1420 lines
53 KiB
C++
1420 lines
53 KiB
C++
#include "GrabBagPresenter.h"
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#include "VrError.h"
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#include "VrLog.h"
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#include <QtCore/QCoreApplication>
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#include <QtCore/QFileInfo>
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#include <QtCore/QDir>
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#include <QtCore/QString>
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#include <QtCore/QStandardPaths>
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#include <QtCore/QFile>
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#include <cmath>
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#include <algorithm>
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#include <QImage>
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#include <QThread>
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#include "Version.h"
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#include "VrTimeUtils.h"
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#include "VrDateUtils.h"
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#include "SG_bagPositioning_Export.h"
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#include "SG_baseDataType.h"
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#include "VrConvert.h"
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#include "PointCloudImageUtils.h"
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GrabBagPresenter::GrabBagPresenter()
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: m_vrConfig(nullptr)
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, m_pStatus(nullptr)
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, m_pDetectPresenter(nullptr)
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, m_pRobotProtocol(nullptr)
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, m_bCameraConnected(false)
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, m_bRobotConnected(false)
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, m_currentWorkStatus(WorkStatus::Error)
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{
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m_detectionDataCache.clear();
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}
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GrabBagPresenter::~GrabBagPresenter()
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{
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// 停止配置管理器
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if (m_pConfigManager) {
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m_pConfigManager->Shutdown();
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m_pConfigManager.reset();
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}
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// 停止算法检测线程
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m_bAlgoDetectThreadRunning = false;
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m_algoDetectCondition.notify_all();
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// 等待算法检测线程结束
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if (m_algoDetectThread.joinable()) {
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m_algoDetectThread.join();
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}
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// 释放缓存的检测数据
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_ClearDetectionDataCache();
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// 释放机械臂协议
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if (m_pRobotProtocol) {
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m_pRobotProtocol->Deinitialize();
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delete m_pRobotProtocol;
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m_pRobotProtocol = nullptr;
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}
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// 释放串口协议
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if (m_pSerialProtocol) {
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m_pSerialProtocol->CloseSerial();
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delete m_pSerialProtocol;
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m_pSerialProtocol = nullptr;
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}
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// 释放相机设备资源
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for(auto it = m_vrEyeDeviceList.begin(); it != m_vrEyeDeviceList.end(); it++)
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{
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if (it->second != nullptr) {
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it->second->CloseDevice();
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delete it->second;
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it->second = nullptr;
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}
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}
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m_vrEyeDeviceList.clear();
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// 释放检测处理器
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if(m_pDetectPresenter)
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{
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delete m_pDetectPresenter;
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m_pDetectPresenter = nullptr;
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}
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// 释放配置对象
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if (m_vrConfig) {
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delete m_vrConfig;
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m_vrConfig = nullptr;
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}
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}
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int GrabBagPresenter::Init()
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{
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LOG_DEBUG("Start APP Version: %s\n", GRABBAG_FULL_VERSION_STRING);
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// 初始化连接状态
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m_bCameraConnected = false;
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m_currentWorkStatus = WorkStatus::InitIng;
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m_pStatus->OnWorkStatusChanged(m_currentWorkStatus);
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m_pDetectPresenter = new DetectPresenter();
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// 初始化VrConfig模块
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IVrConfig::CreateInstance(&m_vrConfig);
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// 设置配置改变通知回调
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if (m_vrConfig) {
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m_vrConfig->SetConfigChangeNotify(this);
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}
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// 获取配置文件路径
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QString configPath = PathManager::GetConfigFilePath();
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// 读取IP列表
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ConfigResult configResult = m_vrConfig->LoadConfig(configPath.toStdString());
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m_projectType = configResult.projectType;
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int nRet = SUCCESS;
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// 初始化算法参数
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nRet = InitAlgorithmParams();
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if (nRet != 0) {
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m_pStatus->OnStatusUpdate("算法参数初始化失败");
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LOG_ERROR("Algorithm parameters initialization failed with error: %d\n", nRet);
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} else {
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m_pStatus->OnStatusUpdate("算法参数初始化成功");
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LOG_INFO("Algorithm parameters initialization successful\n");
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}
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InitCamera(configResult.cameraList);
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LOG_INFO("Camera initialization completed. Connected cameras: %zu, default camera index: %d\n",
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m_vrEyeDeviceList.size(), m_currentCameraIndex);
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// 初始化机械臂协议
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nRet = InitRobotProtocol();
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if (nRet != 0) {
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m_pStatus->OnStatusUpdate("机械臂服务初始化失败");
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m_bRobotConnected = false;
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} else {
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m_pStatus->OnStatusUpdate("机械臂服务初始化成功");
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}
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// 初始化串口协议
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nRet = InitSerialProtocol();
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if (nRet != 0) {
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m_pStatus->OnStatusUpdate("串口服务初始化失败");
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m_bSerialConnected = false;
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} else {
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m_pStatus->OnStatusUpdate("串口服务初始化成功");
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m_bSerialConnected = true;
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m_pStatus->OnSerialConnectionChanged(true);
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}
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m_bAlgoDetectThreadRunning = true;
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m_algoDetectThread = std::thread(&GrabBagPresenter::_AlgoDetectThread, this);
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m_algoDetectThread.detach();
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m_pStatus->OnStatusUpdate("设备初始化完成");
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CheckAndUpdateWorkStatus();
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QString str = QString("%1 配置初始化成功").arg(ProjectTypeToString(configResult.projectType).c_str());
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m_pStatus->OnStatusUpdate(str.toStdString());
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LOG_INFO("ConfigManager initialized successfully\n");
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return SUCCESS;
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}
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// 相机协议相关方法
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int GrabBagPresenter::InitCamera(std::vector<DeviceInfo>& cameraList)
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{
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// 通知UI相机个数
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int cameraCount = cameraList.size();
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// 初始化相机列表，预分配空间
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m_vrEyeDeviceList.resize(cameraCount, std::make_pair("", nullptr));
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for(int i = 0; i < cameraCount; i++)
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{
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m_vrEyeDeviceList[i] = std::make_pair(cameraList[i].name, nullptr);
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}
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m_pStatus->OnCameraCountChanged(cameraCount);
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if(cameraCount > 0){
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if (cameraCount >= 1) {
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// 尝试打开相机
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int nRet = _OpenDevice(1, cameraList[0].name.c_str(), cameraList[0].ip.c_str(), m_projectType);
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m_pStatus->OnCamera1StatusChanged(nRet == SUCCESS);
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m_bCameraConnected = (nRet == SUCCESS);
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}
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if (cameraCount >= 2) {
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// 尝试打开相机
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int nRet = _OpenDevice(2, cameraList[1].name.c_str(), cameraList[1].ip.c_str(), m_projectType);
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m_pStatus->OnCamera2StatusChanged(nRet == SUCCESS);
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m_bCameraConnected = (nRet == SUCCESS);
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}
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} else {
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m_vrEyeDeviceList.resize(1, std::make_pair("", nullptr));
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_OpenDevice(1, "相机", nullptr, m_projectType);
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}
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// 设置默认相机索引为第一个连接的相机
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m_currentCameraIndex = 1; // 默认从1开始
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for (int i = 0; i < static_cast<int>(m_vrEyeDeviceList.size()); i++) {
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if (m_vrEyeDeviceList[i].second != nullptr) {
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m_currentCameraIndex = i + 1; // 找到第一个连接的相机
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break;
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}
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}
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return SUCCESS;
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}
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// 初始化机械臂协议
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int GrabBagPresenter::InitRobotProtocol()
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{
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LOG_DEBUG("Start initializing robot protocol\n");
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m_pStatus->OnStatusUpdate("机械臂服务初始化...");
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// 创建RobotProtocol实例
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if(nullptr == m_pRobotProtocol){
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m_pRobotProtocol = new RobotProtocol();
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}
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// 初始化协议服务（使用端口502）
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int nRet = m_pRobotProtocol->Initialize(5020);
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// 设置连接状态回调
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m_pRobotProtocol->SetConnectionCallback([this](bool connected) {
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this->OnRobotConnectionChanged(connected);
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});
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// 设置工作信号回调
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m_pRobotProtocol->SetWorkSignalCallback([this](bool startWork, int cameraIndex) {
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return this->OnRobotWorkSignal(startWork, cameraIndex);
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});
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LOG_INFO("Robot protocol initialization completed successfully\n");
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return nRet;
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}
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// 串口协议相关方法实现
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int GrabBagPresenter::InitSerialProtocol()
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{
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if (m_pSerialProtocol) {
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LOG_WARNING("Serial protocol already initialized\n");
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return SUCCESS;
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}
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LOG_INFO("Initializing serial protocol\n");
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// 获取串口配置
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QString configPath = PathManager::GetConfigFilePath();
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ConfigResult configResult = m_vrConfig->LoadConfig(configPath.toStdString());
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// 如果串口未启用，则不初始化
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if (!configResult.serialConfig.enabled) {
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LOG_INFO("Serial communication is disabled in configuration\n");
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return ERR_CODE(DEV_ARG_INVAILD);
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}
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// 创建串口协议实例
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m_pSerialProtocol = new SerialProtocol();
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// 设置串口回调函数
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m_pSerialProtocol->SetConnectionCallback([this](bool connected) {
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this->OnSerialConnectionChanged(connected);
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});
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m_pSerialProtocol->SetWorkSignalCallback([this](bool startWork, int cameraIndex) {
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return this->OnSerialWorkSignal(startWork, cameraIndex);
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});
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// 打开串口
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int result = m_pSerialProtocol->OpenSerial(
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configResult.serialConfig.portName,
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configResult.serialConfig.baudRate,
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configResult.serialConfig.dataBits,
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configResult.serialConfig.stopBits,
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configResult.serialConfig.parity,
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configResult.serialConfig.flowControl
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);
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if (result == SUCCESS) {
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LOG_INFO("Serial protocol initialization successful\n");
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m_bSerialConnected = true;
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return SUCCESS;
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} else {
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LOG_ERROR("Serial protocol initialization failed with error: %d\n", result);
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m_bSerialConnected = false;
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return result;
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}
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}
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// 初始化算法参数
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int GrabBagPresenter::InitAlgorithmParams()
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{
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LOG_DEBUG("Start initializing algorithm parameters\n");
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QString exePath = QCoreApplication::applicationFilePath();
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// 清空现有的手眼标定矩阵列表
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m_clibMatrixList.clear();
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// 获取手眼标定文件路径并确保文件存在
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QString clibPath = PathManager::GetCalibrationFilePath();
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LOG_INFO("Loading hand-eye matrices from: %s\n", clibPath.toStdString().c_str());
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// 读取存在的矩阵数量
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int nExistMatrixNum = CVrConvert::GetClibMatrixCount(clibPath.toStdString().c_str());
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LOG_INFO("Found %d hand-eye calibration matrices\n", nExistMatrixNum);
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// 循环加载每个矩阵
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for(int matrixIndex = 0; matrixIndex < nExistMatrixNum; matrixIndex++)
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{
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// 构造矩阵标识符
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char matrixIdent[64];
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#ifdef _WIN32
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sprintf_s(matrixIdent, "CalibMatrixInfo_%d", matrixIndex);
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#else
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sprintf(matrixIdent, "CalibMatrixInfo_%d", matrixIndex);
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#endif
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// 创建新的标定矩阵结构
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CalibMatrix calibMatrix;
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// 初始化为单位矩阵
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double initClibMatrix[16] = {
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1.0, 0.0, 0.0, 0.0, // 第一行
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0.0, 1.0, 0.0, 0.0, // 第二行
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0.0, 0.0, 1.0, 0.0, // 第三行
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0.0, 0.0, 0.0, 1.0 // 第四行
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};
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// 加载矩阵数据
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bool loadSuccess = CVrConvert::LoadClibMatrix(clibPath.toStdString().c_str(), matrixIdent, "dCalibMatrix", calibMatrix.clibMatrix);
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if(loadSuccess)
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{
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m_clibMatrixList.push_back(calibMatrix);
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LOG_INFO("Successfully loaded matrix %d\n", matrixIndex);
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// 输出矩阵内容
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QString clibMatrixStr;
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LOG_INFO("Matrix %d content:\n", matrixIndex);
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for (int i = 0; i < 4; ++i) {
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clibMatrixStr.clear();
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for (int j = 0; j < 4; ++j) {
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clibMatrixStr += QString::asprintf("%8.4f ", calibMatrix.clibMatrix[i * 4 + j]);
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}
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LOG_INFO(" %s\n", clibMatrixStr.toStdString().c_str());
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}
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}
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else
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{
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LOG_WARNING("Failed to load matrix %d, using identity matrix\n", matrixIndex);
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// 如果加载失败，使用单位矩阵
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memcpy(calibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));
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m_clibMatrixList.push_back(calibMatrix);
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}
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}
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LOG_INFO("Total loaded %zu hand-eye calibration matrices\n", m_clibMatrixList.size());
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// 获取配置文件路径
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QString configPath = PathManager::GetConfigFilePath();
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LOG_INFO("Loading config: %s\n", configPath.toStdString().c_str());
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// 读取配置文件
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ConfigResult configResult = m_vrConfig->LoadConfig(configPath.toStdString());
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const VrAlgorithmParams& xmlParams = configResult.algorithmParams;
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// 保存调试参数
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m_debugParam = configResult.debugParam;
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LOG_INFO("Loaded XML params - Bag: L=%.1f, W=%.1f, H=%.1f\n", xmlParams.bagParam.bagL, xmlParams.bagParam.bagW, xmlParams.bagParam.bagH);
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LOG_INFO("Loaded XML params - Pile: L=%.1f, W=%.1f, H=%.1f\n",xmlParams.pileParam.pileL, xmlParams.pileParam.pileW, xmlParams.pileParam.pileH);
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// 初始化算法参数结构
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memset(&m_algoParam, 0, sizeof(SG_bagPositionParam));
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// 设置编织袋参数
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m_algoParam.bagParam.bagL = xmlParams.bagParam.bagL;
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m_algoParam.bagParam.bagW = xmlParams.bagParam.bagW;
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m_algoParam.bagParam.bagH = xmlParams.bagParam.bagH;
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// 设置滤波参数
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m_algoParam.filterParam.continuityTh = xmlParams.filterParam.continuityTh;
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m_algoParam.filterParam.outlierTh = xmlParams.filterParam.outlierTh;
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// 设置角点特征参数
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m_algoParam.cornerParam.cornerTh = xmlParams.cornerParam.cornerTh;
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m_algoParam.cornerParam.scale = xmlParams.cornerParam.scale;
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m_algoParam.cornerParam.minEndingGap = xmlParams.cornerParam.minEndingGap;
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m_algoParam.cornerParam.minEndingGap_z = xmlParams.cornerParam.minEndingGap_z;
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m_algoParam.cornerParam.jumpCornerTh_1 = xmlParams.cornerParam.jumpCornerTh_1;
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m_algoParam.cornerParam.jumpCornerTh_2 = xmlParams.cornerParam.jumpCornerTh_2;
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// 设置增长参数
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m_algoParam.growParam.maxLineSkipNum = xmlParams.growParam.maxLineSkipNum;
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m_algoParam.growParam.yDeviation_max = xmlParams.growParam.yDeviation_max;
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m_algoParam.growParam.maxSkipDistance = xmlParams.growParam.maxSkipDistance;
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m_algoParam.growParam.zDeviation_max = xmlParams.growParam.zDeviation_max;
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m_algoParam.growParam.minLTypeTreeLen = xmlParams.growParam.minLTypeTreeLen;
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m_algoParam.growParam.minVTypeTreeLen = xmlParams.growParam.minVTypeTreeLen;
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// 设置颜色参数
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m_hsvCmpParam.hueTh = xmlParams.hsvCmpParam.hueTh ;
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m_hsvCmpParam.saturateTh = xmlParams.hsvCmpParam.saturateTh;
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m_hsvCmpParam.FBVldPtRatioTh = xmlParams.hsvCmpParam.FBVldPtRatioTh;
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m_hsvCmpParam.frontVldPtGreater = xmlParams.hsvCmpParam.frontVldPtGreater;
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m_hsvCmpParam.front_upVldPtGreater = xmlParams.hsvCmpParam.front_upVldPtGreater;
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m_hsvCmpParam.back_upVldPtGreater = xmlParams.hsvCmpParam.back_upVldPtGreater;
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m_rgbColorPattern.r = xmlParams.rgbColorPattern.r;
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m_rgbColorPattern.g = xmlParams.rgbColorPattern.g;
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m_rgbColorPattern.b = xmlParams.rgbColorPattern.b;
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memcpy(m_frontColorTemplate, xmlParams.colorTemplateParam.frontColorTemplate, RGN_HIST_SIZE * sizeof(double));
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memcpy(m_backColorTemplate, xmlParams.colorTemplateParam.backColorTemplate, RGN_HIST_SIZE * sizeof(double));
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// 设置平面校准参数（保存所有相机的配置）
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m_cameraCalibParams = xmlParams.planeCalibParam.cameraCalibParams;
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LOG_INFO("projectType: %s\n", ProjectTypeToString(m_projectType).c_str());
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LOG_INFO("Algorithm parameters initialized successfully:\n");
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LOG_INFO(" Bag: L=%.1f, W=%.1f, H=%.1f\n", m_algoParam.bagParam.bagL, m_algoParam.bagParam.bagW, m_algoParam.bagParam.bagH);
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LOG_INFO(" Filter: continuityTh=%.1f, outlierTh=%.1f\n", m_algoParam.filterParam.continuityTh, m_algoParam.filterParam.outlierTh);
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LOG_INFO(" Corner: minEndingGap=%.1f, minEndingGap_z=%.1f, scale=%.1f, cornerTh=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
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m_algoParam.cornerParam.minEndingGap, m_algoParam.cornerParam.minEndingGap_z, m_algoParam.cornerParam.scale, m_algoParam.cornerParam.cornerTh,
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m_algoParam.cornerParam.jumpCornerTh_1, m_algoParam.cornerParam.jumpCornerTh_2);
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LOG_INFO(" Grow: minVTypeTreeLen=%.1f, minLTypeTreeLen=%.1f yDeviation_max=%.1f, zDeviation_max=%.1f, maxLineSkipNum=%d, maxSkipDistance=%.1f\n",
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m_algoParam.growParam.minVTypeTreeLen, m_algoParam.growParam.minLTypeTreeLen,
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m_algoParam.growParam.yDeviation_max, m_algoParam.growParam.zDeviation_max,
|
||
m_algoParam.growParam.maxLineSkipNum, m_algoParam.growParam.maxSkipDistance);
|
||
|
||
// 循环打印所有相机的调平参数
|
||
LOG_INFO("Loading plane calibration parameters for all cameras:\n");
|
||
for (const auto& cameraParam : m_cameraCalibParams) {
|
||
LOG_INFO("Camera %d (%s) calibration parameters:\n",
|
||
cameraParam.cameraIndex, cameraParam.cameraName.c_str());
|
||
LOG_INFO(" Is calibrated: %s\n", cameraParam.isCalibrated ? "YES" : "NO");
|
||
LOG_INFO(" Plane height: %.3f\n", cameraParam.planeHeight);
|
||
LOG_INFO(" Plane calibration matrix:\n");
|
||
LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[0], cameraParam.planeCalib[1], cameraParam.planeCalib[2]);
|
||
LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[3], cameraParam.planeCalib[4], cameraParam.planeCalib[5]);
|
||
LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[6], cameraParam.planeCalib[7], cameraParam.planeCalib[8]);
|
||
LOG_INFO(" Inverse rotation matrix:\n");
|
||
LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[0], cameraParam.invRMatrix[1], cameraParam.invRMatrix[2]);
|
||
LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[3], cameraParam.invRMatrix[4], cameraParam.invRMatrix[5]);
|
||
LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[6], cameraParam.invRMatrix[7], cameraParam.invRMatrix[8]);
|
||
LOG_INFO(" --------------------------------\n");
|
||
}
|
||
|
||
LOG_INFO("HSV color comparison parameters:\n");
|
||
LOG_INFO(" hueTh: %.1f\n", m_hsvCmpParam.hueTh);
|
||
LOG_INFO(" saturateTh: %.1f\n", m_hsvCmpParam.saturateTh);
|
||
LOG_INFO(" FBVldPtRatioTh: %.5f\n", m_hsvCmpParam.FBVldPtRatioTh);
|
||
LOG_INFO(" frontVldPtGreater: %s\n", m_hsvCmpParam.frontVldPtGreater ? "true" : "false");
|
||
LOG_INFO(" front_upVldPtGreater: %s\n", m_hsvCmpParam.front_upVldPtGreater ? "true" : "false");
|
||
LOG_INFO(" back_upVldPtGreater: %s\n", m_hsvCmpParam.back_upVldPtGreater ? "true" : "false");
|
||
|
||
return SUCCESS;
|
||
}
|
||
|
||
// 手眼标定矩阵管理方法实现
|
||
const CalibMatrix GrabBagPresenter::GetClibMatrix(int index) const
|
||
{
|
||
CalibMatrix clibMatrix;
|
||
|
||
double initClibMatrix[16] = {
|
||
1.0, 0.0, 0.0, 0.0, // 第一行
|
||
0.0, 1.0, 0.0, 0.0, // 第二行
|
||
0.0, 0.0, 1.0, 0.0, // 第三行
|
||
0.0, 0.0, 0.0, 1.0 // 第四行
|
||
};
|
||
memcpy(clibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));
|
||
|
||
if (index >= 0 && index < static_cast<int>(m_clibMatrixList.size())) {
|
||
clibMatrix = m_clibMatrixList[index];
|
||
memcpy(clibMatrix.clibMatrix, m_clibMatrixList[index].clibMatrix, sizeof(initClibMatrix));
|
||
} else {
|
||
LOG_WARNING("Invalid hand-eye calibration matrix\n");
|
||
}
|
||
|
||
return clibMatrix;
|
||
}
|
||
|
||
// 机械臂协议回调函数实现
|
||
void GrabBagPresenter::OnRobotConnectionChanged(bool connected)
|
||
{
|
||
LOG_INFO("Robot connection status changed: %s\n", (connected ? "connected" : "disconnected"));
|
||
|
||
// 更新机械臂连接状态
|
||
m_bRobotConnected = connected;
|
||
|
||
if (m_pStatus) {
|
||
m_pStatus->OnRobotConnectionChanged(connected);
|
||
|
||
// 发送详细的页面状态信息
|
||
if (connected) {
|
||
m_pStatus->OnStatusUpdate("机械臂连接成功，通信正常");
|
||
} else {
|
||
m_pStatus->OnStatusUpdate("机械臂连接断开，请检查网络连接");
|
||
}
|
||
}
|
||
|
||
// 检查并更新工作状态
|
||
CheckAndUpdateWorkStatus();
|
||
}
|
||
|
||
bool GrabBagPresenter::OnRobotWorkSignal(bool startWork, int cameraIndex)
|
||
{
|
||
LOG_INFO("Received robot work signal: %s for camera index: %d\n", (startWork ? "start work" : "stop work"), cameraIndex);
|
||
|
||
if(!_SinglePreDetection(cameraIndex)){
|
||
return false;
|
||
}
|
||
|
||
int nRet = _SingleDetection(cameraIndex, startWork);
|
||
|
||
if(nRet != SUCCESS){
|
||
m_currentWorkStatus = WorkStatus::Ready;
|
||
if (m_pStatus) {
|
||
m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
|
||
}
|
||
}
|
||
return nRet == SUCCESS;
|
||
}
|
||
|
||
void GrabBagPresenter::SetStatusCallback(IYGrabBagStatus* status)
|
||
{
|
||
m_pStatus = status;
|
||
}
|
||
|
||
// 模拟检测函数，用于演示
|
||
int GrabBagPresenter::StartDetection(int cameraIdx, bool isAuto)
|
||
{
|
||
LOG_INFO("--------------------------------\n");
|
||
LOG_INFO("Start detection with camera index: %d\n", cameraIdx);
|
||
|
||
// 检查设备状态是否准备就绪
|
||
if (isAuto && m_currentWorkStatus != WorkStatus::Ready) {
|
||
LOG_INFO("Device not ready, cannot start detection\n");
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate("设备未准备就绪，无法开始检测");
|
||
}
|
||
return ERR_CODE(DEV_BUSY);
|
||
}
|
||
|
||
// 保存当前使用的相机ID（从1开始编号）
|
||
if(-1 != cameraIdx){
|
||
m_currentCameraIndex = cameraIdx;
|
||
}
|
||
int cameraIndex = m_currentCameraIndex;
|
||
|
||
m_currentWorkStatus = WorkStatus::Working;
|
||
|
||
// 通知UI工作状态变更为"正在工作"
|
||
if (m_pStatus) {
|
||
m_pStatus->OnWorkStatusChanged(WorkStatus::Working);
|
||
}
|
||
|
||
// 设置机械臂工作状态为忙碌
|
||
if (m_pRobotProtocol) {
|
||
m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_BUSY);
|
||
}
|
||
|
||
if(m_vrEyeDeviceList.empty()){
|
||
LOG_ERROR("No camera device found\n");
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate("未找到相机设备");
|
||
}
|
||
return ERR_CODE(DEV_NOT_FIND);
|
||
}
|
||
|
||
// 清空检测数据缓存（释放之前的内存）
|
||
_ClearDetectionDataCache();
|
||
|
||
int nRet = SUCCESS;
|
||
|
||
// 根据参数决定启动哪些相机
|
||
|
||
// 启动指定相机（cameraIndex为相机ID，从1开始编号）
|
||
int arrayIndex = cameraIndex - 1; // 转换为数组索引（从0开始）
|
||
|
||
// 检查相机是否连接
|
||
if (arrayIndex < 0 || arrayIndex >= static_cast<int>(m_vrEyeDeviceList.size()) || m_vrEyeDeviceList[arrayIndex].second == nullptr) {
|
||
LOG_ERROR("Camera %d is not connected\n", cameraIndex);
|
||
QString cameraName = (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) ?
|
||
QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first) : QString("相机%1").arg(cameraIndex);
|
||
m_pStatus->OnStatusUpdate(QString("%1 未连接").arg(cameraName).toStdString());
|
||
return ERR_CODE(DEV_NOT_FIND);
|
||
}
|
||
|
||
if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
|
||
|
||
IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrayIndex].second;
|
||
|
||
EVzResultDataType eDataType = keResultDataType_Position;
|
||
if(m_projectType == ProjectType::DirectBag){
|
||
eDataType = keResultDataType_PointXYZRGBA;
|
||
}
|
||
|
||
pDevice->SetStatusCallback(&GrabBagPresenter::_StaticCameraNotify, this);
|
||
|
||
// 开始
|
||
nRet = pDevice->StartDetect(&GrabBagPresenter::_StaticDetectionCallback, eDataType, this);
|
||
LOG_INFO("Camera ID %d start detection nRet: %d\n", cameraIndex, nRet);
|
||
if (nRet == SUCCESS) {
|
||
QString cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
|
||
m_pStatus->OnStatusUpdate(QString("启动%1检测成功").arg(cameraName).toStdString());
|
||
} else {
|
||
LOG_ERROR("Camera ID %d start detection failed with error: %d\n", cameraIndex, nRet);
|
||
QString cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
|
||
m_pStatus->OnStatusUpdate(QString("启动%1检测失败[%d]").arg(cameraName).arg(nRet).toStdString());
|
||
}
|
||
} else {
|
||
LOG_ERROR("Invalid camera ID: %d, valid range is 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
|
||
m_pStatus->OnStatusUpdate(QString("无效的相机ID: %1，有效范围: 1-%2").arg(cameraIndex).arg(m_vrEyeDeviceList.size()).toStdString());
|
||
nRet = ERR_CODE(DEV_NOT_FIND);
|
||
}
|
||
|
||
return nRet;
|
||
}
|
||
|
||
int GrabBagPresenter::StopDetection()
|
||
{
|
||
LOG_INFO("Stop detection\n");
|
||
|
||
// 停止所有相机的检测
|
||
for (size_t i = 0; i < m_vrEyeDeviceList.size(); ++i) {
|
||
IVrEyeDevice* pDevice = m_vrEyeDeviceList[i].second;
|
||
if (pDevice) {
|
||
int ret = pDevice->StopDetect();
|
||
if (ret == 0) {
|
||
LOG_INFO("Camera %zu stop detection successfully\n", i + 1);
|
||
} else {
|
||
LOG_WARNING("Camera %zu stop detection failed, error code: %d\n", i + 1, ret);
|
||
}
|
||
}
|
||
}
|
||
|
||
// 通知UI工作状态变更为"就绪"（如果设备连接正常）
|
||
if (m_pStatus) {
|
||
// 检查设备连接状态，决定停止后的状态
|
||
if (m_bCameraConnected && (m_bRobotConnected || m_bSerialConnected)) {
|
||
m_currentWorkStatus = WorkStatus::Ready;
|
||
m_pStatus->OnWorkStatusChanged(WorkStatus::Ready);
|
||
} else {
|
||
m_currentWorkStatus = WorkStatus::Error;
|
||
m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
|
||
}
|
||
m_pStatus->OnStatusUpdate("检测已停止");
|
||
}
|
||
|
||
// 设置机械臂工作状态为空闲
|
||
if (m_pRobotProtocol) {
|
||
m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_IDLE);
|
||
}
|
||
|
||
return 0;
|
||
}
|
||
|
||
// 加载调试数据进行检测
|
||
int GrabBagPresenter::LoadDebugDataAndDetect(const std::string& filePath)
|
||
{
|
||
LOG_INFO("Loading debug data from file: %s\n", filePath.c_str());
|
||
|
||
m_currentWorkStatus = WorkStatus::Working;
|
||
|
||
if (m_pStatus) {
|
||
m_pStatus->OnWorkStatusChanged(WorkStatus::Working);
|
||
std::string fileName = QFileInfo(QString::fromStdString(filePath)).fileName().toStdString();
|
||
m_pStatus->OnStatusUpdate(QString("加载文件:%1").arg(fileName.c_str()).toStdString());
|
||
}
|
||
|
||
// 设置机械臂工作状态为忙碌
|
||
if (m_pRobotProtocol) {
|
||
m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_BUSY);
|
||
}
|
||
|
||
|
||
int lineNum = 0;
|
||
float scanSpeed = 0.0f;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
|
||
|
||
int result = SUCCESS;
|
||
// 1. 清空现有的检测数据缓存
|
||
_ClearDetectionDataCache();
|
||
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_detectionDataMutex);
|
||
// 使用统一的LoadLaserScanData接口，自动判断文件格式
|
||
result = m_dataLoader.LoadLaserScanData(filePath, m_detectionDataCache, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
|
||
}
|
||
|
||
if (result != SUCCESS) {
|
||
LOG_ERROR("Failed to load debug data: %s\n", m_dataLoader.GetLastError().c_str());
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate("调试数据加载失败: " + m_dataLoader.GetLastError());
|
||
}
|
||
return result;
|
||
}
|
||
|
||
LOG_INFO("Successfully loaded %d lines of debug data\n", lineNum);
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate(QString("成功加载 %1 行调试数据").arg(lineNum).toStdString());
|
||
}
|
||
|
||
// 等待检测完成
|
||
result = _DetectTask();
|
||
|
||
return result;
|
||
}
|
||
|
||
// 为所有相机设置状态回调
|
||
void GrabBagPresenter::SetCameraStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void* param)
|
||
{
|
||
for (size_t i = 0; i < m_vrEyeDeviceList.size(); i++) {
|
||
IVrEyeDevice* pDevice = m_vrEyeDeviceList[i].second;
|
||
if (pDevice) {
|
||
pDevice->SetStatusCallback(fNotify, param);
|
||
LOG_DEBUG("Status callback set for camera %zu\n", i + 1);
|
||
}
|
||
}
|
||
}
|
||
|
||
// 打开相机
|
||
int GrabBagPresenter::_OpenDevice(int cameraIndex, const char* cameraName, const char* cameraIp, ProjectType& projectType)
|
||
{
|
||
IVrEyeDevice* pDevice = nullptr;
|
||
IVrEyeDevice::CreateObject(&pDevice);
|
||
int nRet = pDevice->InitDevice();
|
||
ERR_CODE_RETURN(nRet);
|
||
|
||
// 先设置状态回调
|
||
nRet = pDevice->SetStatusCallback(&GrabBagPresenter::_StaticCameraNotify, this);
|
||
LOG_DEBUG("SetStatusCallback result: %d\n", nRet);
|
||
ERR_CODE_RETURN(nRet);
|
||
|
||
// 尝试打开相机1
|
||
nRet = pDevice->OpenDevice(cameraIp, ProjectType::DirectBag == projectType);
|
||
// 通过回调更新相机1状态
|
||
bool cameraConnected = (SUCCESS == nRet);
|
||
if(!cameraConnected){
|
||
delete pDevice; // 释放失败的设备
|
||
pDevice = nullptr;
|
||
}
|
||
|
||
int arrIdx = cameraIndex - 1;
|
||
|
||
if(m_vrEyeDeviceList.size() > arrIdx){
|
||
m_vrEyeDeviceList[arrIdx] = std::make_pair(cameraName, pDevice); // 直接存储到索引0
|
||
}
|
||
|
||
m_pStatus->OnCamera1StatusChanged(cameraConnected);
|
||
m_pStatus->OnStatusUpdate(cameraConnected ? "相机连接成功" : "相机连接失败");
|
||
m_bCameraConnected = cameraConnected;
|
||
return nRet;
|
||
}
|
||
|
||
|
||
// 判断是否可以开始检测
|
||
bool GrabBagPresenter::_SinglePreDetection(int cameraIndex)
|
||
{
|
||
if(m_vrEyeDeviceList.empty()){
|
||
LOG_ERROR("No camera device found\n");
|
||
if (nullptr != m_pStatus) {
|
||
m_pStatus->OnStatusUpdate("未找到相机设备");
|
||
}
|
||
return false;
|
||
}
|
||
|
||
if(cameraIndex < 1 || cameraIndex > static_cast<int>(m_vrEyeDeviceList.size())){
|
||
LOG_ERROR("Invalid camera index: %d, valid range: 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
|
||
return false;
|
||
}
|
||
|
||
if(m_vrEyeDeviceList[cameraIndex - 1].second == nullptr){
|
||
LOG_ERROR("Camera %d is not connected\n", cameraIndex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
int GrabBagPresenter::_SingleDetection(int cameraIndex, bool isStart)
|
||
{
|
||
int nRet = SUCCESS;
|
||
if (isStart) {
|
||
QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ?
|
||
QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
|
||
QString message = QString("收到信号，启动%1检测").arg(cameraName);
|
||
if (nullptr != m_pStatus) {
|
||
m_pStatus->OnStatusUpdate(message.toStdString());
|
||
}
|
||
nRet = StartDetection(cameraIndex);
|
||
} else {
|
||
QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ?
|
||
QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
|
||
QString message = QString("收到信号，停止%1检测").arg(cameraName);
|
||
if (nullptr != m_pStatus) {
|
||
m_pStatus->OnStatusUpdate(message.toStdString());
|
||
}
|
||
nRet = StopDetection();
|
||
}
|
||
return nRet;
|
||
}
|
||
|
||
|
||
// 静态回调函数实现
|
||
void GrabBagPresenter::_StaticCameraNotify(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam)
|
||
{
|
||
// 从pInfoParam获取this指针，转换回GrabBagPresenter*类型
|
||
GrabBagPresenter* pThis = reinterpret_cast<GrabBagPresenter*>(pInfoParam);
|
||
if (pThis)
|
||
{
|
||
// 调用实例的非静态成员函数
|
||
pThis->_CameraNotify(eStatus, pExtData, nDataLength, pInfoParam);
|
||
}
|
||
}
|
||
|
||
void GrabBagPresenter::_CameraNotify(EVzDeviceWorkStatus eStatus, void *pExtData, unsigned int nDataLength, void *pInfoParam)
|
||
{
|
||
LOG_DEBUG("[Camera Notify] received: status=%d\n", (int)eStatus);
|
||
|
||
switch (eStatus) {
|
||
case EVzDeviceWorkStatus::keDeviceWorkStatus_Offline:
|
||
{
|
||
LOG_WARNING("[Camera Notify] Camera device offline/disconnected\n");
|
||
|
||
// 更新相机连接状态
|
||
m_bCameraConnected = false;
|
||
|
||
// 通知UI相机状态变更
|
||
if (m_pStatus) {
|
||
// 这里需要判断是哪个相机离线，暂时更新相机1状态
|
||
// 实际应用中可能需要通过pInfoParam或其他方式区分具体哪个相机
|
||
m_pStatus->OnCamera1StatusChanged(false);
|
||
m_pStatus->OnStatusUpdate("相机设备离线");
|
||
}
|
||
|
||
// 检查并更新工作状态
|
||
CheckAndUpdateWorkStatus();
|
||
break;
|
||
}
|
||
|
||
case EVzDeviceWorkStatus::keDeviceWorkStatus_Eye_Reconnect:
|
||
{
|
||
LOG_INFO("[Camera Notify] Camera device online/connected\n");
|
||
|
||
// 更新相机连接状态
|
||
m_bCameraConnected = true;
|
||
|
||
// 通知UI相机状态变更
|
||
if (m_pStatus) {
|
||
m_pStatus->OnCamera1StatusChanged(true);
|
||
m_pStatus->OnStatusUpdate("相机设备已连接");
|
||
}
|
||
|
||
// 检查并更新工作状态
|
||
CheckAndUpdateWorkStatus();
|
||
break;
|
||
}
|
||
|
||
case EVzDeviceWorkStatus::keDeviceWorkStatus_Device_Swing_Finish:
|
||
{
|
||
LOG_INFO("[Camera Notify] Received scan finish signal from camera\n");
|
||
|
||
// 发送页面提示信息
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate("相机扫描完成，开始数据处理...");
|
||
}
|
||
|
||
// 通知检测线程开始处理
|
||
m_algoDetectCondition.notify_one();
|
||
break;
|
||
}
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
// 检测数据回调函数静态版本
|
||
void GrabBagPresenter::_StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData)
|
||
{
|
||
GrabBagPresenter* pThis = reinterpret_cast<GrabBagPresenter*>(pUserData);
|
||
if (pThis) {
|
||
pThis->_DetectionCallback(eDataType, pLaserLinePoint, pUserData);
|
||
}
|
||
}
|
||
|
||
// 检测数据回调函数实例版本
|
||
void GrabBagPresenter::_DetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData)
|
||
{
|
||
if (!pLaserLinePoint) {
|
||
LOG_WARNING("[Detection Callback] pLaserLinePoint is null\n");
|
||
return;
|
||
}
|
||
|
||
if (pLaserLinePoint->nPointCount <= 0) {
|
||
LOG_WARNING("[Detection Callback] Point count is zero or negative: %d\n", pLaserLinePoint->nPointCount);
|
||
return;
|
||
}
|
||
|
||
if (!pLaserLinePoint->p3DPoint) {
|
||
LOG_WARNING("[Detection Callback] p3DPoint is null\n");
|
||
return;
|
||
}
|
||
|
||
// 直接存储SVzLaserLineData到统一缓存中
|
||
SVzLaserLineData lineData;
|
||
memset(&lineData, 0, sizeof(SVzLaserLineData));
|
||
|
||
// 根据数据类型分配和复制点云数据
|
||
if (eDataType == keResultDataType_Position) {
|
||
// 复制SVzNL3DPosition数据
|
||
if (pLaserLinePoint->p3DPoint && pLaserLinePoint->nPointCount > 0) {
|
||
lineData.p3DPoint = new SVzNL3DPosition[pLaserLinePoint->nPointCount];
|
||
if (lineData.p3DPoint) {
|
||
memcpy(lineData.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNL3DPosition) * pLaserLinePoint->nPointCount);
|
||
}
|
||
lineData.p2DPoint = new SVzNL2DPosition[pLaserLinePoint->nPointCount];
|
||
if (lineData.p2DPoint) {
|
||
memcpy(lineData.p2DPoint, pLaserLinePoint->p2DPoint, sizeof(SVzNL2DPosition) * pLaserLinePoint->nPointCount);
|
||
}
|
||
}
|
||
} else if (eDataType == keResultDataType_PointXYZRGBA) {
|
||
// 复制SVzNLPointXYZRGBA数据
|
||
if (pLaserLinePoint->p3DPoint && pLaserLinePoint->nPointCount > 0) {
|
||
lineData.p3DPoint = new SVzNLPointXYZRGBA[pLaserLinePoint->nPointCount];
|
||
if (lineData.p3DPoint) {
|
||
memcpy(lineData.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNLPointXYZRGBA) * pLaserLinePoint->nPointCount);
|
||
}
|
||
lineData.p2DPoint = new SVzNL2DLRPoint[pLaserLinePoint->nPointCount];
|
||
if (lineData.p2DPoint) {
|
||
memcpy(lineData.p2DPoint, pLaserLinePoint->p2DPoint, sizeof(SVzNL2DLRPoint) * pLaserLinePoint->nPointCount);
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
lineData.nPointCount = pLaserLinePoint->nPointCount;
|
||
lineData.llTimeStamp = pLaserLinePoint->llTimeStamp;
|
||
lineData.llFrameIdx = pLaserLinePoint->llFrameIdx;
|
||
lineData.nEncodeNo = pLaserLinePoint->nEncodeNo;
|
||
lineData.fSwingAngle = pLaserLinePoint->fSwingAngle;
|
||
lineData.bEndOnceScan = pLaserLinePoint->bEndOnceScan;
|
||
|
||
std::lock_guard<std::mutex> lock(m_detectionDataMutex);
|
||
m_detectionDataCache.push_back(std::make_pair(eDataType, lineData));
|
||
}
|
||
|
||
void GrabBagPresenter::CheckAndUpdateWorkStatus()
|
||
{
|
||
if (m_bCameraConnected && (m_bRobotConnected || m_bSerialConnected)) {
|
||
m_currentWorkStatus = WorkStatus::Ready;
|
||
m_pStatus->OnWorkStatusChanged(WorkStatus::Ready);
|
||
} else {
|
||
m_currentWorkStatus = WorkStatus::Error;
|
||
m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
|
||
}
|
||
}
|
||
|
||
void GrabBagPresenter::_AlgoDetectThread()
|
||
{
|
||
while(m_bAlgoDetectThreadRunning)
|
||
{
|
||
std::unique_lock<std::mutex> lock(m_algoDetectMutex);
|
||
m_algoDetectCondition.wait(lock, [this]() {
|
||
return m_currentWorkStatus == WorkStatus::Working;
|
||
});
|
||
|
||
if(!m_bAlgoDetectThreadRunning){
|
||
break;
|
||
}
|
||
|
||
// 检查设备状态是否准备就绪
|
||
int nRet = _DetectTask();
|
||
|
||
LOG_ERROR("DetectTask result: %d\n", nRet);
|
||
if(nRet != SUCCESS){
|
||
m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
|
||
|
||
}
|
||
LOG_DEBUG("Algo Thread end\n");
|
||
m_currentWorkStatus = WorkStatus::Ready;
|
||
}
|
||
}
|
||
|
||
int GrabBagPresenter::_DetectTask()
|
||
{
|
||
LOG_INFO("[Algo Thread] Start real detection task using algorithm\n");
|
||
|
||
std::lock_guard<std::mutex> lock(m_detectionDataMutex);
|
||
// 1. 获取缓存的点云数据
|
||
if (m_detectionDataCache.empty()) {
|
||
LOG_WARNING("No cached detection data available\n");
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate("无缓存的检测数据");
|
||
}
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
// 2. 准备算法输入数据
|
||
unsigned int lineNum = 0;
|
||
lineNum = m_detectionDataCache.size();
|
||
if(m_pStatus){
|
||
m_pStatus->OnStatusUpdate("扫描线数:" + std::to_string(lineNum) + "，正在算法检测...");
|
||
}
|
||
|
||
CVrTimeUtils oTimeUtils;
|
||
// 4. 根据当前相机索引获取对应的调平参数
|
||
SSG_planeCalibPara currentCameraCalibParam = _GetCameraCalibParam(m_currentCameraIndex);
|
||
|
||
// 获取当前使用的手眼标定矩阵
|
||
const CalibMatrix currentClibMatrix = GetClibMatrix(m_currentCameraIndex - 1);
|
||
|
||
DetectionResult detectionResult;
|
||
|
||
int nRet = m_pDetectPresenter->DetectBag(m_currentCameraIndex, m_detectionDataCache, m_projectType, m_algoParam,
|
||
currentCameraCalibParam, m_debugParam, m_dataLoader, currentClibMatrix.clibMatrix,
|
||
m_hsvCmpParam, m_rgbColorPattern, m_frontColorTemplate, m_backColorTemplate, detectionResult);
|
||
// 根据项目类型选择处理方式
|
||
if (m_pStatus) {
|
||
QString err = QString("错误:%1").arg(nRet);
|
||
m_pStatus->OnStatusUpdate(QString("检测%1").arg(SUCCESS == nRet ? "成功": err).toStdString());
|
||
}
|
||
|
||
ERR_CODE_RETURN(nRet);
|
||
|
||
LOG_INFO("[Algo Thread] sg_getBagPosition detected %zu objects time : %.2f ms\n", detectionResult.positions.size(), oTimeUtils.GetElapsedTimeInMilliSec());
|
||
|
||
// 8. 返回检测结果
|
||
detectionResult.cameraIndex = m_currentCameraIndex;
|
||
// 调用检测结果回调函数
|
||
m_pStatus->OnDetectionResult(detectionResult);
|
||
|
||
// 更新状态
|
||
QString statusMsg = QString("检测完成，发现%1个目标").arg(detectionResult.positions.size());
|
||
m_pStatus->OnStatusUpdate(statusMsg.toStdString());
|
||
|
||
// 更新机械臂协议状态（发送转换后的目标位置数据）
|
||
_SendDetectionResultToRobot(detectionResult, m_currentCameraIndex);
|
||
|
||
// 9. 检测完成后，将工作状态更新为"完成"
|
||
if (m_pStatus) {
|
||
m_currentWorkStatus = WorkStatus::Completed;
|
||
m_pStatus->OnWorkStatusChanged(WorkStatus::Completed);
|
||
}
|
||
|
||
// 设置机械臂工作状态为相应相机工作完成（相机ID从1开始）
|
||
if (m_pRobotProtocol) {
|
||
uint16_t workStatus = (m_currentCameraIndex == 1) ?
|
||
RobotProtocol::WORK_STATUS_CAMERA1_DONE :
|
||
RobotProtocol::WORK_STATUS_CAMERA2_DONE;
|
||
m_pRobotProtocol->SetWorkStatus(workStatus);
|
||
}
|
||
|
||
// 恢复到就绪状态
|
||
m_currentWorkStatus = WorkStatus::Ready;
|
||
|
||
return SUCCESS;
|
||
}
|
||
|
||
// 释放缓存的检测数据
|
||
void GrabBagPresenter::_ClearDetectionDataCache()
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_detectionDataMutex);
|
||
|
||
// 释放加载的数据
|
||
m_dataLoader.FreeLaserScanData(m_detectionDataCache);
|
||
LOG_DEBUG("Detection data cache cleared successfully\n");
|
||
}
|
||
|
||
// 发送检测结果给机械臂
|
||
void GrabBagPresenter::_SendDetectionResultToRobot(const DetectionResult& detectionResult, int cameraIndex)
|
||
{
|
||
LOG_INFO("Sending detection result for camera %d\n", cameraIndex);
|
||
|
||
// 准备多目标数据结构
|
||
MultiTargetData multiTargetData;
|
||
|
||
// 检查是否有检测结果
|
||
if (detectionResult.positions.empty()) {
|
||
LOG_INFO("No objects detected, sending empty result\n");
|
||
// 发送空的多目标数据
|
||
multiTargetData.count = 0;
|
||
multiTargetData.targets.clear();
|
||
} else {
|
||
// 获取检测到的目标位置（已经是机械臂坐标系）
|
||
const auto& positions = detectionResult.positions;
|
||
multiTargetData.count = static_cast<uint16_t>(positions.size());
|
||
|
||
// 直接使用已经转换好的机械臂坐标
|
||
for (size_t i = 0; i < positions.size(); i++) {
|
||
const GrabBagPosition& pos = positions[i];
|
||
|
||
// 直接使用已转换的坐标数据
|
||
TargetPosition robotTarget;
|
||
robotTarget.x = pos.x; // 已转换的X轴坐标
|
||
robotTarget.y = pos.y; // 已转换的Y轴坐标
|
||
robotTarget.z = pos.z; // 已转换的Z轴坐标
|
||
robotTarget.rz = pos.yaw; // Yaw角
|
||
|
||
// 添加到多目标数据
|
||
multiTargetData.targets.push_back(robotTarget);
|
||
}
|
||
}
|
||
|
||
// 发送到机械臂（网络ModbusTCP）
|
||
bool robotSent = false;
|
||
if (m_pRobotProtocol && (m_bRobotConnected || m_bSerialConnected)) {
|
||
int result = m_pRobotProtocol->SetMultiTargetData(multiTargetData, cameraIndex);
|
||
robotSent = (result == SUCCESS);
|
||
LOG_INFO("[Robot TCP] SetMultiTargetData result: %d for camera ID: %d\n", result, cameraIndex);
|
||
|
||
if (m_pStatus) {
|
||
QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ?
|
||
QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
|
||
if (result != SUCCESS) {
|
||
m_pStatus->OnStatusUpdate(QString("写坐标给机械臂失败，%1").arg(cameraName).toStdString());
|
||
} else {
|
||
m_pStatus->OnStatusUpdate(QString("写坐标给机械臂成功，%1").arg(cameraName).toStdString());
|
||
}
|
||
}
|
||
} else {
|
||
LOG_WARNING("Robot TCP protocol not available\n");
|
||
}
|
||
|
||
// 发送到串口
|
||
bool serialSent = false;
|
||
if (m_pSerialProtocol && m_bSerialConnected) {
|
||
|
||
int result = m_pSerialProtocol->SendMultiTargetData(multiTargetData, cameraIndex);
|
||
serialSent = (result == SUCCESS);
|
||
LOG_INFO("[Serial] SendMultiTargetData result: %d for camera ID: %d\n", result, cameraIndex);
|
||
|
||
if (m_pStatus) {
|
||
QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ?
|
||
QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
|
||
if (result != SUCCESS) {
|
||
m_pStatus->OnStatusUpdate(QString("写坐标给串口失败，%1").arg(cameraName).toStdString());
|
||
} else {
|
||
m_pStatus->OnStatusUpdate(QString("写坐标给串口成功，%1").arg(cameraName).toStdString());
|
||
}
|
||
}
|
||
} else {
|
||
LOG_WARNING("Serial protocol not available\n");
|
||
}
|
||
|
||
// 总结发送状态
|
||
if (robotSent || serialSent) {
|
||
LOG_INFO("Detection result sent successfully (Robot TCP: %s, Serial: %s)\n",
|
||
robotSent ? "Yes" : "No", serialSent ? "Yes" : "No");
|
||
} else {
|
||
LOG_WARNING("Failed to send detection result via any protocol\n");
|
||
}
|
||
}
|
||
|
||
// 实现配置改变通知接口
|
||
void GrabBagPresenter::OnConfigChanged(const ConfigResult& configResult)
|
||
{
|
||
LOG_INFO("Configuration changed notification received, reloading algorithm parameters\n");
|
||
|
||
// 更新调试参数
|
||
m_debugParam = configResult.debugParam;
|
||
|
||
// 重新初始化算法参数
|
||
int result = InitAlgorithmParams();
|
||
if (result == SUCCESS) {
|
||
LOG_INFO("Algorithm parameters reloaded successfully after config change\n");
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate("配置已更新，算法参数重新加载成功");
|
||
}
|
||
} else {
|
||
LOG_ERROR("Failed to reload algorithm parameters after config change, error: %d\n", result);
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate("配置更新后算法参数重新加载失败");
|
||
}
|
||
}
|
||
}
|
||
|
||
// 根据相机索引获取调平参数
|
||
SSG_planeCalibPara GrabBagPresenter::_GetCameraCalibParam(int cameraIndex)
|
||
{
|
||
// 查找指定相机索引的调平参数
|
||
SSG_planeCalibPara calibParam;
|
||
|
||
// 使用单位矩阵（未校准状态）
|
||
double identityMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
|
||
for (int i = 0; i < 9; i++) {
|
||
calibParam.planeCalib[i] = identityMatrix[i];
|
||
calibParam.invRMatrix[i] = identityMatrix[i];
|
||
}
|
||
calibParam.planeHeight = -1.0; // 使用默认高度
|
||
|
||
for (const auto& cameraParam : m_cameraCalibParams) {
|
||
if (cameraParam.cameraIndex == cameraIndex) {
|
||
|
||
// 根据isCalibrated标志决定使用标定矩阵还是单位矩阵
|
||
if (cameraParam.isCalibrated) {
|
||
// 使用实际的标定矩阵
|
||
for (int i = 0; i < 9; i++) {
|
||
calibParam.planeCalib[i] = cameraParam.planeCalib[i];
|
||
calibParam.invRMatrix[i] = cameraParam.invRMatrix[i];
|
||
}
|
||
calibParam.planeHeight = cameraParam.planeHeight;
|
||
}
|
||
}
|
||
}
|
||
return calibParam;
|
||
}
|
||
|
||
// 实现IConfigChangeListener接口
|
||
void GrabBagPresenter::OnSystemConfigChanged(const SystemConfig& config)
|
||
{
|
||
LOG_INFO("System configuration changed, applying new configuration\n");
|
||
|
||
// 更新内部配置状态
|
||
if (m_vrConfig) {
|
||
// 可以选择性地重新初始化算法参数
|
||
InitAlgorithmParams();
|
||
}
|
||
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate("系统配置已更新");
|
||
}
|
||
}
|
||
|
||
void GrabBagPresenter::OnCameraParamChanged(int cameraIndex, const CameraUIParam& cameraParam)
|
||
{
|
||
LOG_INFO("Camera %d parameters changed: expose=%.2f, gain=%.2f, frameRate=%.2f\n",
|
||
cameraIndex, cameraParam.exposeTime, cameraParam.gain, cameraParam.frameRate);
|
||
|
||
// 应用相机参数到实际设备
|
||
if (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) {
|
||
IVrEyeDevice* device = m_vrEyeDeviceList[cameraIndex - 1].second;
|
||
if (device) {
|
||
|
||
// 设置曝光时间
|
||
if (cameraParam.exposeTime > 0) {
|
||
unsigned int exposeTime = static_cast<unsigned int>(cameraParam.exposeTime);
|
||
int ret = device->SetEyeExpose(exposeTime);
|
||
if (ret == SUCCESS) {
|
||
LOG_INFO("Set expose time %.2f for camera %d successfully\n", cameraParam.exposeTime, cameraIndex);
|
||
} else {
|
||
LOG_ERROR("Failed to set expose time for camera %d, error: %d\n", cameraIndex, ret);
|
||
}
|
||
}
|
||
|
||
// 设置增益
|
||
if (cameraParam.gain > 0) {
|
||
unsigned int gain = static_cast<unsigned int>(cameraParam.gain);
|
||
int ret = device->SetEyeGain(gain);
|
||
if (ret == SUCCESS) {
|
||
LOG_INFO("Set gain %.2f for camera %d successfully\n", cameraParam.gain, cameraIndex);
|
||
} else {
|
||
LOG_ERROR("Failed to set gain for camera %d, error: %d\n", cameraIndex, ret);
|
||
}
|
||
}
|
||
|
||
// 设置帧率
|
||
if (cameraParam.frameRate > 0) {
|
||
int frameRate = static_cast<int>(cameraParam.frameRate);
|
||
int ret = device->SetFrame(frameRate);
|
||
if (ret == SUCCESS) {
|
||
LOG_INFO("Set frame rate %.2f for camera %d successfully\n", cameraParam.frameRate, cameraIndex);
|
||
} else {
|
||
LOG_ERROR("Failed to set frame rate for camera %d, error: %d\n", cameraIndex, ret);
|
||
}
|
||
}
|
||
|
||
// 设置摆动速度
|
||
if (cameraParam.swingSpeed > 0) {
|
||
float swingSpeed = static_cast<float>(cameraParam.swingSpeed);
|
||
int ret = device->SetSwingSpeed(swingSpeed);
|
||
if (ret == SUCCESS) {
|
||
LOG_INFO("Set swing speed %.2f for camera %d successfully\n", cameraParam.swingSpeed, cameraIndex);
|
||
} else {
|
||
LOG_ERROR("Failed to set swing speed for camera %d, error: %d\n", cameraIndex, ret);
|
||
}
|
||
}
|
||
|
||
// 设置摆动角度
|
||
if (cameraParam.swingStartAngle != cameraParam.swingStopAngle) {
|
||
float startAngle = static_cast<float>(cameraParam.swingStartAngle);
|
||
float stopAngle = static_cast<float>(cameraParam.swingStopAngle);
|
||
int ret = device->SetSwingAngle(startAngle, stopAngle);
|
||
if (ret == SUCCESS) {
|
||
LOG_INFO("Set swing angle %.2f-%.2f for camera %d successfully\n",
|
||
cameraParam.swingStartAngle, cameraParam.swingStopAngle, cameraIndex);
|
||
} else {
|
||
LOG_ERROR("Failed to set swing angle for camera %d, error: %d\n", cameraIndex, ret);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
if (m_pStatus) {
|
||
QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ?
|
||
QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
|
||
m_pStatus->OnStatusUpdate(QString("%1参数已更新").arg(cameraName).toStdString());
|
||
}
|
||
}
|
||
|
||
void GrabBagPresenter::OnAlgorithmParamChanged(const VrAlgorithmParams& algorithmParams)
|
||
{
|
||
LOG_INFO("Algorithm parameters changed, updating internal configuration\n");
|
||
|
||
// 更新算法参数
|
||
// 这里可以重新初始化算法参数或直接更新内部状态
|
||
InitAlgorithmParams();
|
||
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate("算法参数已更新");
|
||
}
|
||
}
|
||
|
||
void GrabBagPresenter::OnSerialConnectionChanged(bool connected)
|
||
{
|
||
if (connected) {
|
||
LOG_INFO("Serial connection established\n");
|
||
m_bSerialConnected = true;
|
||
} else {
|
||
LOG_INFO("Serial connection lost\n");
|
||
m_bSerialConnected = false;
|
||
}
|
||
|
||
// 更新工作状态
|
||
CheckAndUpdateWorkStatus();
|
||
}
|
||
|
||
bool GrabBagPresenter::OnSerialWorkSignal(bool startWork, int cameraIndex)
|
||
{
|
||
LOG_INFO("Serial work signal received: %s, camera index: %d\n", startWork ? "start" : "stop", cameraIndex);
|
||
|
||
if(!_SinglePreDetection(cameraIndex)){
|
||
return false;
|
||
}
|
||
|
||
int nRet = _SingleDetection(cameraIndex, startWork);
|
||
|
||
if(nRet != SUCCESS){
|
||
m_currentWorkStatus = WorkStatus::Ready;
|
||
if (m_pStatus) {
|
||
m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
|
||
}
|
||
}
|
||
return nRet == SUCCESS;
|
||
}
|
||
|
||
// 设置默认相机索引
|
||
void GrabBagPresenter::SetDefaultCameraIndex(int cameraIndex)
|
||
{
|
||
LOG_INFO("Setting default camera index from %d to %d\n", m_currentCameraIndex, cameraIndex);
|
||
|
||
// 验证相机索引的有效性（cameraIndex是配置中的索引，从1开始）
|
||
if (cameraIndex < 1 || cameraIndex > static_cast<int>(m_vrEyeDeviceList.size())) {
|
||
LOG_WARNING("Invalid camera index: %d, valid range: 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
|
||
if (m_pStatus) {
|
||
m_pStatus->OnStatusUpdate(QString("无效的相机索引: %1，有效范围: 1-%2").arg(cameraIndex).arg(m_vrEyeDeviceList.size()).toStdString());
|
||
}
|
||
return;
|
||
}
|
||
|
||
// 更新默认相机索引
|
||
m_currentCameraIndex = cameraIndex;
|
||
|
||
LOG_INFO("Default camera index updated to %d\n", m_currentCameraIndex);
|
||
|
||
if (m_pStatus) {
|
||
QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ?
|
||
QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
|
||
m_pStatus->OnStatusUpdate(QString("设置%1为默认相机").arg(cameraName).toStdString());
|
||
}
|
||
}
|
||
|
||
// 保存检测数据到文件（默认实现）
|
||
int GrabBagPresenter::SaveDetectionDataToFile(const std::string& filePath)
|
||
{
|
||
LOG_INFO("Saving detection data to file: %s\n", filePath.c_str());
|
||
|
||
if (m_detectionDataCache.empty()) {
|
||
LOG_WARNING("No detection data available for saving\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
// 保存数据到文件
|
||
int lineNum = static_cast<int>(m_detectionDataCache.size());
|
||
float scanSpeed = 0.0f;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
|
||
int result = m_dataLoader.SaveLaserScanData(filePath, m_detectionDataCache, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
|
||
|
||
if (result == SUCCESS) {
|
||
LOG_INFO("Successfully saved %d lines of detection data to file: %s\n", lineNum, filePath.c_str());
|
||
} else {
|
||
LOG_ERROR("Failed to save detection data, error: %s\n", m_dataLoader.GetLastError().c_str());
|
||
}
|
||
|
||
return result;
|
||
}
|
||
|
||
|