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更新了推出逻辑避免退出报错

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This commit is contained in:
XinJiang1 2025-01-06 14:45:39 +08:00
parent 1ba0432ad2
commit 709ea0f6fd
11 changed files with 183 additions and 172 deletions
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54
Makefile.Debug
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54
Makefile.Release
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66
camera.cpp
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@ -1,6 +1,5 @@
#include "camera.h"
#include <QTimer>
// Debug Options
#define GlobalDebug 0 // 全局是否允许打印Debug信息（打印会拖慢处理时间）
@ -79,7 +78,7 @@ extern int lowmac_td; //偏振红色通道差值
Timer CallBackTimer0;
Timer CallBackTimer1;
// ONNXRunner runner;
bool iniCamera()
{
//分配application
@ -135,12 +134,6 @@ bool iniCamera()
return 1;
}
// #if(GlobalDebug && DebugDetection)
// // #define SAVE_PATH_resize MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//resize.png")
// #define SAVE_PATH_flip MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//flip.png")
// #define SAVE_PATH_raw MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//raw.png")
// #define SAVE_PATH_result MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//result.png")
// #endif
MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
{
@ -555,12 +548,7 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
//将mask扩展到合适发送的大小
std::vector<std::vector<uint8_t>> mask_Total = expandArray(mask_expaned,64);
// save masks
// #if(GlobalDebug && DebugDetection)
// VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask" + std::to_string(FuncCount1) + ".bmp");
// VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask_ignored" + std::to_string(FuncCount1) + ".bmp");
// VectorToImg(mask_Total,"C:/Users/Pc/Desktop/img/mask_expended" + std::to_string(FuncCount1) + ".bmp");
// #endif
// 发送到下位机
bool result_Low = get_valve_data(mask_Total);
if(!result_Low)
@ -590,10 +578,13 @@ bool DestoryCamera()
MbufFree(MilImage0);
MbufFree(MilImage1);
MbufFree(MilImage_Color0);
MbufFree(MilImage_Color1);
MdigFree(MilDigitizer0);
MdigFree(MilDigitizer1);
MsysFree(MilSystem);
MappFree(MilApplication);
@ -672,14 +663,6 @@ void read_color(const std::string& filename, std::vector<std::string>& colors) {
std::vector<std::vector<uint8_t>> generateMaskFromImage(const MIL_ID& inputImage, int widthBlocks, int heightBlocks, int thresholds= 10) {
// 读取图像
// cv::Mat image = cv::imread(imagePath, cv::IMREAD_GRAYSCALE);
// // 检查图像是否成功读取
// if (image.empty()) {
// std::cerr << "无法加载图像，请检查路径是否正确: " << imagePath << std::endl;
// exit(EXIT_FAILURE);
// }
cv::Mat image=ImageUtils::mil2Mat(inputImage);
// 确保图像是二值化的
cv::threshold(image, image, 128, 255, cv::THRESH_BINARY);
@ -818,12 +801,6 @@ bool iniOnnx()
std::string modelPath = (getConfigDirectory() + "/dimo_369_640.onnx").toStdString();
runner.load(modelPath);
// cv::Mat mask;
// std::vector<Detection> result = runner.predict(image);
// mask = runner.postProcess(result, image);
// std::string savepath = "C:/Users/admin/Desktop/config/suspect_mask.png";
// cv::imwrite(savepath, mask);
return 1;
}
@ -1068,9 +1045,6 @@ bool setLowMacParam(){
bool DestoryLowMac()
{
MdigProcess(MilDigitizer0, MilGrabBufferList0, 20, M_STOP, M_DEFAULT,ProcessingFunction0, M_NULL);
MdigProcess(MilDigitizer1, MilGrabBufferList1, 20, M_STOP, M_DEFAULT,ProcessingFunction1, M_NULL);
// 构建停止命令
uint8_t stop_command[9] = {0};
stop_command[0] = 0xAA; // 起始标志
@ -1161,12 +1135,33 @@ bool get_valve_data(std::vector<std::vector<uint8_t>> mask)
return true;
}
void Start_camera()
bool start_grab()
{
MdigProcess(MilDigitizer0, MilGrabBufferList0, 20, M_START, M_DEFAULT,ProcessingFunction0, M_NULL);
MdigProcess(MilDigitizer1, MilGrabBufferList1, 20, M_START, M_DEFAULT,ProcessingFunction1, M_NULL);
try
{
MdigProcess(MilDigitizer0, MilGrabBufferList0, 20, M_START, M_DEFAULT,ProcessingFunction0, M_NULL);
MdigProcess(MilDigitizer1, MilGrabBufferList1, 20, M_START, M_DEFAULT,ProcessingFunction1, M_NULL);
} catch (...) {
qWarning() << "Start Grabber Failed!!!";
return false;
}
return true;
}
bool stop_grab()
{ try {
MdigProcess(MilDigitizer0, MilGrabBufferList0, 20, M_STOP, M_DEFAULT,ProcessingFunction0, M_NULL);
MdigProcess(MilDigitizer1, MilGrabBufferList1, 20, M_STOP, M_DEFAULT,ProcessingFunction1, M_NULL);
} catch (...) {
qWarning() << "Stop Grabber Failed!!!";
return false;
}
return true;
}
void start_camera()
{
start_grab();
// 发送开始命令
uint8_t start_command[9] = {0};
start_command[0] = 0xAA;
@ -1191,7 +1186,6 @@ void Start_camera()
}
std::vector<std::vector<uint8_t> > expandArray(const std::vector<std::vector<uint8_t> > &array, int newCols)
{
int rows = array.size();

9
camera.h
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@ -11,6 +11,7 @@
#include <string>
#include <future>
#include <QTimer>
#include <chrono>
#include <iostream>
#include <vector>
@ -23,7 +24,7 @@
#include <QTcpServer>
#include "globals.h"
#include "img_utils.h"
#include "color_range.h"
#include "color_algorithms.h"
extern MIL_ID MilApplication;
extern MIL_ID MilSystem;
@ -67,7 +68,7 @@ bool iniColor();
bool iniOnnx();
void Start_camera();
void start_camera();
bool setLowMacParam();
@ -75,6 +76,10 @@ bool DestoryCamera();
bool DestoryLowMac();
bool start_grab();
bool stop_grab();
extern int SaveImg_Flag;
MIL_INT MFTYPE ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void* HookDataPtr);

6
cotton_double2.pro
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@ -11,11 +11,12 @@ CONFIG += console
SOURCES += \
camera.cpp \
color_range.cpp \
color_algorithms.cpp \
countdowndialog.cpp \
detectionworker.cpp \
globals.cpp \
img_utils.cpp \
lower_machine.cpp \
main.cpp \
onnxrunner.cpp \
storageworker.cpp \
@ -23,11 +24,12 @@ SOURCES += \
HEADERS += \
camera.h \
color_range.h \
color_algorithms.h \
countdowndialog.h \
detectionworker.h \
globals.h \
img_utils.h \
lower_machine.h \
onnxrunner.h \
storageworker.h \
widget.h

31
dist/config/color_range_config.txt vendored
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@ -12,17 +12,17 @@ blue_a_max = 22
blue_b_min = -48
blue_b_max = -8
orange_L_min = 63
orange_L_max = 78
orange_a_min = 7
orange_a_max = 14
orange_b_min = 23
orange_b_max = 47
orange_L_min = 67
orange_L_max = 93
orange_a_min = -8
orange_a_max = 8
orange_b_min = 36
orange_b_max = 58
black_L_min = 0
black_L_max = 8
black_a_min = -4
black_a_max = 2
black_L_max = 30
black_a_min = -5
black_a_max = 3
black_b_min = -3
black_b_max = 4
@ -34,9 +34,9 @@ red_b_min = -80
red_b_max = 37
purple_L_min = 38
purple_L_max = 54
purple_L_max = 60
purple_a_min = 10
purple_a_max = 20
purple_a_max = 25
purple_b_min = -45
purple_b_max = 1
@ -51,9 +51,12 @@ expansionRaidus = 1
file_delay = 1180
lab_denoising = 1
lowmac_dp = 350
lowmac_sg = 70
lowmac_td = 7
lowmac_ts = 10
lowmac_sg = 60
lowmac_sm = 1800
lowmac_td = 2
lowmac_ts = 13
machine_num = 0
max_valves_together = 20
saturation_denoising = 1
saturation_threshold = 165
sizeThreshold = 4

2
release/config/color_range_config.txt
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@ -56,7 +56,7 @@ lowmac_sm = 1200
lowmac_td = 7
lowmac_ts = 10
machine_num = 0
max_valves_together = 20
max_valves_together = 18
saturation_denoising = 1
saturation_threshold = 165
sizeThreshold = 4

6
ui_widget.h
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@ -1988,7 +1988,7 @@ public:
retranslateUi(Widget);
tabWidget->setCurrentIndex(3);
tabWidget->setCurrentIndex(1);
QMetaObject::connectSlotsByName(Widget);
@ -2007,14 +2007,14 @@ public:
btn_take_photos->setText(QCoreApplication::translate("Widget", "\346\212\223\345\217\226\345\233\276\347\211\207", nullptr));
btn_set_valve->setText(QCoreApplication::translate("Widget", "\350\256\276\347\275\256\345\217\202\346\225\260", nullptr));
btn_quit->setText(QCoreApplication::translate("Widget", "\351\200\200\345\207\272\347\263\273\347\273\237", nullptr));
label_2->setText(QCoreApplication::translate("Widget", "\347\233\270\346\234\2721", nullptr));
label_2->setText(QCoreApplication::translate("Widget", "\346\260\224\347\275\220\344\276\247-\347\233\270\346\234\2721", nullptr));
dl_enable_1->setText(QCoreApplication::translate("Widget", "\345\261\217\350\224\275\346\267\261\345\272\246\345\255\246\344\271\240", nullptr));
tra_enable_1->setText(QCoreApplication::translate("Widget", "\345\261\217\350\224\275\350\211\263\344\270\275\346\243\200\346\265\213", nullptr));
mtx_1_overlay->setText(QCoreApplication::translate("Widget", "\350\211\262\346\243\200\347\273\223\346\236\234", nullptr));
dl_1_overlay->setText(QCoreApplication::translate("Widget", "\346\231\272\346\243\200\347\273\223\346\236\234", nullptr));
img_1_mirror->setText(QCoreApplication::translate("Widget", "\345\233\276\347\211\207\351\225\234\345\203\217", nullptr));
camera_1_img->setText(QString());
label_4->setText(QCoreApplication::translate("Widget", "\347\233\270\346\234\2720", nullptr));
label_4->setText(QCoreApplication::translate("Widget", "\345\207\272\351\243\216\345\217\243\344\276\247-\347\233\270\346\234\2720", nullptr));
dl_enable_0->setText(QCoreApplication::translate("Widget", "\345\261\217\350\224\275\346\267\261\345\272\246\345\255\246\344\271\240", nullptr));
tra_enable_0->setText(QCoreApplication::translate("Widget", "\345\261\217\350\224\275\350\211\263\344\270\275\346\243\200\346\265\213", nullptr));
mtx_0_overlay->setText(QCoreApplication::translate("Widget", "\350\211\262\346\243\200\347\273\223\346\236\234", nullptr));

110
widget.cpp
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@ -28,13 +28,13 @@ using namespace std;
// 硬编码参数值
int file_delay = 1180; // 延迟时间（毫秒）
int file_delay = 1100; // 延迟时间（毫秒）
int file_encoder = 12000; // 行频
int file_valve = 200; // 喷阀触发频率
//下位机参数
int lowmac_dp = 350; //偏振延迟时间
int lowmac_sm = 1200; //吹气量 valve/12 = 吹气时间ms
int lowmac_sm = 1800; //吹气量 valve/12 = 吹气时间ms
int lowmac_ts = 10; //模板匹配阈值
int lowmac_sg = 65; //偏振绿色通道大小阈值
int lowmac_td = 7; //偏振红色通道差值
@ -46,7 +46,7 @@ Widget::Widget(QWidget *parent)
this->isCamRunning = false;
ui->setupUi(this);
// 确认 tabWidget 是 QTabWidget 类型
// 确认 tabWidget 是 QTabWidget 类型并隐藏tab
QTabWidget* tab = qobject_cast<QTabWidget*>(ui->tabWidget);
if (tab) {
QTabBar* tabBar = tab->tabBar();
@ -58,7 +58,6 @@ Widget::Widget(QWidget *parent)
} else {
qWarning() << "ui->tabWidget 不是 QTabWidget 类型！";
}
ui->camera_0_img->setScaledContents(false);
ui->camera_1_img->setScaledContents(false);
@ -67,9 +66,14 @@ Widget::Widget(QWidget *parent)
loadConfig(getConfigDirectory()+"/color_range_config.txt"); // 读取配置文件
iniLowMac();
iniCamera();
update_machine_num();
update_colorlist(); // 更新色彩列表
update_polar(); // 更新偏振相机界面
// 更新界面
update_main_settings(); // 更新主要设定
update_colorlist(); // 更新色彩列表
update_polar(); // 更新偏振相机界面
// 初始化存储工作者和线程
storageWorker = new StorageWorker();
storageWorker->moveToThread(&storageThread);
@ -122,6 +126,30 @@ void Widget::onCountdownFinished()
Widget::~Widget()
{
// 停止检测工作者线程
for(int i = 0; i < 2; ++i)
{
g_recognitionRunning[i]->store(false);
g_img_Queue[i]->stop(); // 停止队列以唤醒线程
}
// 等待检测工作者线程结束
for(int i = 0; i < 2; ++i)
{
if(g_recognitionThread[i] && g_recognitionThread[i]->joinable())
{
g_recognitionThread[i]->join();
delete g_recognitionThread[i];
g_recognitionThread[i] = nullptr;
}
if(g_recognitionRunning[i])
{
delete g_recognitionRunning[i];
g_recognitionRunning[i] = nullptr;
}
}
// 停止存储线程
g_storageQueue.stop();
storageThread.quit();
@ -352,7 +380,7 @@ void Widget::refreshSingleImage(int camera_id, bool overlay_traditional_result,
return;
}
// 高质量缩放图像
// 缩放图像
QSize labelSize = cameraLabels[camera_id]->size();
QPixmap scaledPixmap = pixmap.scaled(labelSize);
@ -362,13 +390,9 @@ void Widget::refreshSingleImage(int camera_id, bool overlay_traditional_result,
void Widget::on_pushButton_2_clicked()
{
SaveImg_Flag = 1;
}
void Widget::on_btn_stop_clicked()
{
stop_grab();
DestoryLowMac();
this->isCamRunning = false;
@ -416,7 +440,7 @@ void Widget::on_btn_start_clicked()
std::cerr << "SET thread " << i << " failed, error code：" << GetLastError() << std::endl;
}
}
Start_camera();
start_camera();
}
@ -434,33 +458,6 @@ void Widget::on_btn_take_photos_released()
void Widget::on_btn_quit_clicked()
{
// // 停止检测工作者线程
// for(int i = 0; i < 2; ++i)
// {
// g_recognitionRunning[i]->store(false);
// g_img_Queue[i]->stop(); // 停止队列以唤醒线程
// }
// // 等待检测工作者线程结束
// for(int i = 0; i < 2; ++i)
// {
// if(g_recognitionThread[i] && g_recognitionThread[i]->joinable())
// {
// g_recognitionThread[i]->join();
// delete g_recognitionThread[i];
// g_recognitionThread[i] = nullptr;
// }
// if(g_recognitionRunning[i])
// {
// delete g_recognitionRunning[i];
// g_recognitionRunning[i] = nullptr;
// }
// }
DestoryCamera();
DestoryLowMac();
qApp->quit();
}
@ -480,11 +477,12 @@ void Widget::on_btn_set_lower_clicked()
file_valve = ui->spinbox_valve->text().toInt(); // 阀门通道
}
void Widget::update_machine_num()
void Widget::update_main_settings()
{
ui->lab_machine_num->setText(QString("%1号机").arg(params["machine_num"]));
ui->spinbox_machine_code->setValue(params["machine_num"]);
ui->spinbox_maintime->setValue(params["lowmac_sm"]);
ui->spinbox_max_valves_together->setValue(params["max_valves_together"]);
}
void Widget::on_btn_set_valve_clicked()
@ -675,13 +673,13 @@ void Widget::initDefaultConfig()
{"blue_b_min", -48}, {"blue_b_max", -8},
// Orange
{"orange_L_min", 63}, {"orange_L_max", 78},
{"orange_a_min", 7}, {"orange_a_max", 14},
{"orange_b_min", 23}, {"orange_b_max", 47},
{"orange_L_min", 67}, {"orange_L_max", 93},
{"orange_a_min", -8}, {"orange_a_max", 8},
{"orange_b_min", 36}, {"orange_b_max", 58},
// Black
{"black_L_min", 0}, {"black_L_max", 8},
{"black_a_min", -4}, {"black_a_max", 2},
{"black_L_min", 0}, {"black_L_max", 30},
{"black_a_min", -5}, {"black_a_max", 3},
{"black_b_min", -3}, {"black_b_max", 4},
// Red
@ -690,8 +688,8 @@ void Widget::initDefaultConfig()
{"red_b_min", -80}, {"red_b_max", 37},
// Purple
{"purple_L_min", 38}, {"purple_L_max", 54},
{"purple_a_min", 10}, {"purple_a_max", 20},
{"purple_L_min", 38}, {"purple_L_max", 60},
{"purple_a_min", 10}, {"purple_a_max", 25},
{"purple_b_min", -45}, {"purple_b_max", 1},
// Yellow
@ -888,8 +886,6 @@ void Widget::on_btn_del_color_clicked()
void Widget::on_btn_reset_color_clicked()
{
// 新增全部还原槽
// 确认重置
QMessageBox::StandardButton reply;
reply = QMessageBox::question(this, "全部还原", "确定要将配置还原为默认设置吗？",
@ -1015,10 +1011,10 @@ void Widget::on_btn_reset_polar_clicked()
if (reply != QMessageBox::Yes)
return;
params["lowmac_td"]= 7;
params["lowmac_sg"]= 65;
params["lowmac_td"]= 2;
params["lowmac_sg"]= 60;
params["lowmac_dp"]= 350;
params["lowmac_ts"]= 10;
params["lowmac_ts"]= 13;
lowmac_dp = params["lowmac_dp"]; //偏振延迟时间
lowmac_ts = params["lowmac_ts"]; //模板匹配阈值
lowmac_sg = params["lowmac_sg"]; //偏振绿色通道大小阈值
@ -1038,8 +1034,8 @@ void Widget::update_polar()
void Widget::on_tabWidget_currentChanged(int index)
{
update_machine_num();
update_colorlist(); // 更新色彩列表
update_polar(); // 更新偏振相机界面
update_main_settings();
update_colorlist(); // 更新色彩列表
update_polar(); // 更新偏振相机界面
}

11
widget.h
View File

@ -35,8 +35,6 @@ private slots:
void refreshSingleImage(int camera_id, bool overlay_traditional_result = false, bool overlay_dl_result = false, bool mirror = false);
void on_pushButton_2_clicked();
void on_btn_stop_clicked();
void on_btn_start_clicked();
@ -102,8 +100,8 @@ private slots:
void on_btn_reset_polar_clicked();
void update_polar();
void update_machine_num();
void update_main_settings();
void on_tabWidget_currentChanged(int index);
@ -112,10 +110,11 @@ private:
bool isCamRunning;
QDateTime startTime; // 记录点“开始分选”的时间，用于计算总运行时长
QDateTime startTime; // 记录点“开始分选”的时间，用于计算总运行时长
QThread storageThread; // 存储线程
StorageWorker* storageWorker; // 存储工作者
QThread storageThread; // 存储线程
StorageWorker* storageWorker; // 存储工作者
void showStartupCountdown();

6
widget.ui
View File

@ -47,7 +47,7 @@
<string notr="true">background-color: rgb(228, 223, 186);</string>
</property>
<property name="currentIndex">
<number>3</number>
<number>1</number>
</property>
<property name="tabBarAutoHide">
<bool>true</bool>
@ -416,7 +416,7 @@ QPushButton#btn_quit:disabled {
<string notr="true">font: 18pt &quot;Microsoft YaHei UI&quot;;</string>
</property>
<property name="text">
<string>相机1</string>
<string>气罐侧-相机1</string>
</property>
</widget>
</item>
@ -535,7 +535,7 @@ border: 4px solid black;
<string notr="true">font: 18pt &quot;Microsoft YaHei UI&quot;;</string>
</property>
<property name="text">
<string>相机0</string>
<string>出风口侧-相机0</string>
</property>
</widget>
</item>