Device Module Nets 模块

App/DiscHolePose/DiscHolePoseApp/DiscHolePoseApp.pro

@@ -100,7 +100,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../DiscHolePoseConfig/debug           -lDiscHolePoseConfig
     LIBS += -L../../../AppUtils/AppConfig/debug     -lAppConfig
     LIBS += -L../../../Module/AuthModule/debug      -lAuthModule
-    LIBS += -L../../../Module/HandEyeCalib/debug    -lHandEyeCalibd
+    LIBS += -L../../../Module/HandEyeCalib/debug    -lHandEyeCalib
     LIBS += -L../../../Device/VrEyeDevice/debug     -lVrEyeDevice
     LIBS += -L../../../Nets/debug -lModbusTCPServer
     LIBS += -L../../../Module/ShareMem/debug        -lShareMem

App/DiscHolePose/DiscHolePoseConfig/DiscHolePoseConfig.pro

@@ -51,7 +51,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../../../Utils/VrUtils/debug    -lVrUtils
     LIBS += -L../../../AppUtils/AppConfig/debug  -lAppConfig
     LIBS += -L../../../AppUtils/AppCommon/debug  -lAppCommon
-    LIBS += -L../../../Module/HandEyeCalib/debug  -lHandEyeCalibd
+    LIBS += -L../../../Module/HandEyeCalib/debug  -lHandEyeCalib
 }else:win32:CONFIG(release, debug|release){
     LIBS += -L../../../Utils/VrUtils/release   -lVrUtils
     LIBS += -L../../../AppUtils/AppConfig/release -lAppConfig

App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseApp/JiuruiWorkpiecePoseApp.pro

@@ -96,7 +96,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../JiuruiWorkpiecePoseConfig/debug           -lJiuruiWorkpiecePoseConfig
     LIBS += -L../../../AppUtils/AppConfig/debug     -lAppConfig
     LIBS += -L../../../Module/AuthModule/debug      -lAuthModule
-    LIBS += -L../../../Module/HandEyeCalib/debug    -lHandEyeCalibd
+    LIBS += -L../../../Module/HandEyeCalib/debug    -lHandEyeCalib
     LIBS += -L../../../Device/VrEyeDevice/debug     -lVrEyeDevice
     LIBS += -L../../../Nets/debug -lModbusTCPServer
     LIBS += -L../../../Module/ShareMem/debug        -lShareMem

App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseConfig/JiuruiWorkpiecePoseConfig.pro

@@ -51,7 +51,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../../../Utils/VrUtils/debug    -lVrUtils
     LIBS += -L../../../AppUtils/AppConfig/debug  -lAppConfig
     LIBS += -L../../../AppUtils/AppCommon/debug  -lAppCommon
-    LIBS += -L../../../Module/HandEyeCalib/debug  -lHandEyeCalibd
+    LIBS += -L../../../Module/HandEyeCalib/debug  -lHandEyeCalib
 }else:win32:CONFIG(release, debug|release){
     LIBS += -L../../../Utils/VrUtils/release   -lVrUtils
     LIBS += -L../../../AppUtils/AppConfig/release -lAppConfig

App/ScrewPosition/ScrewPositionApp/ScrewPositionApp.pro

@@ -99,7 +99,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../ScrewPositionConfig/debug          -lScrewPositionConfig
     LIBS += -L../../../AppUtils/AppConfig/debug     -lAppConfig
     LIBS += -L../../../Module/AuthModule/debug      -lAuthModule
-    LIBS += -L../../../Module/HandEyeCalib/debug    -lHandEyeCalibd
+    LIBS += -L../../../Module/HandEyeCalib/debug    -lHandEyeCalib
     LIBS += -L../../../Device/VrEyeDevice/debug     -lVrEyeDevice
     LIBS += -L../../../Nets/debug -lModbusTCPServer
     LIBS += -L../../../Module/ShareMem/debug        -lShareMem

App/TireHolePose/TireHolePoseApp/TireHolePoseApp.pro

@@ -97,7 +97,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../TireHolePoseConfig/debug           -lTireHolePoseConfig
     LIBS += -L../../../AppUtils/AppConfig/debug     -lAppConfig
     LIBS += -L../../../Module/AuthModule/debug      -lAuthModule
-    LIBS += -L../../../Module/HandEyeCalib/debug    -lHandEyeCalibd
+    LIBS += -L../../../Module/HandEyeCalib/debug    -lHandEyeCalib
     LIBS += -L../../../Device/VrEyeDevice/debug     -lVrEyeDevice
     LIBS += -L../../../Nets/debug                -lModbusTCPServer
     LIBS += -L../../../Module/ShareMem/debug        -lShareMem

App/TireHolePose/TireHolePoseConfig/TireHolePoseConfig.pro

@@ -51,7 +51,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../../../Utils/VrUtils/debug    -lVrUtils
     LIBS += -L../../../AppUtils/AppConfig/debug  -lAppConfig
     LIBS += -L../../../AppUtils/AppCommon/debug  -lAppCommon
-    LIBS += -L../../../Module/HandEyeCalib/debug  -lHandEyeCalibd
+    LIBS += -L../../../Module/HandEyeCalib/debug  -lHandEyeCalib
 }else:win32:CONFIG(release, debug|release){
     LIBS += -L../../../Utils/VrUtils/release   -lVrUtils
     LIBS += -L../../../AppUtils/AppConfig/release -lAppConfig

App/WorkpieceHole/Doc/工件孔检测ModbusTCP通信协议.md

@@ -42,15 +42,15 @@
 
 ### 4.2 产品型号与拍照触发值（D1000）
 
-| 序号 | 产品型号 | 触发相机1 | 触发相机2 | 定位算法 | 当前状态 |
-|------|----------|-----------|-----------|----------|----------|
-| 1 | 4WE6 | 1 | 2 | `wd_workpieceHolePositioning` | 已实现 |
-| 2 | Z2S6 | 101 | 102 | `wd_workpieceHolePositioning_2` | 已实现 |
-| 3 | Z2FS6_30_2 | 201 | 202 | `wd_workpieceHolePositioning_3` | 已实现 |
-| 4 | DB10 | 301 | 302 | `wd_workpieceHolePositioning_3`（复用） | 已接入 |
-| 5 | DB20 | 401 | 402 | `wd_workpieceHolePositioning_5` | 预留 |
+| 序号 | 产品型号 | 触发相机1 | 触发相机2 | 当前状态 |
+|------|----------|-----------|-----------|----------|
+| 1 | 4WE6 | 1 | 2 | 已实现 |
+| 2 | Z2S6 | 101 | 102 | 已实现 |
+| 3 | Z2FS6_30_2 | 201 | 202 | 已实现 |
+| 4 | DB10 | 301 | 302 | 已实现 |
+| 5 | DB20 | 401 | 402 | 已实现 |
 
-工件4复用工件3的定位算法接口，但读取工件4独立配置的算法参数。工件5仍为预留；收到工件5请求后，视觉系统清除D1000，并向D1002写入状态码11。
+五种工件分别读取各自独立配置的检测参数。
 
 ### 4.3 检测结果状态码（D1002）
 
@@ -118,7 +118,7 @@
 2. **拍照执行**
    - 检测到D1000为非零后，立即写0到D1000清除请求
    - 暂停轮询，根据D1000的值选择对应产品和相机
-   - 触发相机拍照，执行该产品对应的工件孔定位算法
+   - 触发相机拍照，执行该产品对应的工件孔定位检测
 
 3. **坐标输出**（仅检测成功时）
    - 算法处理完成后，将坐标数据写入PLC的D2000开始的寄存器
@@ -154,7 +154,6 @@
 | 异常物料（`SX_ERR_UNKNOWN_OBJECT = -2501`） | 通知PLC，恢复轮询 | 2 |
 | 无产品（`SX_ERR_ZERO_OBJECTS = -1010`，兼容空目标类错误） | 通知PLC，恢复轮询 | 3 |
 | 其他算法检测失败 | 通知PLC，恢复轮询 | 11 |
-| 工件5算法预留 | 清除请求，通知PLC，恢复轮询 | 11 |
 | D1000触发值无效 | 清除请求，通知PLC，恢复轮询 | 11 |
 | 检测成功有结果 | 发送坐标，通知PLC，恢复轮询 | 1 |
 | 连接断开 | 自动重连，发送错误信号 | - |

App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceProduct.h

@@ -18,7 +18,7 @@ inline const ProductInfo* Products()
         {2, "Z2S6", true},
         {3, "Z2FS6_30_2", true},
         {4, "DB10", true},
-        {5, "DB20", false}
+        {5, "DB20", true}
     };
     return products;
 }

App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp

@@ -170,6 +170,7 @@ int DetectPresenter::DetectWorkpieceHole(
             groundCalibPara, workpiecePositioning, &errCode);
         break;
     case 2:
+    case 5:
         algorithmName = "wd_workpieceHolePositioning_2";
         wd_workpieceHolePositioning_2(
             algorithmData, workpiecePara, lineSegPara, filterParam, growParam,

App/WorkpieceHole/WorkpieceHoleApp/Version.h

@@ -5,7 +5,7 @@
 #define WORKPIECEHOLE_APP_NAME "工件孔定位"
 
 // 版本字符串
-#define WORKPIECEHOLE_VERSION_STRING "1.2.0"
+#define WORKPIECEHOLE_VERSION_STRING "1.2.1"
 #define WORKPIECEHOLE_BUILD_STRING "1"
 #define WORKPIECEHOLE_FULL_VERSION_STRING "V" WORKPIECEHOLE_VERSION_STRING "_" WORKPIECEHOLE_BUILD_STRING
 

App/WorkpieceHole/WorkpieceHoleApp/Version.md

@@ -1,3 +1,7 @@
+# 1.2.1
+## build_1 2026-07-14
+1. 更新算法包含1-5工件算法
+
 # 1.2.0
 ## build_1 2026-07-14
 1. 增加1-4的工件类型

AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp

@@ -115,9 +115,12 @@ void _removeZeroLines(std::vector<std::vector< SVzNL3DPosition>>& scanData)
 			lastLine = line;
 	}
 	if (firstLine < 0)
+	{
 		scanData.clear();
+		return;
+	}
 
-	if (lastLine < (lineNum - 1))
+	if ( (lastLine < (lineNum - 1)) && (lastLine > 0))
 		scanData.erase(scanData.begin() + lastLine + 1, scanData.end());
 
 	scanData.erase(scanData.begin(), scanData.begin() + firstLine);
@@ -1339,7 +1342,7 @@ void TuoPuFa_holePosition_test(void)
 			long t1 = (long)GetTickCount64();//统计时间
 
 			SSG_lineSegParam lineSegPara;
-			lineSegPara.distScale = 3.0;
+			lineSegPara.distScale = 10.0;
 			lineSegPara.segGapTh_y = 15.0;  //
 			lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
 			SSG_outlierFilterParam filterParam;
@@ -1373,15 +1376,15 @@ void TuoPuFa_holePosition_test(void)
 				&errCode);
 			long t2 = (long)GetTickCount64();
 			if(errCode == SX_ERR_UNKNOWN_OBJECT)
-				printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1));
+				printf("%s: %d(ms), 有异物残留! ...", _scan_file, (int)(t2 - t1));
 			else if(errCode == SX_ERR_ZERO_OBJECTS)
-				printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1));
+				printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1));
 			else
-				printf("%s: %d(ms), errCode=%d\n", _scan_file, (int)(t2 - t1), errCode);
+				printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
 			//输出测试结果
-			sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
+			sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);
 			_outputRGBDResult_RGBD(_scan_file, scanLines, workpiecePositioning);
-			sprintf_s(calibFile, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
+			sprintf_s(calibFile, "%sresult/LaserLine%d_corner_info.txt", dataPath[grp], fidx);
 			_outputWorkpieceInfo(calibFile, workpiecePositioning);
 
 			sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
@@ -1390,6 +1393,7 @@ void TuoPuFa_holePosition_test(void)
 			double displayScale = 0.3;
 			cv::String imgName(calibFile);
 			_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
+			printf("done\n");
 		}
 	}
 #endif
@@ -1476,7 +1480,7 @@ void TuoPuFa_holePosition_test2(void)
 			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
 		char calibFile[250];
 		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
-		//groundCalibPara = _readCalibPara(calibFile);
+		groundCalibPara = _readCalibPara(calibFile);
 
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
@@ -1492,7 +1496,7 @@ void TuoPuFa_holePosition_test2(void)
 			long t1 = (long)GetTickCount64();//统计时间
 
 			SSG_lineSegParam lineSegPara;
-			lineSegPara.distScale = 3.0;
+			lineSegPara.distScale = 10.0;
 			lineSegPara.segGapTh_y = 15.0;  //
 			lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
 			SSG_outlierFilterParam filterParam;
@@ -1507,7 +1511,7 @@ void TuoPuFa_holePosition_test2(void)
 			growParam.minVTypeTreeLen = 2.0; //mm
 			WD_workpieceHoleParam workpiecePara;
 			workpiecePara.workpieceType = 0;
-			workpiecePara.holeDiameter = 6.0; //
+			workpiecePara.holeDiameter = 8.0; //
 			workpiecePara.holeDist_W = 32.0;
 			workpiecePara.holeDist_L = 40.0;
 			workpiecePara.xLen = 44;
@@ -1526,9 +1530,9 @@ void TuoPuFa_holePosition_test2(void)
 				&errCode);
 			long t2 = (long)GetTickCount64();
 			if (errCode == SX_ERR_UNKNOWN_OBJECT)
-				printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1));
+				printf("%s: %d(ms), 有异物残留! ...", _scan_file, (int)(t2 - t1));
 			else if (errCode == SX_ERR_ZERO_OBJECTS)
-				printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1));
+				printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1));
 			else
 				printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
 			//输出测试结果
@@ -1943,11 +1947,11 @@ void TuoPuFa_holePosition_test5(void)
 			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
 		char calibFile[250];
 		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
-		//groundCalibPara = _readCalibPara(calibFile);
+		groundCalibPara = _readCalibPara(calibFile);
 
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
-			//fidx =2;
+			//fidx =4;
 			char _scan_file[256];
 			sprintf_s(_scan_file, "%s%d_LaserData_Jh26B074.txt", dataPath[grp], fidx);
 			std::vector<std::vector< SVzNL3DPosition>> scanLines;
@@ -1958,8 +1962,17 @@ void TuoPuFa_holePosition_test5(void)
 
 			long t1 = (long)GetTickCount64();//统计时间
 
+			WD_workpieceHoleParam workpiecePara;
+			workpiecePara.workpieceType = 0;
+			workpiecePara.holeDiameter = 6.0; //
+			workpiecePara.holeDist_W = 32.0;
+			workpiecePara.holeDist_L = 40.0;
+			workpiecePara.xLen = 44;
+			workpiecePara.yLen = 70;
+			workpiecePara.H = 28;
+
 			SSG_lineSegParam lineSegPara;
-			lineSegPara.distScale = 3.0;
+			lineSegPara.distScale = workpiecePara.H / 2;  //此参数用于确定
 			lineSegPara.segGapTh_y = 15.0;  //
 			lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
 			SSG_outlierFilterParam filterParam;
@@ -1970,16 +1983,9 @@ void TuoPuFa_holePosition_test5(void)
 			growParam.yDeviation_max = 4.0;
 			growParam.maxSkipDistance = 0.0;
 			growParam.zDeviation_max = 10.0;// 
-			growParam.minLTypeTreeLen = 2.0; //mm
-			growParam.minVTypeTreeLen = 2.0; //mm
-			WD_workpieceHoleParam workpiecePara;
-			workpiecePara.workpieceType = 0;
-			workpiecePara.holeDiameter = 10.0; //
-			workpiecePara.holeDist_W = 32.0;
-			workpiecePara.holeDist_L = 40.0;
-			workpiecePara.xLen = 44;
-			workpiecePara.yLen = 70;
-			workpiecePara.H = 28;
+			growParam.minLTypeTreeLen = 1.5; //mm
+			growParam.minVTypeTreeLen = 1.5; //mm
+
 			int errCode = 0;
 			std::vector< WD_workpieceInfo> workpiecePositioning;
 			wd_workpieceHolePositioning_2(
@@ -2695,6 +2701,7 @@ typedef enum
 	keSG_拓普发孔定位_工件3,
 	keSG_拓普发孔定位_工件4,
 	keSG_拓普发孔定位_工件5,
+	keSG_拓普发孔定位_工件全测试,
 	keSG_华航孔定位,
 	keSG_微力砂轮盘定位,
 	keSG_微力砂轮架子定位,
@@ -2708,7 +2715,8 @@ int main()
 	//ESG_testMode testMode = keSG_拓普发孔定位_工件2;
 	//ESG_testMode testMode = keSG_拓普发孔定位_工件3;
 	//ESG_testMode testMode = keSG_拓普发孔定位_工件4;
-	ESG_testMode testMode = keSG_拓普发孔定位_工件5;
+	//ESG_testMode testMode = keSG_拓普发孔定位_工件5;
+	ESG_testMode testMode = keSG_拓普发孔定位_工件全测试;
 	//ESG_testMode testMode = keSG_华航孔定位;
 	//ESG_testMode testMode = keSG_微力砂轮盘定位;
 	//ESG_testMode testMode = keSG_微力砂轮架子定位;
@@ -2726,6 +2734,14 @@ int main()
 		TuoPuFa_holePosition_test4();
 	else if (keSG_拓普发孔定位_工件5 == testMode)
 		TuoPuFa_holePosition_test5();
+	else if (keSG_拓普发孔定位_工件全测试 == testMode)
+	{
+		TuoPuFa_holePosition_test();
+		TuoPuFa_holePosition_test2();
+		TuoPuFa_holePosition_test3();
+		TuoPuFa_holePosition_test4();
+		TuoPuFa_holePosition_test5();
+	}
 	else if (keSG_华航孔定位 == testMode)
 		HuaHang_holePosition_test();
 	else if (keSG_微力砂轮盘定位 == testMode)

Device

@@ -0,0 +1 @@
+Subproject commit 9d4d2a2239b837c8934d1b1c76e3cab3810ff350

GrabBagPrj/AppList.md

@@ -17,7 +17,7 @@
 | 11 | 铁路隧道槽道测量 | TunnelChannel | 1.0.0.3 |
 | 12 | 螺杆定位 | ScrewPosition | 1.2.4.1 |
 | 13 | 包裹拆线位置定位 | BagThreadPosition | 1.0.0.4 |
-| 14 | 工件孔定位 | WorkpieceHole | 1.2.0.1 |
+| 14 | 工件孔定位 | WorkpieceHole | 1.2.1.1 |
 | 15 | 轮胎孔定位 | TireHolePose | 1.0.2.1 |
 | 16 | 坑孔定位 | HolePitPosition | 无 |
 | 17 | 钢筋焊缝定位 | RodWeldSeam | 1.0.0.1 |

Module

@@ -0,0 +1 @@
+Subproject commit e6106b26bb0aeb31fa86b32a4b0a88bd3efa95b5

Nets

@@ -0,0 +1 @@
+Subproject commit 8afa6fae262b4b3f8f056c71f96a0aa108972c2a