camera = _cameraManager->getCamera("Camera1");//查找相机
if (camera != nullptr)
camera->captureImage(data);//拍照
data->imgSaveFileParameter.push_back(_core._detGlobalData.productTypeStr);//设置部分文件名
data->imgSaveFileParameter.push_back("Pos" + std::to_string(Pos));//设置部分文件名
data->correctionData = correctionData;
_threadManager->addTask(data);//添加任务
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
_lightSourceManager->getLightSourcePtr("COM8")->setValue(lightSourceChannel::DChannel, 0);
}
if (checkTrigger(361, 1, byte) == true && armIsRunning == false)
{
armIsRunning = true;
emit _core._qtFunc.switchStartBtnStatusSignal(false);
}
if (checkTrigger(362, 1, byte) == true && armIsRunning == true)
{
armIsRunning = false;
sendFinsMsg("write_short_361_0");//清零
sendFinsMsg("write_short_362_0");
emit _core._qtFunc.switchStartBtnStatusSignal(true);
}
if (checkTrigger(361, 0, byte) == true && armIsRunning == true)
{
armIsRunning = false;
sendFinsMsg("write_short_361_0");//清零
sendFinsMsg("write_short_362_0");
emit _core._qtFunc.switchStartBtnStatusSignal(true);
}
#endif
checkCallbackAndTrigger(byte);
}
int triggerManager::getValue(int dmPos, QByteArray byte)
{
HanddleAI/HandleAiUi-new/back/triggerManager.h
+38 -3
View File
@@ -6,8 +6,9 @@
#include <qlibrary.h>
#include <globalStruct.h>
#include <backStruct.h>
#include <functional>
#include <appConfig/appConfig.h>
using triggerCallback = std::function<void(QByteArray& byte)>;
class cameraManager;
class detThreadManager;
class detDataManager;
@@ -64,7 +65,6 @@ private:
class triggerManager : public QThread
{
public:
bool armIsRunning = false;
QByteArray readAllCmd;
QString triggerFileName;
QString IpAndPort;
@@ -126,10 +126,43 @@ public:
}
int getValue(int dmPos, QByteArray byte);
//CALL BACK
struct triggerCallbackStruct
{
int triggerAddress;
int triggerValue;
triggerCallback func;
std::string funcName;
};
std::vector<triggerCallbackStruct> triggerCallbackFunc;
bool registerCallback(int triggerAddress, int triggerValue, triggerCallback func, std::string funcName ="")
{
triggerCallbackStruct _triggerCallbackStruct;
_triggerCallbackStruct.triggerAddress = triggerAddress;
_triggerCallbackStruct.triggerValue = triggerValue;
_triggerCallbackStruct.func = func;
_triggerCallbackStruct.funcName = funcName;
triggerCallbackFunc.push_back(_triggerCallbackStruct);
return true;
}
void checkCallbackAndTrigger(QByteArray &byte)//检查是否符合回调函数的触发条件
{
for (auto callback : triggerCallbackFunc)
{
if (checkTrigger(callback.triggerAddress, 1, byte) == true)
{
callback.func(byte);
std::cout << "func:" << callback.funcName << "->triggered" << std::endl;
}
}
}
private:
std::string writeType;
bool libLoadedflag = false;
QLibrary* m_lib = nullptr;
detProcess* _detProcess;
detProcess* _detProcess;
lightSourceManager* _lightSourceManager;
detThreadManager* _threadManager;
detDataManager* dManager;
@@ -172,6 +205,8 @@ private:
void decodeCameraCMD(QByteArray byte);
//触发器的配置
int startPos=-1;//数据读取的起始位
int sleepTime = -1;//间隔
int readNum = -1;//范围
int interval = 50;//间隔
ReleaseFunction destory_finstcp; //释放
HanddleAI/HandleAiUi-new/detProcess.hpp
+266 -8
View File
@@ -16,30 +16,288 @@ public:
_cameraManager.initialization();
_handleAiModelManager.initialization();
_triggerManager.initialization(this);
detProcessCallbackRegister();
}
void run()
{
/*std::vector<std::future<void>> futures;
futures.push_back(std::async(std::launch::async, &handleAiModelManager::start, &_handleAiModelManager));
futures.push_back(std::async(std::launch::async, &cameraManager::start, &_cameraManager));
futures.push_back(std::async(std::launch::async, &lightSourceManager::start, &_lightSourceManager));
futures.push_back(std::async(std::launch::async, &triggerManager::connectHost, &_triggerManager));*/
std::async(std::launch::async, &handleAiModelManager::start, &_handleAiModelManager);
std::async(std::launch::async, &cameraManager::start, &_cameraManager);
std::async(std::launch::async, &lightSourceManager::start, &_lightSourceManager);
std::async(std::launch::async, &triggerManager::connectHost, &_triggerManager);
}
//
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
triggerManager _triggerManager;//触发器
triggerManager _triggerManager;//MODBUS触发器
manualDetThread _manualDetThread;//手动触发线程
///////////////////////////////
void detProcessCallbackRegister()
{
_triggerManager.registerCallback(259, 1, [this](QByteArray& byteArray) {startDetection(byteArray); }, "检测启动");
_triggerManager.registerCallback(261, 1, [this](QByteArray& byteArray) {calibrationFunc(byteArray); }, "激光校准");
_triggerManager.registerCallback(300, 1, [this](QByteArray& byteArray) {captureImageAndDetection(byteArray); }, "拍照并检测");
_triggerManager.registerCallback(361, 1, [this](QByteArray& byteArray) {detectionStart(byteArray); }, "检测开始");
_triggerManager.registerCallback(361, 0, [this](QByteArray& byteArray) {detectionEnd1(byteArray); }, "检测结束1");
_triggerManager.registerCallback(362, 1, [this](QByteArray& byteArray) {detectionEnd2(byteArray); }, "检测结束2");
_threadManager.registerCallback([this](std::shared_ptr<detData>data) {detectionResultHandle(data); });
}
//检测程序是否在运行
bool armIsRunning = false;
//激光校准数据缓存 //SN 数据
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
//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
//检测启动 259
void startDetection(QByteArray& byteArray)
{
_triggerManager.sendFinsMsg("write_short_259_0");//触发信号清零
_triggerManager.sendFinsMsg("write_short_260_1");//开始检测信号
emit _core._qtFunc.uiModuleLocationMapResetToDefault();
}
//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
//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 xValue3 = _triggerManager.getValue(267, byteArray);
int yValue1 = _triggerManager.getValue(268, byteArray);
int yValue2 = _triggerManager.getValue(269, byteArray);
int yValue3 = _triggerManager.getValue(270, byteArray);
int zValue1 = _triggerManager.getValue(271, byteArray);
int zValue2 = _triggerManager.getValue(272, byteArray);
int zValue3 = _triggerManager.getValue(273, byteArray);
double xValue = (xValue1 == 1 ? 1 : -1) * ((double)xValue2 + ((double)xValue3) / (std::pow(10, std::to_string(xValue3).length())));
double yValue = (yValue1 == 1 ? 1 : -1) * ((double)yValue2 + ((double)yValue3) / (std::pow(10, std::to_string(yValue3).length())));
double zValue = (zValue1 == 1 ? 1 : -1) * ((double)zValue2 + ((double)zValue3) / (std::pow(10, std::to_string(zValue3).length())));
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 < 100; i++)
{
cameraPtr->trigger();
double rangeData1 = cameraPtr->getCameraValue();
values.push_back(rangeData1);
}
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;
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)
{
std::cout << "激光取图错误" << std::endl;
return;
}
if (armPos == 1)//第一次
laserDataCache = correctionStruct();
if (armPos <= 3)
{
laserDataCache.in_X_X0Y.push_back(xValue);
laserDataCache.in_Y_X0Y.push_back(yValue);
laserDataCache.in_Z_X0Y.push_back(zValue);
laserDataCache.in_Z_X0Y_Value.push_back(rangeData);
}
else if (armPos <= 6)
{
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);
}
else if (armPos <= 9)
{
laserDataCache.in_X_Y0Z.push_back(xValue);
laserDataCache.in_Y_Y0Z.push_back(yValue);
laserDataCache.in_Z_Y0Z.push_back(zValue);
laserDataCache.in_X_Y0Z_Value.push_back(rangeData);
}
_triggerManager.sendFinsMsg("write_short_261_0");//清零
_triggerManager.sendFinsMsg("write_short_262_1");
_triggerManager.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)
{
std::shared_ptr <detData> data = _detDataManager.insertDetData("181964", "TEST", 0, 0);
data->productType = _core._detGlobalData.productType;
data->_productDataStruct = _core._appConfig.productDatas[_core._detGlobalData.productType];
data->imgAmountMin = 0;
data->laserData = laserDataCache;
_threadManager.addTask(data);//添加任务
laserDataCache = correctionStruct();
}
}
//拍照并检测 300
void captureImageAndDetection(QByteArray& byteArray)
{
_lightSourceManager.getLightSourcePtr("COM8")->setValue(lightSourceChannel::DChannel, 255);
QThread::msleep(2000);//延时等待机械臂停稳
_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.uiModuleLocationMapSetProductSignStatus(Pos,1);
std::cout << "arm @Pos:" << Pos;
std::shared_ptr <detData> data = _detDataManager.insertDetData("Camera1", "TEST", 1, 1);
data->oriShowIndex = 0;
data->resShowIndex = 0;
data->armPos = Pos;
data->productType = _core._detGlobalData.productType;
data->_productDataStruct = _core._appConfig.productDatas[_core._detGlobalData.productType];
auto camera = _cameraManager.getCamera("Camera1");//查找相机
if (camera != nullptr)
camera->captureImage(data);//拍照
data->imgSaveFileParameter.push_back(_core._detGlobalData.productTypeStr);//设置部分文件名
data->imgSaveFileParameter.push_back("Pos" + std::to_string(Pos));//设置部分文件名
_threadManager.addTask(data);//添加任务
QThread::msleep(1000);//延时一秒完成拍照，后续改成拍完直接发送
_triggerManager.sendFinsMsg("write_short_302_1");//开始检测信号
_lightSourceManager.getLightSourcePtr("COM8")->setValue(lightSourceChannel::DChannel, 0);
}
//机械臂状态切换 361 1
void detectionStart(QByteArray& byteArray)
{
if (armIsRunning == false)
{
armIsRunning = true;
emit _core._qtFunc.switchStartBtnStatusSignal(false);
}
}
//机械臂状态切换 361 0
void detectionEnd1(QByteArray& byteArray)
{
if(armIsRunning == true)
{
armIsRunning = false;
_triggerManager.sendFinsMsg("write_short_361_0");//清零
_triggerManager.sendFinsMsg("write_short_362_0");
emit _core._qtFunc.switchStartBtnStatusSignal(true);
}
}
//机械臂状态切换 362 1
void detectionEnd2(QByteArray& byteArray)
{
if (armIsRunning == true)
{
armIsRunning = false;
_triggerManager.sendFinsMsg("write_short_361_0");//清零
_triggerManager.sendFinsMsg("write_short_362_0");
emit _core._qtFunc.switchStartBtnStatusSignal(true);
}
}
//////////////////////////////////////////////////
//检测结果处理
void detectionResultHandle(std::shared_ptr<detData>data)
{
//发送图片
if (data->resultImgs.size() > 0)
{
int cnt = 0;
for (auto showMat : data->resultImgs)
{
//打包发送
QPixmap pixmap;
cvMatToQPixMap(showMat, pixmap);
showImgPack* pack = new showImgPack();
pack->img = pixmap;
pack->type = imgWidgetRes;
pack->index = data->resShowIndex + cnt;
emit _core._qtFunc.sendPixmapImageWidget(pack);
historyPack _historyPack;
_historyPack.img = pixmap;
_historyPack.filePath = std::shared_ptr<std::string>(new std::string);
data->resImgSavePath.push_back(_historyPack.filePath);
emit _core._qtFunc.addHistoryDataSignal((data->aiDetOK == true && data->halconOK == true), _historyPack);
cnt++;
}
}
//发送检测结果发送到界面
if (data->armPos != -1)
{
emit _core._qtFunc.addDashBoardData(0, data->halconOK);
emit _core._qtFunc.addDashBoardData(1, data->aiDetOK);
emit _core._qtFunc.uiModuleLocationMapSetProductSignStatus(data->armPos,
(data->halconOK==true&& data->aiDetOK==true)?2:3);
if(data->halconOK == false || data->aiDetOK == false)
{
for (auto showMat : data->resultImgs)
{
QPixmap pixmap;
cvMatToQPixMap(showMat, pixmap);
showImgPack* pack = new showImgPack();
emit _core._qtFunc.uiModuleImageDoubleCheckQdialogShowWindows(pixmap);
}
}
}
//ct计算以及发送到界面
auto totalCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->halconEndTime - data->algoStartTime);
auto aiCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->handleAiEndTime - data->algoStartTime);
auto halconCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->halconEndTime - data->handleAiEndTime);
if (totalCt.count() > 0)
emit _core._qtFunc.addCtData(0, totalCt.count());
if (aiCt.count() > 0)
emit _core._qtFunc.addCtData(1, aiCt.count());
if (halconCt.count() > 0)
emit _core._qtFunc.addCtData(2, halconCt.count());
//SQL
std::vector<sqlData> sqlDatas;
for (auto sqlData : data->sqlVec)
sqlDatas.push_back({ sqlData.first, std::to_string(sqlData.second) });
_core._appConfig._sqlManager.addData(data->SNcode, sqlDatas);
//写入plc
for (auto writeBackStr : data->writeBackData)
_triggerManager.sendFinsMsg(writeBackStr);
//储存结果图
std::async(std::launch::async, &imgSaveThreadManager::saveRes, &_imgSaveThreadManager, data);
//删除 不再持有
detDataManager* dManager = data->dManager;
data->dManager->deleteDetData(data->timeCode);
}
public slots:
void writeArmStartSignal(int productTypeIn, QString SN)
{
HanddleAI/HandleAiUi-new/front/pages/displayPageWidget.h
+11 -3
View File
@@ -20,7 +20,8 @@ public:
ImageWidgetManager _ImageWidgetManager;
summaryDataManager* _summaryDataManager;
historyShowListWidget* historyImgs = new historyShowListWidget();
uiModule_LocationMap* _uiModule_LocationMap = new uiModule_LocationMap();
uiModuleLocationMap* _uiModuleLocationMap = new uiModuleLocationMap();
LogWindow* log = new LogWindow();
displayWidget()
{
this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
@@ -46,12 +47,13 @@ public:
rightItemInit1();
rightItemInit2();
QObject::connect(historyImgs, &historyShowListWidget::itemClickSignal, this, &displayWidget::historyClick);
//historyImgs->addData(true, "D:/CCD/yuantu/2024-06-04/23H/TEST/1 (1).bmp", QPixmap("D:/CCD/yuantu/2024-06-04/23H/TEST/1 (1).bmp"));
}
void rightItemInit1()
{
QVBoxLayout* hLayout = new QVBoxLayout(rightWidget1);
hLayout->addWidget(_uiModule_LocationMap);
hLayout->addWidget(_uiModuleLocationMap);
hLayout->addWidget(historyImgs);
}
void rightItemInit2()
@@ -61,8 +63,8 @@ public:
hLayout->addWidget(_summaryDataManager->widget);
_switchProductWidget = new switchProductWidget();
hLayout->addWidget(_switchProductWidget);
LogWindow* log = new LogWindow();
hLayout->addWidget(log);
log->setStyleSheet("background-color: rgb(50,50,50);");
}
void leftItemInit()
{
@@ -89,6 +91,11 @@ public:
//leftWidget->setMaximumWidth(width / 1.2);
//rightWidget->setMaximumWidth(width / 2);
}
public slots:
void recvMainWindowStdLogMsg(QString msg)
{
log->addLog(msg);
}
private slots:
void historyClick(QString path)
{
@@ -97,6 +104,7 @@ private slots:
emit historyClickSignal(path);
emit changeStackWidget(3);
}
signals:
void historyClickSignal(QString);
void changeStackWidget(int);
HanddleAI/HandleAiUi-new/logger/logService.hpp
+10 -2
View File
@@ -14,7 +14,12 @@ public:
{
emit qtLogSignal(QString::fromStdString(str));
}
void sendMainWindowStdLogSignal(std::string str)
{
emit mainWindowStdLogSignal(QString::fromStdString(str));
}
signals:
void mainWindowStdLogSignal(QString logMsg);
void stdLogSignal(QString logMsg);
void qtLogSignal(QString logMsg);
};
@@ -27,7 +32,7 @@ public:
logService()
{
//STD日志
#if enableHideConsle 1
_stdConsoleRedirector = new stdConsoleRedirector(std::cout);
//STD日志储存到文件
@@ -39,7 +44,10 @@ public:
_stdConsoleRedirector->registerCallback([&](const std::string& output) {
_logToQtWidget.sendStdLogSignal(output);
});
#endif
//STD日志到Qt主界面
_stdConsoleRedirector->registerCallback([&](const std::string& output) {
_logToQtWidget.sendMainWindowStdLogSignal(output);
});
//QT日志
LogMsg::Create(LogMsg::LogMsgType::DebugMsg, logBasePath);
qtLogCallbacks.push_back(([&](const std::string& output) {
HanddleAI/HandleAiUi-new/main.cpp
+9 -2
View File
@@ -89,6 +89,8 @@ void connectSignalAndSlots(MainWindow* front, appCore* _core, detProcess* _detPr
front->_logWidget, &logWidget::recvStdLogMsg);
QObject::connect(&_core->_logService._logToQtWidget, &logToQtWidget::qtLogSignal,
front->_logWidget, &logWidget::recvQtLogMsg);
QObject::connect(&_core->_logService._logToQtWidget, &logToQtWidget::mainWindowStdLogSignal,
front->_displayWidget, &displayWidget::recvMainWindowStdLogMsg);
///////////TEMP
QObject::connect(&_core->_qtFunc, &qtFunction::addCtData, front, &MainWindow::addCtData);
@@ -101,8 +103,13 @@ void connectSignalAndSlots(MainWindow* front, appCore* _core, detProcess* _detPr
QObject::connect(&_core->_qtFunc, &qtFunction::addHistoryDataSignal, front, &MainWindow::addDetHistoryData);
QObject::connect(&_core->_qtFunc, &qtFunction::switchStartBtnStatusSignal,
front->_displayWidget->_switchProductWidget, &switchProductWidget::switchStartBtnStatus);
QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleLocationMapResetToDefault,
front->_displayWidget->_uiModuleLocationMap, &uiModuleLocationMap::resetToDefault);
QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleLocationMapSetProductSignStatus,
front, &MainWindow::uiModuleLocationMapSetProductSignStatus);
QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleImageDoubleCheckQdialogShowWindows,
front, [=](QPixmap map) {front->_imageDoubleCheckQdialog->showAndSetImg(map); });
QObject::connect(&_detProcess->_manualDetThread, &manualDetThread::finishImgReadSignal,
front->_manualDetWidget, &manualDetWidget::finishImgReadSlot);
HanddleAI/HandleAiUi-new/mainwindow.h
+7 -1
View File
@@ -18,6 +18,7 @@
#include <LoginWindow.h>
#include <QPropertyAnimation>
#include <loadingWidget.h>
#include <uiModule/uiModule_imageDoubleCheckQdialog.h>
#include <pages/displayPageWidget.h>
#include <pages/configSettingWidget.h>
@@ -57,6 +58,8 @@ public:
sqlControlWidget* _sqlControlWidget;
manualDetWidget* _manualDetWidget;
historyWidget* _historyWidget;
//人工复判窗口
imageDoubleCheckQdialog* _imageDoubleCheckQdialog = new imageDoubleCheckQdialog();
private:
Ui::MainWindow* ui;
fbBridge* fbBridgePtr;
@@ -257,7 +260,10 @@ public slots:
}
}
//void resetDashBoard();//reset dashBoard
void uiModuleLocationMapSetProductSignStatus(int pos, int status)
{
_displayWidget->_uiModuleLocationMap->setProductSignStatus(pos, status);
}
//void addShowPerformanceWidgetData(int index, int timeCost);
//void resetShowPerformanceWidget();
signals:
HanddleAI/HandleAiUi-new/uiModule/components/fancyLogWindow.h
+12 -3
View File
@@ -16,10 +16,19 @@ public:
// 添加日志信息
void addLog(const QString& message) {
QString logMessage = QDateTime::currentDateTime().toString("[yyyy-MM-dd hh:mm:ss] ") + message;
logTextEdit->append(logMessage); // 追加文本到日志框
QString text = "<span style='color: yellow;'>" + getCurrentDate() + "</span> "
"<span style='color: yellow;'>" + getCurrentTime() + "</span> "
"<span style='color: white;'>" + message + "</span> ";
logTextEdit->append(text);
}
QString getCurrentTime() {
QTime currentTime = QTime::currentTime();
return currentTime.toString("HH:mm:ss.zzz");
}
QString getCurrentDate() {
QDate currentDate = QDate::currentDate();
return currentDate.toString("yyyy-MM-dd");
}
private:
QTextEdit* logTextEdit;
};
HanddleAI/HandleAiUi-new/uiModule/uiModule_LocationMap.h
+41 -30
View File
@@ -26,15 +26,15 @@ public:
}
void setYellowBord()
{
setBorder(Qt::yellow, 30);
setBorder(Qt::yellow, 20);
}
void setRedBord()
{
setBorder(Qt::red, 30);
setBorder(Qt::red, 20);
}
void setGreenBord()
{
setBorder(Qt::green, 30);
setBorder(Qt::green, 20);
}
void disableToggleVisibility()
{
@@ -65,13 +65,13 @@ private:
setBrush(QBrush(color));
}
};
class uiModule_LocationMap :
class uiModuleLocationMap :
public QGraphicsView
{
Q_OBJECT
public:
QGraphicsScene* scene;
uiModule_LocationMap()
uiModuleLocationMap()
{
//scene = new QGraphicsScene();
//this->setScene(scene);
@@ -98,13 +98,8 @@ public:
QPixmap pixmap("F:/ciscoAoiUi/bin/imgPosTip/asr1006.png");
setImg(pixmap);
auto cData = _core._appConfig._switchProductWidgetDataPtr.getCurrentProductData();
std::vector<productSignStruct> r;
for (auto it = cData.productSign.begin(); it != cData.productSign.end(); it++)
{
r.push_back(it->second);
}
loadSignRects(r);
loadSignRects(cData.productSign);
resetToDefault();
}
void setImg(QPixmap pixmap)
{
@@ -116,42 +111,58 @@ public:
scene->clear();
setEnabled(false);
}
void loadSignRects(std::vector<productSignStruct>& rects)
void loadSignRects(std::unordered_map<int, productSignStruct>&rects)
{
for (auto& rect : rects)
for (auto& data : rects)
{
FlashingRectItem* _FlashingRectItem = new FlashingRectItem(0,0, rect.posRect.width, rect.posRect.height);
FlashingRectItem* _FlashingRectItem = new FlashingRectItem(0,0, data.second.posRect.width, data.second.posRect.height);
_FlashingRectItem->enableToggleVisibility();
//_FlashingRectItem->disableToggleVisibility();
_FlashingRectItem->setYellowBord();
_FlashingRectItem->setPos(rect.posRect.x, rect.posRect.y); // 设置矩形的位置
_FlashingRectItem->setPos(data.second.posRect.x, data.second.posRect.y); // 设置矩形的位置
scene->addItem(_FlashingRectItem);
flashItems.push_back(_FlashingRectItem);
flashItems.insert(std::make_pair(data.first,_FlashingRectItem));
}
}
public slots:
void resetToDefault()
{
for (auto& item : flashItems)
{
item.second->setYellowBord();
item.second->disableToggleVisibility();
}
}
void setProductSignStatus(int pos, int status)//设置产品示意图指定位置的状态
{
if (flashItems.size() < pos)
auto item = flashItems.find(pos);
if (item == flashItems.end())
return;
mutex.lock();
switch (status)
{
case 0:
flashItems[pos]->setGreenBord();
flashItems[pos]->disableToggleVisibility();
case 0://未检测
item->second->setYellowBord();
item->second->disableToggleVisibility();
break;
case 1:
flashItems[pos]->setYellowBord();
flashItems[pos]->enableToggleVisibility();
case 1://正在检测
item->second->setYellowBord();
item->second->enableToggleVisibility();
break;
case 2:
flashItems[pos]->setRedBord();
flashItems[pos]->disableToggleVisibility();
case 2://OK
item->second->setGreenBord();
item->second->disableToggleVisibility();
item->second->setVisible(true);
break;
case 3://NG
item->second->setRedBord();
item->second->disableToggleVisibility();
item->second->setVisible(true);
break;
}
mutex.unlock();
}
protected:
virtual void keyPressEvent(QKeyEvent* event) override
@@ -207,7 +218,7 @@ protected:
vBar->setValue(vBar->value() - delta.y());
}
private:
std::vector< FlashingRectItem*>flashItems;
std::unordered_map<int, FlashingRectItem*>flashItems;
void showImg(QPixmap img)
{
mutex.lock();
HanddleAI/HandleAiUi-new/uiModule/uiModule_historyListWidget.h
+1
View File
@@ -161,6 +161,7 @@ public slots:
showDataListWidget->setItemWidget(item, widget);
item->setSizeHint(widget->sizeHint());
widget->show();
showDataListWidget->scrollToBottom();
}
void reset()
{
HanddleAI/HandleAiUi-new/uiModule/uiModule_imageDoubleCheckQdialog.h
+7 -2
View File
@@ -17,7 +17,7 @@ public:
QPushButton* closeBtn = new QPushButton(this);
fancyButtonText* okBtn = new fancyButtonText(120, 40, "OK", "继续");
fancyButtonText* ngBtn = new fancyButtonText(120, 40, "NG", "继续");
imageDoubleCheckQdialog(QPixmap img)
imageDoubleCheckQdialog()
{
QPalette paletteWhite, paletteRed, paletteGreen;
paletteWhite.setColor(QPalette::WindowText, Qt::white);
@@ -87,7 +87,7 @@ public:
_ImageWidgetManager->createViewer("");
_ImageWidgetManager->disableAllSwitchBtn();
_ImageWidgetManager->showImg(img, imgWidgetShowType::imgWidgetOri, 0);
QHBoxLayout* okngBtnLayout = new QHBoxLayout();
okngBtnLayout->addWidget(okBtn);
okngBtnLayout->addWidget(ngBtn);
@@ -101,6 +101,11 @@ public:
layout->addLayout(imageViewLayout, 1, 0);
layout->addLayout(okngBtnLayout, 2, 0);
this->setWindowFlags(this->windowFlags() | Qt::WindowStaysOnTopHint);
//this->show();
}
void showAndSetImg(QPixmap img)
{
_ImageWidgetManager->showImg(img, imgWidgetShowType::imgWidgetOri, 0);
this->show();
}
signals:
HanddleAI/HandleAiUi-new/uiModule/uiModule_imageView.h
+53 -1
View File
@@ -47,6 +47,8 @@ public:
"background-repeat: no-repeat;"
"background-position: center center;"
"}");
rectGroup = new QGraphicsItemGroup();
scene->addItem(rectGroup);
mutex.unlock();
}
void setImg(QPixmap pixmap)
@@ -59,6 +61,18 @@ public:
setEnabled(false);
}
protected:
void deleteAllRect()
{
if (rectGroup == nullptr)
return;
QList<QGraphicsItem*> items = rectGroup->childItems();
for (QGraphicsItem* item : items) {
QGraphicsRectItem* rect = qgraphicsitem_cast<QGraphicsRectItem*>(item);
rectGroup->removeFromGroup(rect);
scene->removeItem(rect);
delete rect;
}
}
virtual void wheelEvent(QWheelEvent* event) override
{
if (scene->children().size()==0)
@@ -67,6 +81,7 @@ protected:
if (!numDegrees.isNull()) {
QPoint numSteps = numDegrees / 15;
zoom(numSteps);
centerOn(currentPos);
}
event->accept();
}
@@ -85,15 +100,35 @@ protected:
event->accept();
return;
}
else if (event->button() == Qt::RightButton) {
startPos = mapToScene(event->pos());
rightClicked = true;
rectItem = new QGraphicsRectItem(QRectF(startPos, QSizeF(0, 0)));
rectItem->setPen(QPen(Qt::red, 10));
rectGroup->addToGroup(rectItem);
this->update();
return;
}
event->ignore();
}
virtual void mouseMoveEvent(QMouseEvent* event) override
{
currentPos = mapToScene(event->pos());
if (rightClicked == true)
{
QPointF endPos = currentPos;
// 计算矩形的宽度和高度
qreal width = endPos.x() - startPos.x();
qreal height = endPos.y() - startPos.y();26;
rectItem->setTransformOriginPoint(startPos);
rectItem->setRect(startPos.x(), startPos.y(), width, height);
}
if (m_isPan) {
pan(event->pos());
event->accept();
return;
}
event->ignore();
}
virtual void mouseReleaseEvent(QMouseEvent* event) override
@@ -103,6 +138,19 @@ protected:
event->accept();
return;
}
else if (event->button() == Qt::RightButton) {
rightClicked = false;
deleteAllRect();
QPointF endPos = mapToScene(event->pos());
// 计算矩形的宽度和高度
qreal width = endPos.x() - startPos.x();
qreal height = endPos.y() - startPos.y(); 26;
auto rect = this->rect();
double scaleRate = std::max(rect.width() / width, rect.height() / height);
scale(scaleRate, scaleRate);
centerOn(startPos.x() + width / 2, startPos.y() + height / 2);
return;
}
event->ignore();
}
void zoom(QPoint factor)
@@ -150,6 +198,11 @@ protected:
vBar->setValue(vBar->value() - delta.y());
}
private:
bool rightClicked = false;
QPointF currentPos;
QPointF startPos;
QGraphicsItemGroup* rectGroup;
QGraphicsRectItem* rectItem;
void showImg(QPixmap img)
{
mutex.lock();
@@ -168,7 +221,6 @@ private:
bool m_isPan;
QPoint m_prevPan;
QLabel* imgLabel;
QGraphicsItemGroup* rectGroup = nullptr;
int imageWidth = 1; int imageHeight = 1;
QMutex mutex;
};
HanddleAI/HandleAiUi-new/uiModule/uiModule_switchProduct.h
+3
View File
@@ -81,6 +81,7 @@ public:
connect(startBtn, &QPushButton::clicked, this, [=]()
{
emit startArmProgramSignal(productSelect->currentIndex(), snIntputLine->text());
std::cout << "按下按钮" << std::endl;
});
connect(switchBtn, &QPushButton::clicked, this, &switchProductWidget::startSwitch);
connect(productSelect, &QComboBox::currentTextChanged, this, &switchProductWidget::currentProductSwitch);
@@ -132,12 +133,14 @@ public slots:
startBtn->toDefault();
startBtn->setText("运行");
snIntputLine->setDisabled(false);
std::cout << "按下软件运行" << std::endl;
}
else
{
startBtn->toRed();
startBtn->setText("急停");
snIntputLine->setDisabled(true);
std::cout << "按下软件急停" << std::endl;
}
}
signals:
lib/Hd_3DCameraLMI_module_PointLazer.exp
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