717 lines
24 KiB
C++
717 lines
24 KiB
C++
#include "thread.h"
|
||
#include "camera.h"
|
||
#include "QMutex"
|
||
#include "QSemaphore"
|
||
#include <QtEndian> // 引入Qt处理字节序的头文件
|
||
#include <QBuffer>
|
||
#include "QTimer"
|
||
#include <QTime>
|
||
#include <QElapsedTimer>
|
||
|
||
QImage image[5];
|
||
|
||
//三个线程实例化对象
|
||
ProcessImg *processimg;
|
||
SendThread *sendthread;
|
||
RecvThread *recvthread;
|
||
|
||
QMutex judge_connect_mutex;
|
||
|
||
//RGB相机类跟光谱相机类实例化对象
|
||
CameraL *cameraL;
|
||
SpecCamera *speccamera;
|
||
|
||
bool is_connected;
|
||
extern tomato tomato;
|
||
|
||
//TCP协议
|
||
extern QTcpServer server;
|
||
extern QTcpSocket *clientSocket;
|
||
extern int start_flag;
|
||
|
||
bool spec_flag = 0;
|
||
extern bool is_timeout;
|
||
extern modbus_t* CZ;
|
||
QMutex imgR_muex;
|
||
|
||
//外部引用管道
|
||
HANDLE hPipe;
|
||
HANDLE specPipe;
|
||
HANDLE RPipe;
|
||
QString pipeName = "\\\\.\\pipe\\rgb_receive";
|
||
QString pipeName2 = "\\\\.\\pipe\\spec_receive";
|
||
QString rePipe = "\\\\.\\pipe\\rgb_send";
|
||
|
||
extern int save_flag;
|
||
extern int fruit_flag;
|
||
uint countimgR = 1;
|
||
uint countimgL = 1;
|
||
uint countimgTopT = 1;
|
||
uint countimgTopM = 1;
|
||
uint countimgTopB = 1;
|
||
|
||
int ImgQueue_Alignment = 1;
|
||
//右侧相机回调
|
||
extern void __stdcall onImageDataCallBackFunc1(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser)
|
||
{
|
||
|
||
if (pFrameInfo) //帧信息有效
|
||
{
|
||
|
||
|
||
|
||
//img 原始图
|
||
QImage img(pData,pFrameInfo->nWidth,pFrameInfo->nHeight,QImage::Format_RGB888); //构造图像
|
||
//复制临时图 为了后续处理
|
||
QImage tempimg = img;
|
||
tempimg = tempimg.rgbSwapped();
|
||
QImage queueImg = tempimg;
|
||
QString filePath = "./image/R";
|
||
QString imagePath = QString("%1/%2.bmp").arg(filePath).arg(countimgR);
|
||
if(save_flag)
|
||
{
|
||
tempimg.save(imagePath);
|
||
}
|
||
|
||
emit cameraL->send_Rgbimage(tempimg);
|
||
countimgR++;
|
||
// cameraL->rightImgQueue.push(queueImg);
|
||
// qDebug()<<"右侧相机队列长度： "<<cameraL->rightImgQueue.size();
|
||
|
||
}
|
||
return ;
|
||
|
||
}
|
||
|
||
extern void __stdcall onOfflineCallBackFunc1(unsigned int nMsgType, void* pUser)
|
||
{
|
||
//qDebug()<<"camera offline";
|
||
judge_connect_mutex.lock();
|
||
is_connected = false;
|
||
judge_connect_mutex.unlock();
|
||
return;
|
||
}
|
||
|
||
//左侧相机回调
|
||
extern void __stdcall onImageDataCallBackFunc2(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser)
|
||
{
|
||
if (pFrameInfo)
|
||
{
|
||
// qDebug()<<"左侧相机帧号: "<<pFrameInfo->nFrameNum;
|
||
QImage imgL(pData,pFrameInfo->nWidth,pFrameInfo->nHeight,QImage::Format_RGB888);
|
||
|
||
QImage tempimg = imgL;
|
||
tempimg = tempimg.rgbSwapped();
|
||
QImage queueImg = tempimg;
|
||
QString filePath = "./image/L";
|
||
QString imagePath = QString("%1/%2.bmp").arg(filePath).arg(countimgL);
|
||
if(save_flag)
|
||
{
|
||
tempimg.save(imagePath);
|
||
}
|
||
|
||
countimgL++;
|
||
|
||
emit cameraL->send_Rgbimage1(tempimg);
|
||
|
||
// cameraL->leftImgQueue.push(queueImg);
|
||
// qDebug()<<"左侧相机队列长度： "<<cameraL->leftImgQueue.size();
|
||
|
||
|
||
}
|
||
return ;
|
||
}
|
||
|
||
extern void __stdcall onOfflineCallBackFunc2(unsigned int nMsgType, void* pUser)
|
||
{
|
||
judge_connect_mutex.lock();
|
||
is_connected = false;
|
||
judge_connect_mutex.unlock();
|
||
return;
|
||
}
|
||
|
||
//顶部相机回调（ip[4] 200） 数据指针 数据是8位 图像默认格式是BGR 当前帧的结构体
|
||
extern void __stdcall onImageDataCallBackFunc(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser)
|
||
{
|
||
|
||
if (pFrameInfo) //帧信息有效
|
||
{
|
||
qDebug()<<"彩色相机触发次数:"<<countimgTopT;
|
||
|
||
QImage imgT(pData,pFrameInfo->nWidth,pFrameInfo->nHeight,QImage::Format_RGB888); //构造图像
|
||
|
||
/*
|
||
* 裁切图片三等分
|
||
* */
|
||
int width = imgT.width();
|
||
int height = imgT.height();
|
||
int partHeight = height / 3;
|
||
|
||
QImage topPart = imgT.copy(0, 0, width, partHeight);
|
||
QImage middlePart = imgT.copy(0, partHeight, width, partHeight);
|
||
QImage bottomPart = imgT.copy(0, 2 * partHeight, width, partHeight);
|
||
|
||
/*
|
||
* 颜色转换+存图
|
||
* */
|
||
QImage tempimg = bottomPart;
|
||
tempimg = tempimg.rgbSwapped();
|
||
QImage queueImg = tempimg;
|
||
QString filePath = "./image/T/bottom";
|
||
QString imagePath = QString("%1/%2.bmp").arg(filePath).arg(countimgTopB);
|
||
if(save_flag)
|
||
{
|
||
tempimg.save(imagePath);
|
||
|
||
}
|
||
countimgTopB++;
|
||
|
||
QImage tempimg1 = middlePart;
|
||
tempimg1 = tempimg1.rgbSwapped();
|
||
QImage queueImg1 = tempimg1;
|
||
QString filePath1 = "./image/T/middle";
|
||
QString imagePath1 = QString("%1/%2.bmp").arg(filePath1).arg(countimgTopM);
|
||
if(save_flag)
|
||
{
|
||
tempimg1.save(imagePath1);
|
||
}
|
||
|
||
countimgTopM++;
|
||
|
||
QImage tempimg2 = topPart;
|
||
tempimg2 = tempimg2.rgbSwapped();
|
||
QImage queueImg2 = tempimg2;
|
||
QString filePath2 = "./image/T/top";
|
||
QString imagePath2 = QString("%1/%2.bmp").arg(filePath2).arg(countimgTopT);
|
||
if(save_flag)
|
||
{
|
||
tempimg2.save(imagePath2);
|
||
}
|
||
|
||
countimgTopT++;
|
||
|
||
emit cameraL->send_Rgbimage2(tempimg,tempimg1,tempimg2);
|
||
|
||
cameraL->topImgTQueue.push(queueImg);
|
||
cameraL->topImgMQueue.push(queueImg1);
|
||
cameraL->topImgBQueue.push(queueImg2);
|
||
}
|
||
return ;
|
||
}
|
||
|
||
extern void __stdcall onOfflineCallBackFunc(unsigned int nMsgType, void* pUser)
|
||
{
|
||
//qDebug()<<"camera offline";
|
||
judge_connect_mutex.lock();
|
||
is_connected = false;
|
||
judge_connect_mutex.unlock();
|
||
return;
|
||
}
|
||
|
||
int spec_count;
|
||
//光谱相机的回调函数 拿到数据后触发信号 并转到曹函数 cal（） 处理数据 如果放在回调处理数据会很慢
|
||
void __stdcall RTSpecStreamingCallback(void *pContext, unsigned char *pData, unsigned long dataLength)
|
||
{
|
||
if(pData)
|
||
{
|
||
// spec_count++;
|
||
// qDebug()<<"光谱相机触发次数:"<<spec_count;
|
||
if(fruit_flag)
|
||
{
|
||
speccamera->cal(pData);
|
||
|
||
}
|
||
else
|
||
{
|
||
pData = nullptr;
|
||
}
|
||
}
|
||
return;
|
||
}
|
||
|
||
//显示光谱伪彩色 不用管
|
||
void __stdcall RTRGBViewCallback(void* pContext, unsigned char* pRData, unsigned char* pGData, unsigned char* pBData, unsigned long dataLength)
|
||
{
|
||
unsigned short* pShortRData = (unsigned short*)pRData;
|
||
unsigned short* pShortGData = (unsigned short*)pGData;
|
||
unsigned short* pShortBData = (unsigned short*)pBData;
|
||
|
||
unsigned short m_usCurrentMax = 1;
|
||
unsigned short m_usCurrentMin = 65535;
|
||
|
||
for (int i = 0; i < speccamera->m_iWidth; i++) //拉伸
|
||
{
|
||
if (pShortRData[i] > m_usCurrentMax)
|
||
m_usCurrentMax = pShortRData[i];
|
||
if (pShortGData[i] > m_usCurrentMax)
|
||
m_usCurrentMax = pShortGData[i];
|
||
if (pShortBData[i] > m_usCurrentMax)
|
||
m_usCurrentMax = pShortBData[i];
|
||
if (pShortRData[i] < m_usCurrentMin)
|
||
m_usCurrentMin = pShortRData[i];
|
||
if (pShortGData[i] < m_usCurrentMin)
|
||
m_usCurrentMin = pShortGData[i];
|
||
if (pShortBData[i] < m_usCurrentMin)
|
||
m_usCurrentMin = pShortBData[i];
|
||
}
|
||
int iLineByte = (speccamera->m_iWidth * 3 + 3) / 4 * 4; //字节对齐
|
||
memcpy(speccamera->m_pusSaveBuffer, speccamera->m_pusSaveBuffer + iLineByte, (speccamera->m_iHeight - 1)*iLineByte*sizeof(unsigned short));
|
||
for (int i = speccamera->m_iWidth - 1; i >= 0; i = i - 1)
|
||
{
|
||
int sel = (speccamera->m_iHeight - 1)* iLineByte + i * 3;
|
||
if (sel < iLineByte * speccamera->m_iHeight )
|
||
{
|
||
speccamera->m_pusSaveBuffer[sel + 2] = pShortRData[i];
|
||
speccamera->m_pusSaveBuffer[sel + 1] = pShortGData[i];
|
||
speccamera->m_pusSaveBuffer[sel + 0] = pShortBData[i];
|
||
}
|
||
} //拷贝
|
||
speccamera->m_iDrawCount++;
|
||
|
||
|
||
// qDebug()<<"speccamera->m_iDrawCount: "<<speccamera->m_iDrawCount;
|
||
for (int i = 0; i < speccamera->m_iHeight; i++)
|
||
{
|
||
for (int j = 0; j < speccamera->m_iWidth; j++)
|
||
{
|
||
if (m_usCurrentMax - m_usCurrentMin*0.9 == 0)
|
||
{
|
||
speccamera->m_pRefreshBuffer[i*iLineByte+j*3 + 0] = 0;
|
||
speccamera->m_pRefreshBuffer[i*iLineByte+j*3 + 1] = 0;
|
||
speccamera->m_pRefreshBuffer[i*iLineByte+j*3 + 2] = 0;
|
||
|
||
}
|
||
else
|
||
{
|
||
speccamera->m_pRefreshBuffer[i*iLineByte+j*3 + 0] = (speccamera->m_pusSaveBuffer[i*iLineByte+j*3 + 2]-m_usCurrentMin*0.9)*255.0/(m_usCurrentMax-m_usCurrentMin*0.9);
|
||
speccamera->m_pRefreshBuffer[i*iLineByte+j*3 + 1] = (speccamera->m_pusSaveBuffer[i*iLineByte+j*3 + 1]-m_usCurrentMin*0.9)*255.0/(m_usCurrentMax-m_usCurrentMin*0.9);
|
||
speccamera->m_pRefreshBuffer[i*iLineByte+j*3 + 2] = (speccamera->m_pusSaveBuffer[i*iLineByte+j*3 + 0]-m_usCurrentMin*0.9)*255.0/(m_usCurrentMax-m_usCurrentMin*0.9);
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
QImage image(speccamera->m_pRefreshBuffer,speccamera->m_iWidth, speccamera->m_iHeight, QImage::Format_RGB888);
|
||
// speccamera->specImgQueue.push(speccamera->m_pRefreshBuffer);
|
||
|
||
emit speccamera->show_SpecImg(image);
|
||
|
||
return;
|
||
}
|
||
|
||
|
||
ProcessImg::ProcessImg(QObject *parent) : QThread(parent)
|
||
{
|
||
|
||
}
|
||
|
||
ProcessImg::~ProcessImg()
|
||
{
|
||
|
||
}
|
||
|
||
void ProcessImg::exitThread()
|
||
{
|
||
stop_mutex.lock();
|
||
m_stop = true;
|
||
stop_mutex.unlock();
|
||
}
|
||
|
||
//光谱数据处理线程 当 槽函数 cal（） 收集到指定数量的照片 也就是 满足 if (speccamera->frameData.size() == speccamera->totalFrames)
|
||
//就会进行处理
|
||
void ProcessImg::run()
|
||
{
|
||
while(1)
|
||
{
|
||
// 检查是否已收集到足够的帧
|
||
if (speccamera->SpecData_vector.size() == 25)
|
||
{
|
||
// 处理这些帧，例如拼接成一张大图
|
||
// qDebug()<<"25行光谱图开始拼接、存队列";
|
||
spec_count++;
|
||
msleep(100);
|
||
speccamera->test_count = 0;
|
||
// qDebug()<<"光谱相机触发次数"<<spec_count;
|
||
|
||
speccamera->specfullImage = new unsigned short[30 * 25 * 13];//宽 * 高 * 谱段数
|
||
|
||
|
||
for (int i = 0; i < 25; i++)
|
||
{
|
||
// qDebug()<<"容量："<<speccamera->SpecData_vector.capacity();
|
||
// qDebug()<<"容量实际大小："<<speccamera->SpecData_vector.size();
|
||
memcpy(speccamera->specfullImage + i * 30 * 13, speccamera->SpecData_vector[i], 30 * 13 * sizeof(unsigned short));
|
||
}
|
||
speccamera->specImgQueue.push(speccamera->specfullImage);
|
||
// qDebug()<<"光谱入队成功";
|
||
|
||
if(save_flag)
|
||
{
|
||
static int file_index = 1;
|
||
std::string spec_filename = "./image/specImg/spec" + std::to_string(file_index);
|
||
FILE *fp = fopen(spec_filename.c_str(), "wb");
|
||
int ret = fwrite(speccamera->specfullImage, 1, 30 * 25 * 13 * sizeof(unsigned short), fp);
|
||
std::fflush(fp);
|
||
fclose(fp);
|
||
file_index++;
|
||
qDebug()<<"save img success";
|
||
qDebug()<<"test_count: "<<speccamera->test_count;
|
||
}
|
||
|
||
speccamera->SpecData_vector.clear();
|
||
speccamera->test_count = 0;
|
||
}
|
||
}
|
||
}
|
||
|
||
//接收线程
|
||
RecvThread::RecvThread(QObject *parent) : QThread(parent)
|
||
{
|
||
|
||
|
||
}
|
||
|
||
RecvThread::~RecvThread()
|
||
{
|
||
|
||
}
|
||
|
||
|
||
|
||
//通过 pipe 管道 从python端读取数据
|
||
void RecvThread::run()
|
||
{
|
||
|
||
|
||
|
||
while (1)
|
||
{
|
||
// 读取4字节的数据长度信息
|
||
DWORD bytesRead;
|
||
quint32 dataLength;
|
||
QByteArray lengthBytes(4, 0);
|
||
|
||
|
||
|
||
BOOL success = ReadFile(RPipe, lengthBytes.data(), 4, &bytesRead, NULL);
|
||
if (!success || bytesRead != 4)
|
||
{
|
||
qDebug() << "Failed to read length from pipe:" << GetLastError();
|
||
CloseHandle(RPipe);
|
||
return;
|
||
}
|
||
|
||
|
||
QDataStream lengthStream(lengthBytes);
|
||
lengthStream.setByteOrder(QDataStream::BigEndian);
|
||
lengthStream >> dataLength;
|
||
|
||
// qDebug() << "应该接收到的数据长度:" << dataLength;
|
||
|
||
// 根据读取到的数据长度，读取对应长度的数据
|
||
QByteArray data(dataLength, 0);
|
||
success = ReadFile(RPipe, data.data(), dataLength, &bytesRead, NULL);
|
||
if (!success || bytesRead != dataLength) {
|
||
qDebug() << "Failed to read data from pipe:" << GetLastError();
|
||
CloseHandle(RPipe);
|
||
return;
|
||
}
|
||
|
||
// qDebug() << "接收到的数据长度:" << bytesRead;
|
||
|
||
// 解析数据
|
||
QDataStream dataStream(data);
|
||
dataStream.setByteOrder(QDataStream::BigEndian);
|
||
|
||
// 解析命令和其他数据
|
||
QString cmd;
|
||
quint16 brix, diameter, defectNum, height, width;
|
||
quint8 greenPercentage, weight;
|
||
quint32 totalDefectArea;
|
||
|
||
char cmdChars[2];
|
||
dataStream.readRawData(cmdChars, 2);
|
||
cmd = QString::fromLatin1(cmdChars, 2).trimmed().toUpper();
|
||
|
||
// 判断指令是否为 "RE"
|
||
if (cmd == "RE")
|
||
{
|
||
// qDebug() << "Received 'RE' command. Processing accordingly.";
|
||
// 继续解析其他数据
|
||
dataStream >> brix >> greenPercentage >> diameter >> weight >> defectNum >> totalDefectArea >> height >> width;
|
||
|
||
// qDebug() << "命令:" << cmd;
|
||
// qDebug() << "Brix:" << brix << ", Green Percentage:" << greenPercentage << ", Diameter:" << diameter;
|
||
// qDebug() << "Weight:" << weight << ", Defect Number:" << defectNum << ", Total Defect Area:" << totalDefectArea;
|
||
// qDebug() << "Height:" << height << ", Width:" << width;
|
||
// // 剩余的数据为图像数据
|
||
// qDebug() << "data: " <<data.size() <<"Current position in data stream:" << dataStream.device()->pos();
|
||
|
||
QByteArray imageData = data.right(data.size() - dataStream.device()->pos());
|
||
// qDebug() << "imageData size: " << imageData.size();
|
||
|
||
QImage imageResult((uchar*)imageData.constData(), width, height, QImage::Format_RGB888);
|
||
if (!imageResult.isNull()) {
|
||
// qDebug() << "Image loaded successfully";
|
||
QImage swappedImage = imageResult.rgbSwapped();
|
||
emit recv_Data(brix,greenPercentage,diameter,weight,defectNum,totalDefectArea,height,width,swappedImage);
|
||
// imageResult.save("D:/WeChat Files/wxid_jjgh0jfum83v12/FileStorage/File/2024-06/1.png");
|
||
}
|
||
else
|
||
{
|
||
qDebug() << "Error: Failed to load image from raw data";
|
||
}
|
||
// qDebug() << "接收并处理完成";
|
||
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
SendThread::SendThread(QObject *parent) : QThread(parent)
|
||
{
|
||
|
||
}
|
||
|
||
SendThread::~SendThread()
|
||
{
|
||
|
||
|
||
}
|
||
|
||
bool SendThread::sendData(HANDLE &hPipe, const QByteArray &data)
|
||
{
|
||
DWORD bytesWritten;
|
||
if (!WriteFile(hPipe, data.constData(), static_cast<DWORD>(data.size()), &bytesWritten, nullptr) || bytesWritten == 0) {
|
||
DWORD dwError = GetLastError();
|
||
qDebug()<<"第"<<countimgTopT<<"次"<<"发送失败时字节数： "<<data.size();
|
||
qDebug() << "Failed to write to pipe or no bytes written. Error:" << dwError;
|
||
return false;
|
||
}
|
||
// qDebug()<<"第"<<countimgTopT<<"次"<<"发送成功字节数： "<<data.size();
|
||
|
||
return true;
|
||
}
|
||
|
||
HANDLE SendThread::reconnect(const QString &pipeName)
|
||
{
|
||
CloseHandle(hPipe); // Close the old handle before reconnecting
|
||
HANDLE hPipe = CreateFile((LPCWSTR)pipeName.utf16(), GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
|
||
if (hPipe == INVALID_HANDLE_VALUE) {
|
||
qWarning() << "Failed to connect to pipe:" << GetLastError();
|
||
}
|
||
return hPipe;
|
||
}
|
||
|
||
void SendThread::SendImgToPython()
|
||
{
|
||
|
||
|
||
|
||
}
|
||
|
||
|
||
//通过 pipe 管道 给python端发送数据
|
||
void SendThread::run()
|
||
{
|
||
|
||
|
||
|
||
if(Yure_Flag && (hPipe != INVALID_HANDLE_VALUE))
|
||
{
|
||
// qDebug() << "预热前";
|
||
|
||
QByteArray dataToSend;
|
||
QDataStream dataStream(&dataToSend, QIODevice::WriteOnly);
|
||
dataStream.setByteOrder(QDataStream::BigEndian);
|
||
quint32 lenth = 2;
|
||
dataStream << lenth;
|
||
// 添加命令
|
||
QString cmd = "YR";
|
||
dataStream.writeRawData(cmd.toLocal8Bit().constData(), 2);
|
||
// 发送数据
|
||
DWORD yr_Written;
|
||
if (!WriteFile(hPipe, dataToSend, 6, &yr_Written, nullptr) || yr_Written != 6) {
|
||
DWORD dwError = GetLastError();
|
||
qDebug() << "Failed to write to pipe or incorrect number of bytes written. Error:" << dwError;
|
||
|
||
return;
|
||
}
|
||
else
|
||
{
|
||
qDebug() << "预热成功" ;
|
||
}
|
||
|
||
|
||
}
|
||
|
||
while(1)
|
||
{
|
||
//读取五个RGB队列的队首数据
|
||
if(cameraL->topImgTQueue.size()>15)
|
||
{
|
||
QElapsedTimer timer;
|
||
timer.start();
|
||
//数据对齐
|
||
if(ImgQueue_Alignment)
|
||
{
|
||
cameraL->topImgMQueue.pop();
|
||
cameraL->topImgMQueue.pop();
|
||
|
||
cameraL->topImgBQueue.pop();
|
||
cameraL->topImgBQueue.pop();
|
||
cameraL->topImgBQueue.pop();
|
||
|
||
cameraL->topImgTQueue.pop();
|
||
|
||
ImgQueue_Alignment = 0;
|
||
}
|
||
|
||
QImage temp[5];
|
||
temp[0] = cameraL->topImgTQueue.front();
|
||
cameraL->topImgTQueue.pop();
|
||
qDebug()<<"顶部相机顶队列大小："<<cameraL->topImgTQueue.size();
|
||
temp[1] = cameraL->topImgMQueue.front();
|
||
cameraL->topImgMQueue.pop();
|
||
qDebug()<<"顶部相机中队列大小："<<cameraL->topImgMQueue.size();
|
||
temp[2] = cameraL ->topImgBQueue.front();
|
||
cameraL -> topImgBQueue.pop();
|
||
qDebug()<<"顶部相机下队列大小："<<cameraL->topImgBQueue.size();
|
||
// temp[3] = cameraL->leftImgQueue.front();
|
||
// cameraL->leftImgQueue.pop();
|
||
// qDebug()<<"左侧相机队列大小："<<cameraL->leftImgQueue.size();
|
||
// temp[4] = cameraL->rightImgQueue.front();
|
||
// cameraL->rightImgQueue.pop();
|
||
// qDebug()<<"右侧相机队列大小："<<cameraL->rightImgQueue.size();
|
||
//循环五次 将 temp[5] 中的所有图像数据转换为字节流 用于 pipe 管道发送
|
||
|
||
for(int i=0;i<3;i++)
|
||
{
|
||
// Qt_image_count ++;
|
||
// QString filePath = "C:/Users/succtech/Desktop/Qt_image";
|
||
// QString imagePath = QString("%1/%2.bmp").arg(filePath).arg(Qt_image_count);
|
||
// temp[i].save(imagePath);
|
||
int width = temp[i].width();
|
||
int height = temp[i].height();
|
||
// qDebug()<<"原始图像字节: "<<temp[i].byteCount();
|
||
QByteArray imgData(reinterpret_cast<const char*>(temp[i].bits()), temp[i].byteCount());
|
||
// qDebug()<<"现在图像字节: "<<imgData.size();
|
||
QDataStream stream(&imgData, QIODevice::ReadWrite);
|
||
stream.setByteOrder(QDataStream::BigEndian);
|
||
|
||
|
||
QByteArray dataToSend;
|
||
QDataStream dataStream(&dataToSend, QIODevice::WriteOnly);
|
||
dataStream.setByteOrder(QDataStream::BigEndian);
|
||
|
||
|
||
quint32 length = static_cast<quint32>(imgData.size() + 6);
|
||
dataStream << length;
|
||
|
||
if(fruit_flag) //百香果
|
||
{
|
||
// 添加命令
|
||
QString cmd = "PF";
|
||
dataStream.writeRawData(cmd.toLocal8Bit().constData(), 2);
|
||
// Dimensions
|
||
dataStream << static_cast<quint16>(height);
|
||
dataStream << static_cast<quint16>(width);
|
||
|
||
// Image data
|
||
dataStream.writeRawData(imgData.constData(), imgData.size());
|
||
|
||
if (!sendData(hPipe, dataToSend))
|
||
{
|
||
qWarning() << "Failed to send data, attempting to reconnect...";
|
||
specPipe = reconnect(pipeName2);
|
||
if (specPipe == INVALID_HANDLE_VALUE) return;
|
||
if (!sendData(specPipe, dataToSend)) return;
|
||
return;
|
||
}
|
||
|
||
|
||
//当第五张RGB图发送完之后，发送光谱图
|
||
if(i==2)
|
||
{
|
||
unsigned short* specTemp = speccamera->specImgQueue.front();
|
||
// qDebug()<<"光谱数据大小:"<<specTemp;
|
||
speccamera->specImgQueue.pop();
|
||
// qDebug() << "光谱队列长度: " << speccamera->specImgQueue.size();
|
||
|
||
int specWidth = 30;
|
||
int specHeight = 25;
|
||
int specBands = 13;
|
||
|
||
QByteArray specByte,specByte_tosend;
|
||
specByte.append(reinterpret_cast<const char*>(specTemp), specWidth * specHeight * specBands * sizeof(unsigned short));
|
||
qDebug()<<"specByte: "<<specByte.size();
|
||
QDataStream spec_stream(&specByte_tosend, QIODevice::ReadWrite);
|
||
spec_stream.setByteOrder(QDataStream::BigEndian);
|
||
|
||
quint32 length = static_cast<quint32>(specByte.size() + 8);
|
||
spec_stream << length;
|
||
|
||
// 添加命令
|
||
QString cmd = "PF";
|
||
spec_stream.writeRawData(cmd.toLocal8Bit().constData(), 2);
|
||
|
||
// Dimensions
|
||
spec_stream << static_cast<quint16>(specHeight);
|
||
spec_stream << static_cast<quint16>(specWidth);
|
||
spec_stream << static_cast<quint16>(specBands);
|
||
specByte_tosend.append(specByte);
|
||
if (!sendData(specPipe, specByte_tosend))
|
||
{
|
||
qWarning() << "Failed to send data, attempting to reconnect...";
|
||
specPipe = reconnect(pipeName2);
|
||
if (specPipe == INVALID_HANDLE_VALUE) return;
|
||
if (!sendData(specPipe, specByte_tosend)) return;
|
||
return;
|
||
}
|
||
// qDebug() << "write to spec_pipe." << specByte_tosend.size();
|
||
msleep(10);
|
||
// qDebug() << "发送完成:";
|
||
|
||
}
|
||
|
||
}
|
||
else //番茄
|
||
{
|
||
// 添加命令
|
||
QString cmd = "TO";
|
||
dataStream.writeRawData(cmd.toLocal8Bit().constData(), 2);
|
||
// Dimensions
|
||
dataStream << static_cast<quint16>(height);
|
||
dataStream << static_cast<quint16>(width);
|
||
|
||
// Image data
|
||
dataStream.writeRawData(imgData.constData(), imgData.size());
|
||
|
||
if (!sendData(hPipe, dataToSend))
|
||
{
|
||
qWarning() << "Failed to send data, attempting to reconnect...";
|
||
specPipe = reconnect(pipeName2);
|
||
if (specPipe == INVALID_HANDLE_VALUE) return;
|
||
if (!sendData(specPipe, dataToSend)) return;
|
||
return;
|
||
}
|
||
// if(i == 2)
|
||
// {
|
||
// // qDebug() << "光谱队列长度: " << speccamera->specImgQueue.size();
|
||
// speccamera->specImgQueue.pop();
|
||
// qDebug() << "发送完成:";
|
||
|
||
// }
|
||
}
|
||
// qint64 elapsed = timer.elapsed();
|
||
// qDebug()<<"间隔时间"<<elapsed;
|
||
// msleep(100);
|
||
}
|
||
// qint64 elapsed = timer.elapsed();
|
||
// qDebug()<<"间隔时间"<<elapsed;
|
||
}
|
||
}
|
||
}
|