mirror of
https://github.com/NanjingForestryUniversity/uppermachine-candy.git
synced 2025-11-08 14:24:15 +00:00
436 lines
11 KiB
C++
436 lines
11 KiB
C++
#include "camera.h"
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#include "thread.h"
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#include <QSemaphore>
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#include <QDebug>
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#include <QDir>
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#include <QString>
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#include <QQueue>
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#include "unistd.h"
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#include <fcntl.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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QSemaphore emptybuff(2); //空缓冲区信号量
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QSemaphore fullbuff(0); //正在处理的缓冲区信号量
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QMutex judge_connect_mutex;
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cv::Mat img_buf1, img_buf2; //抓取图像缓冲区
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bool is_first_buf = true; //当前存入图像的缓冲区序号，初始化第1个缓冲区
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extern int save_flag;
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extern bool is_connected;
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extern int area_threshold;
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extern int delay_time;
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extern bool empty_flag;
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extern int blow_time;
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extern int fd_img;
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int fd_result;
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bool loss_flag = false;
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uint8_t temp_buf[(PULSE_NUMBER - TRIGGER_PULSE_NUMBER)*(VALVE_NUMBER/8)]; //每次处理结果的最后100个脉冲数据暂存
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extern void __stdcall onImageDataCallBackFunc(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser)
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{
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if (pFrameInfo) //帧信息有效
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{
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cv::Mat img(pFrameInfo->nHeight, pFrameInfo->nWidth, CV_8UC3, pData); //构造图像
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if(!emptybuff.tryAcquire()) //申请空缓冲区
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{
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loss_flag = true;
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qDebug()<<"loss loss loss loss loss loss loss loss";
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return;
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}
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if(is_first_buf)
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{
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img_buf1 = img;
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is_first_buf = false; //切换缓冲区
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fullbuff.release(); //释放正在处理的缓冲区
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//qDebug()<<"_____buffer 1 get data_____";
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}
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else
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{
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img_buf2 = img;
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is_first_buf = true;
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fullbuff.release();
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//qDebug()<<"_____buffer 2 get data_____";
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}
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}
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return ;
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}
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extern void __stdcall onOfflineCallBackFunc(unsigned int nMsgType, void* pUser)
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{
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qDebug()<<"camera offline";
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judge_connect_mutex.lock();
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is_connected = false;
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judge_connect_mutex.unlock();
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return;
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}
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Process_img::Process_img(QObject *parent) : QThread(parent), m_stop(false)
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{
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}
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void Process_img::run()
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{
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qDebug()<<"deal thread:"<<QThread::currentThreadId();
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int n = fullbuff.available(); //申请处理使用的缓冲区
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if(n > 0) //确保为0
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{
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fullbuff.acquire(n);
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}
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memset(temp_buf, 0, sizeof(temp_buf));
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while(1)
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{
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stop_mutex.lock(); //是否停止
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if(m_stop)
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{
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stop_mutex.unlock();
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qDebug()<<"process thread quit_______________________";
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return;
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}
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stop_mutex.unlock();
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if(!fullbuff.tryAcquire())
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{
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continue;
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}
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if(is_first_buf)
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{
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emit send_image(img_buf2); //向主线程发送图片
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data_process(img_buf2);
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// cv::cvtColor(img_buf2, img_buf2, CV_BGRA2RGB);
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// save_img(img_buf2);
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emptybuff.release();
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}
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else
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{
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emit send_image(img_buf1);
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data_process(img_buf1);
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// cv::cvtColor(img_buf1, img_buf1, CV_BGRA2RGB);
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// save_img(img_buf1);
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emptybuff.release();
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}
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}
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}
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void Process_img::exitThread()
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{
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stop_mutex.lock();
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m_stop = true;
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stop_mutex.unlock();
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}
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void Process_img::data_process(cv::Mat img)
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{
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int ret = write(fd_img, img.data, img.rows*img.cols*3*sizeof(unsigned char));
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if(ret<0)
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{
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qDebug()<<"write error";
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}
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uint8_t buf[1024];
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fd_result = open(RESULT_PIPE, O_RDONLY);
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if(fd_result != -1)
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{
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ret = read(fd_result, buf, 1024);
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}
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close(fd_result);
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//qDebug()<<ret;
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bad_candy_box bounding_box;
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QVector<bad_candy_box> bounding_box_set;
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for(int i=0; i<ret; i+=8)
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{
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uint16_t pointA_x = buf[i];
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pointA_x <<= 8;
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pointA_x |= buf[i+1];
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bounding_box.pointA_x = pointA_x;
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uint16_t pointA_y = buf[i+2];
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pointA_y <<= 8;
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pointA_y |= buf[i+3];
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bounding_box.pointA_y = pointA_y;
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uint16_t pointB_x = buf[i+4];
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pointB_x <<= 8;
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pointB_x |= buf[i+5];
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bounding_box.pointB_x = pointB_x;
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uint16_t pointB_y = buf[i+6];
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pointB_y <<= 8;
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pointB_y |= buf[i+7];
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bounding_box.pointB_y = pointB_y;
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bounding_box_set << bounding_box;
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}
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emit send_res(bounding_box_set);
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// if(ret = 0)
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// {
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// empty_flag = true;
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// }
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// else
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// {
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// empty_flag = false;
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// }
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unsigned char plc_data[PULSE_NUMBER][VALVE_NUMBER];
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memset(plc_data, 0, sizeof(plc_data)); //内存清空
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for(int i =0; i < bounding_box_set.size(); i++) //循环遍历坐标对
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{
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int area = abs(bounding_box_set[i].pointB_y - bounding_box_set[i].pointA_y) * abs(bounding_box_set[i].pointB_x - bounding_box_set[i].pointA_x);
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if(area< area_threshold)
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{
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continue;
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}
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//计算阀序号和起始脉冲
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// qDebug() << bounding_box_set[i].pointA_x << bounding_box_set[i].pointB_x;
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int valve_index1 = (int)((bounding_box_set[i].pointA_x) / VALVE_INTERVAL);
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int valve_index2 = (int)((bounding_box_set[i].pointB_x)/ VALVE_INTERVAL);
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//qDebug() << "aaa:" << valve_index1 << valve_index2;
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// int temp = VALVE_NUMBER - 1 - valve_index1;
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// valve_index1 = VALVE_NUMBER - 1 - valve_index2;
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// valve_index2 = temp;
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int start = (int)(bounding_box_set[i].pointA_y / TIME_INTERVAL);
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int end = (int)(bounding_box_set[i].pointB_y / TIME_INTERVAL);
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//qDebug() << "bbb:" << valve_index1 << valve_index2;
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// 当3个通道时，自动忽略两侧通道
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// if(valve_index2 - valve_index1 >1)
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// {
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// valve_index1++;
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// valve_index2 = valve_index1;
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// }
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// 延长过小的糖果缺陷所需脉冲个数
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int defect_size = end - start;
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//qDebug()<<blow_time;
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if(defect_size < blow_time)
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{
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int compensation = (blow_time - defect_size) / 2;
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// if (start - compensation < 0)
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// {
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// start = 0;
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// }
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// else
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// {
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// start = start - compensation;
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// }
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// if (end + compensation > (PULSE_NUMBER-1))
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// {
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// end = PULSE_NUMBER-1;
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// }
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// else
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// {
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// end = end + compensation;
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// }
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if((start - compensation > 0) && ((end + compensation) < PULSE_NUMBER - 1))
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{
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start = start - compensation;
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end = end + compensation;
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}
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if((start - compensation) < 0)
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{
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start = 0;
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end = end + compensation + (compensation - start);
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}
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if((end + compensation) > (PULSE_NUMBER - 1))
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{
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end = PULSE_NUMBER - 1;
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start = start - compensation -(compensation - (PULSE_NUMBER - 1 - end));
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}
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}
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//qDebug() << "valve_index1" << valve_index1 << " valve_index2" <<valve_index2 << " start: " << start << " end: " << end;
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// 点坐标系变换，对应喷阀和脉冲位置1
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for(int m = valve_index1; m < valve_index2+1; m++)
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{
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for(int n = start; n < end; n++)
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{
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plc_data[n][m] = 1;
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}
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}
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}
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uint8_t send_buf[(VALVE_NUMBER/8) * PULSE_NUMBER]; //每8个阀合并，一个脉冲时刻40个阀压缩为5个uint8，一次图像高度为600个脉冲，总共3000个uint8
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uint8_t temp = 0x00;
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for(int i = 0; i < PULSE_NUMBER; i++)
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{
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for (int j = (VALVE_NUMBER/8) - 1; j >=0; j--)
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{
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for(int k = 0; k < 8 ; k++)
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temp = (temp << 1) | (plc_data[i][j*8 + k]);
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send_buf[i * (VALVE_NUMBER/8) + j] = temp;
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}
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}
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for(int i=0; i < (PULSE_NUMBER - TRIGGER_PULSE_NUMBER)*(VALVE_NUMBER/8); i++) //这次图像的前100个脉冲与上次图像的后100脉冲取或运算，合并重合部分的两次处理结果
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{
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send_buf[i] &= temp_buf[i];
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}
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memcpy(temp_buf, &send_buf[TRIGGER_PULSE_NUMBER*(VALVE_NUMBER/8)], (PULSE_NUMBER - TRIGGER_PULSE_NUMBER)*(VALVE_NUMBER/8)); //保存这次成像的后100脉冲处理结果
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emit send_tab(send_buf); //通知主线程向下位机发送结果
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}
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void Process_img::save_img(cv::Mat img)
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{
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QDateTime time = QDateTime::currentDateTime();
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QString str = time.toString("yyyyMMddhhmmss");
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QString filepath = SAVE_IMAGE_PATH + str + ".bmp";
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cv::imwrite(filepath.toLatin1().data(), img);
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}
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Adjust_para::Adjust_para(QObject *parent) : QThread(parent), m_stop(false), correct_flag(false)
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{
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}
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void Adjust_para::run()
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{
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int n = fullbuff.available();
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if(n > 0)
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{
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fullbuff.acquire(n);
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}
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while(1)
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{
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stop_mutex.lock();
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if(m_stop)
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{
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stop_mutex.unlock();
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return;
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}
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stop_mutex.unlock();
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if(!fullbuff.tryAcquire())
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{
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continue;
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}
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if(is_first_buf)
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{
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emit send_image_debug(img_buf2);
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correct_mutex.lock();
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if(correct_flag)
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{
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cv::imwrite("./correct.bmp", img_buf2);
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correct_flag = false;
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}
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correct_mutex.unlock();
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emptybuff.release();
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}
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else
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{
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emit send_image_debug(img_buf1);
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correct_mutex.lock();
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if(correct_flag)
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{
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cv::imwrite("./correct.bmp", img_buf1);
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correct_flag = false;
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}
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correct_mutex.unlock();
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emptybuff.release();
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}
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}
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}
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void Adjust_para::exitThread()
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{
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stop_mutex.lock();
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m_stop = true;
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stop_mutex.unlock();
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}
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void Adjust_para::get_correct_siganl()
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{
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correct_mutex.lock();
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correct_flag = true;
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correct_mutex.unlock();
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}
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//test_thread
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Grab_img::Grab_img(QObject *parent) : QThread(parent)
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{
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is_stop = false;
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}
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void Grab_img::run()
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{
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int n = emptybuff.available();
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if(n < 2)
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{
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emptybuff.release(2 - n);
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}
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while (1)
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{
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stop_mutex.lock();
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if(is_stop)
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{
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stop_mutex.unlock();
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qDebug()<<"grab thread will exit";
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return;
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}
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stop_mutex.unlock();
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if(!emptybuff.tryAcquire())
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{
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continue;
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}
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if(is_first_buf)
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{
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char file_name[128] = "20220524085547.bmp";
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char test_img_path[128] = TEST_IMAGE_PATH;
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strcat(test_img_path, file_name);
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img_buf1 = cv::imread(test_img_path, 1);
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is_first_buf = false;
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fullbuff.release();
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}
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else
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{
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char file_name[128] = "20220524091200.bmp";
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char test_img_path[128] = TEST_IMAGE_PATH;
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strcat(test_img_path, file_name);
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img_buf2 = cv::imread(test_img_path, 1);
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is_first_buf = true;
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fullbuff.release();
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}
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msleep(200);
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}
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}
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void Grab_img::thread_quit()
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{
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stop_mutex.lock();
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is_stop = true;
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stop_mutex.unlock();
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}
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