更新了推出逻辑避免退出报错

camera.cpp

@@ -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;
 }
 
-
+bool start_grab()
-void Start_camera()
 {
-    MdigProcess(MilDigitizer0, MilGrabBufferList0, 20, M_START, M_DEFAULT,ProcessingFunction0, M_NULL);
+    try
-    MdigProcess(MilDigitizer1, MilGrabBufferList1, 20, M_START, M_DEFAULT,ProcessingFunction1, M_NULL);
+    {
+        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();

camera.h

@@ -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);

cotton_double2.pro

@@ -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

dist/config/color_range_config.txt

@@ -12,17 +12,17 @@ blue_a_max = 22
 blue_b_min = -48
 blue_b_max = -8
 
-orange_L_min = 63
+orange_L_min = 67
-orange_L_max = 78
+orange_L_max = 93
-orange_a_min = 7
+orange_a_min = -8
-orange_a_max = 14
+orange_a_max = 8
-orange_b_min = 23
+orange_b_min = 36
-orange_b_max = 47
+orange_b_max = 58
 
 black_L_min = 0
-black_L_max = 8
+black_L_max = 30
-black_a_min = -4
+black_a_min = -5
-black_a_max = 2
+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_sg = 60
-lowmac_td = 7
+lowmac_sm = 1800
-lowmac_ts = 10
+lowmac_td = 2
+lowmac_ts = 13
+machine_num = 0
+max_valves_together = 20
 saturation_denoising = 1
 saturation_threshold = 165
 sizeThreshold = 4

release/config/color_range_config.txt

@@ -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

ui_widget.h

@@ -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));

widget.cpp

@@ -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_L_min", 67}, {"orange_L_max", 93},
-        {"orange_a_min", 7}, {"orange_a_max", 14},
+        {"orange_a_min", -8}, {"orange_a_max", 8},
-        {"orange_b_min", 23}, {"orange_b_max", 47},
+        {"orange_b_min", 36}, {"orange_b_max", 58},
 
         // Black
-        {"black_L_min", 0}, {"black_L_max", 8},
+        {"black_L_min", 0}, {"black_L_max", 30},
-        {"black_a_min", -4}, {"black_a_max", 2},
+        {"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_L_min", 38}, {"purple_L_max", 60},
-        {"purple_a_min", 10}, {"purple_a_max", 20},
+        {"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_td"]= 2;
-    params["lowmac_sg"]= 65;
+    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_main_settings();
-    update_colorlist();  // 更新色彩列表
+    update_colorlist();      // 更新色彩列表
-    update_polar();  // 更新偏振相机界面
+    update_polar();          // 更新偏振相机界面
 }
 

widget.h

@@ -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
+    QThread storageThread;           // 存储线程
-    StorageWorker* storageWorker; // 存储工作者
+
+    StorageWorker* storageWorker;   // 存储工作者
 
     void showStartupCountdown();
 

widget.ui

@@ -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>