694 lines
24 KiB
C++
694 lines
24 KiB
C++
#include "DiscHolePosePresenter.h"
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#include "DetectPresenter.h"
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#include "PathManager.h"
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#include "DiscHolePoseTCPProtocol.h"
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#include "Version.h"
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#include "VrConvert.h"
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#include "VrError.h"
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#include "VrLog.h"
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#include "VrTimeUtils.h"
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#include <QtCore/QCoreApplication>
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#include <QtCore/QDateTime>
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#include <QtCore/QString>
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#include <algorithm>
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#include <cstdio>
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#include <cstring>
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DiscHolePosePresenter::DiscHolePosePresenter(QObject *parent)
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: BasePresenter(parent)
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{
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}
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DiscHolePosePresenter::~DiscHolePosePresenter()
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{
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if (m_pConfigManager) {
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delete m_pConfigManager;
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m_pConfigManager = nullptr;
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}
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if (m_pTCPServer) {
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m_pTCPServer->StopServer();
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delete m_pTCPServer;
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m_pTCPServer = nullptr;
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}
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if (m_pDetectPresenter) {
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delete m_pDetectPresenter;
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m_pDetectPresenter = nullptr;
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}
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}
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int DiscHolePosePresenter::InitApp()
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{
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LOG_DEBUG("Start APP Version: %s\n", DISCHOLEPOSE_VERSION_STRING);
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SetWorkStatus(WorkStatus::InitIng);
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m_pDetectPresenter = new DetectPresenter();
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m_pConfigManager = new ConfigManager();
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if (!m_pConfigManager) {
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LOG_ERROR("Failed to create ConfigManager instance\n");
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate("配置管理器创建失败");
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}
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return ERR_CODE(DEV_CONFIG_ERR);
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}
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if (!m_pConfigManager->Initialize()) {
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LOG_ERROR("Failed to initialize ConfigManager\n");
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate("配置管理器初始化失败");
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}
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return ERR_CODE(DEV_CONFIG_ERR);
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}
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const ConfigResult configResult = m_pConfigManager->GetConfigResult();
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SetDebugParam(configResult.debugParam);
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m_modbusRegistersInitialized = false;
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m_modbusWorkStatus = 0;
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std::vector<DeviceInfo> cameraList = configResult.cameraList;
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InitCamera(cameraList, false, true);
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LOG_INFO("Camera initialization completed. Connected cameras: %zu, default camera index: %d\n",
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m_vrEyeDeviceList.size(), m_currentCameraIndex);
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int nRet = InitTCPServer();
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if (nRet != SUCCESS) {
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate("TCP服务器初始化失败");
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}
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m_bTCPConnected = false;
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} else {
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate("TCP服务器初始化成功");
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}
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}
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate("设备初始化完成");
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}
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CheckAndUpdateWorkStatus();
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate("配置初始化成功");
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}
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return SUCCESS;
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}
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int DiscHolePosePresenter::InitAlgoParams()
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{
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LOG_DEBUG("initializing algorithm parameters\n");
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const ConfigResult configResult = m_pConfigManager->GetConfigResult();
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SetDebugParam(configResult.debugParam);
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LOG_INFO("Loaded %zu detection config sets\n",
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configResult.detectionConfigList.size());
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for (const auto& item : configResult.detectionConfigList) {
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const char* typeStr = (item.detectionType == DETECTION_TYPE_DISC_RACK) ? "discRack" : "discHole";
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LOG_INFO(" - camera %d / %s : cornerTh=%.1f scale=%.1f\n",
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item.cameraIndex, typeStr,
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item.algorithmParams.cornerParam.cornerTh,
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item.algorithmParams.cornerParam.scale);
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}
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LOG_INFO("Algorithm parameters initialized successfully\n");
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return SUCCESS;
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}
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CalibMatrix DiscHolePosePresenter::GetClibMatrix(int cameraIndex, DetectionType type) const
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{
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CalibMatrix clibMatrix;
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const double identity[16] = {
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0
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};
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std::memcpy(clibMatrix.clibMatrix, identity, sizeof(identity));
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if (!m_pConfigManager) {
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LOG_WARNING("ConfigManager not initialized while requesting clib matrix\n");
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return clibMatrix;
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}
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const ConfigResult configResult = m_pConfigManager->GetConfigResult();
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if (const auto* item = configResult.FindDetectionConfig(cameraIndex, type)) {
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std::memcpy(clibMatrix.clibMatrix, item->handEyeMatrix.matrix, sizeof(identity));
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} else {
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LOG_WARNING("No clib matrix configured for camera=%d type=%d, using identity\n",
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cameraIndex, static_cast<int>(type));
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}
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return clibMatrix;
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}
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CalibMatrix DiscHolePosePresenter::GetClibMatrix(int index) const
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{
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return GetClibMatrix(index + 1, DETECTION_TYPE_DISC_HOLE);
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}
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void DiscHolePosePresenter::CheckAndUpdateWorkStatus()
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{
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SetWorkStatus(m_bCameraConnected ? WorkStatus::Ready : WorkStatus::Error);
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}
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int DiscHolePosePresenter::ProcessAlgoDetection(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& detectionDataCache)
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{
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LOG_INFO("[Algo Thread] Start real detection task using algorithm\n");
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const unsigned int lineNum = detectionDataCache.size();
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate(QString("扫描线数:%1，正在算法检测...").arg(lineNum).toStdString());
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}
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if (!m_pDetectPresenter) {
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LOG_ERROR("DetectPresenter is null, cannot proceed with detection\n");
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate("检测处理器未初始化");
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}
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return ERR_CODE(DEV_NOT_FIND);
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}
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CVrTimeUtils oTimeUtils;
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const CalibMatrix currentClibMatrix = GetClibMatrix(m_currentCameraIndex, m_currentDetectionType);
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const ConfigResult configResult = m_pConfigManager->GetConfigResult();
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const VrDebugParam debugParam = configResult.debugParam;
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const int poseOutputOrder = configResult.poseOutputOrder;
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// 选中 (camera, detectionType) 对应的 4 套之一；找不到时使用默认值（已在加载时补齐，
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// 此处保留兜底是为了应对运行期相机数量变化的极端场景）。
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VrAlgorithmParams algorithmParams;
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HandEyeExtrinsic extrinsic;
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if (const auto* item = configResult.FindDetectionConfig(m_currentCameraIndex, m_currentDetectionType)) {
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algorithmParams = item->algorithmParams;
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// planeCalibParam 是相机级共享配置，永远从顶层取
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algorithmParams.planeCalibParam = configResult.algorithmParams.planeCalibParam;
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extrinsic.eulerOrder = item->handEyeMatrix.eulerOrder;
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extrinsic.rotX = item->handEyeMatrix.rotX;
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extrinsic.rotY = item->handEyeMatrix.rotY;
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extrinsic.rotZ = item->handEyeMatrix.rotZ;
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extrinsic.offsetX = item->handEyeMatrix.offsetX;
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extrinsic.offsetY = item->handEyeMatrix.offsetY;
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extrinsic.offsetZ = item->handEyeMatrix.offsetZ;
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extrinsic.outRotX = item->handEyeMatrix.outRotX;
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extrinsic.outRotY = item->handEyeMatrix.outRotY;
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extrinsic.outRotZ = item->handEyeMatrix.outRotZ;
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} else {
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LOG_WARNING("No detection config set found for camera=%d type=%d, using defaults\n",
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m_currentCameraIndex, static_cast<int>(m_currentDetectionType));
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algorithmParams.planeCalibParam = configResult.algorithmParams.planeCalibParam;
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}
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LOG_INFO("[Algo Thread] camera=%d type=%d eulerOrder=%d poseOutputOrder=%d rot=(%.3f, %.3f, %.3f) outRot=(%.3f, %.3f, %.3f) offset=(%.3f, %.3f, %.3f)\n",
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m_currentCameraIndex, static_cast<int>(m_currentDetectionType),
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extrinsic.eulerOrder, poseOutputOrder,
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extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ,
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extrinsic.outRotX, extrinsic.outRotY, extrinsic.outRotZ,
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extrinsic.offsetX, extrinsic.offsetY, extrinsic.offsetZ);
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DetectionResult detectionResult;
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detectionResult.cameraIndex = m_currentCameraIndex;
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int nRet = SUCCESS;
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if (m_currentDetectionType == DETECTION_TYPE_DISC_RACK) {
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nRet = m_pDetectPresenter->DetectDiscRack(
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m_currentCameraIndex,
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detectionDataCache,
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algorithmParams,
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debugParam,
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m_dataLoader,
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currentClibMatrix.clibMatrix,
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m_currentRobotPose,
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extrinsic,
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poseOutputOrder,
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detectionResult);
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} else {
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nRet = m_pDetectPresenter->DetectDiscHole(
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m_currentCameraIndex,
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detectionDataCache,
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algorithmParams,
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debugParam,
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m_dataLoader,
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currentClibMatrix.clibMatrix,
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m_currentRobotPose,
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extrinsic,
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poseOutputOrder,
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detectionResult);
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}
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if (nRet != SUCCESS) {
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detectionResult.success = false;
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if (detectionResult.errorCode == 0) {
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detectionResult.errorCode = nRet;
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}
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if (detectionResult.message.isEmpty() || detectionResult.message == QStringLiteral("检测成功")) {
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detectionResult.message = QString("检测失败:%1").arg(nRet);
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}
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}
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LOG_INFO("[Algo Thread] detection type=%d objects=%zu time : %.2f ms\n",
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static_cast<int>(m_currentDetectionType),
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detectionResult.positions.size(),
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oTimeUtils.GetElapsedTimeInMilliSec());
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnDetectionResult(detectionResult);
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}
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QString statusMsg;
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if (!detectionResult.success) {
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statusMsg = detectionResult.message;
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} else if (m_currentDetectionType == DETECTION_TYPE_DISC_RACK) {
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statusMsg = QString("砂轮盘架子检测完成，定位点数:%1").arg(detectionResult.positions.size());
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} else {
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statusMsg = QString("砂轮盘孔检测完成，发现%1个孔").arg(detectionResult.positions.size());
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}
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate(statusMsg.toStdString());
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}
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_SendDetectionResultToTCP(detectionResult, m_currentCameraIndex);
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_PublishDetectionResultToModbus(detectionResult);
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return nRet;
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}
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void DiscHolePosePresenter::OnConfigChanged(const ConfigResult& configResult)
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{
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LOG_INFO("Configuration changed notification received, reloading algorithm parameters\n");
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SetDebugParam(configResult.debugParam);
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int result = InitAlgoParams();
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stopServer();
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const int tcpResult = InitTCPServer();
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if (result == SUCCESS) {
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LOG_INFO("Algorithm parameters reloaded successfully after config change\n");
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate("配置已更新，算法参数重新加载成功");
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}
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} else {
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LOG_ERROR("Failed to reload algorithm parameters after config change, error: %d\n", result);
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate("配置更新后算法参数重新加载失败");
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}
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}
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if (tcpResult != SUCCESS) {
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LOG_ERROR("Failed to restart TCP server after config change, error: %d\n", tcpResult);
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate("TCP server restart failed");
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}
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}
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}
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SSG_planeCalibPara DiscHolePosePresenter::_GetCameraCalibParam(int cameraIndex)
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{
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SSG_planeCalibPara calibParam;
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const double identityMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
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for (int i = 0; i < 9; ++i) {
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calibParam.planeCalib[i] = identityMatrix[i];
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calibParam.invRMatrix[i] = identityMatrix[i];
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}
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calibParam.planeHeight = -1.0;
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const VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
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for (const auto& cameraParam : algorithmParams.planeCalibParam.cameraCalibParams) {
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if (cameraParam.cameraIndex == cameraIndex && cameraParam.isCalibrated) {
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for (int i = 0; i < 9; ++i) {
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calibParam.planeCalib[i] = cameraParam.planeCalib[i];
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calibParam.invRMatrix[i] = cameraParam.invRMatrix[i];
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}
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calibParam.planeHeight = cameraParam.planeHeight;
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}
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}
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return calibParam;
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}
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void DiscHolePosePresenter::OnCameraStatusChanged(int cameraIndex, bool isConnected)
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{
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LOG_INFO("Camera %d status changed: %s\n", cameraIndex, isConnected ? "connected" : "disconnected");
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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if (cameraIndex == 1) {
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pStatus->OnCamera1StatusChanged(isConnected);
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} else if (cameraIndex == 2) {
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pStatus->OnCamera2StatusChanged(isConnected);
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}
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QString cameraName;
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const int arrayIndex = cameraIndex - 1;
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if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
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cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
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} else {
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cameraName = QString("相机%1").arg(cameraIndex);
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}
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const QString statusMsg = QString("%1%2").arg(cameraName).arg(isConnected ? "已连接" : "已断开");
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pStatus->OnStatusUpdate(statusMsg.toStdString());
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}
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CheckAndUpdateWorkStatus();
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}
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void DiscHolePosePresenter::OnWorkStatusChanged(WorkStatus status)
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{
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnWorkStatusChanged(status);
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}
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if (!m_modbusRegistersInitialized && status == WorkStatus::Ready) {
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_InitializeModbusRegisters();
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}
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if (status == WorkStatus::Working) {
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_UpdateModbusWorkStatus(1);
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} else if (status == WorkStatus::Error) {
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_UpdateModbusWorkStatus(3);
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}
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}
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void DiscHolePosePresenter::OnCameraCountChanged(int count)
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{
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnCameraCountChanged(count);
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}
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}
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void DiscHolePosePresenter::OnStatusUpdate(const std::string& statusMessage)
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{
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnStatusUpdate(statusMessage);
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}
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}
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void DiscHolePosePresenter::OnModbusServerStatusChanged(bool isConnected)
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{
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if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
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pStatus->OnRobotConnectionChanged(isConnected);
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}
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}
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void DiscHolePosePresenter::OnModbusWriteCallback(uint16_t startAddress, const uint16_t* data, uint16_t count)
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{
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if (!data || count == 0) {
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return;
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}
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// Modbus 地址分配（与 TCPServerMethods.cpp 一致）：
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// 地址 0 : 触发寄存器
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// 地址 2~13 : 机械臂位姿（6 个 float32 = 12 个 uint16）
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constexpr uint16_t kTriggerAddress = 0;
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constexpr uint16_t kRobotPoseAddress = 2;
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constexpr uint16_t kRobotPoseRegCount = 12;
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// 缓存机械臂位姿写入（地址2~13，6个float32）
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for (uint16_t i = 0; i < count; ++i) {
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uint16_t addr = startAddress + i;
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if (addr >= kRobotPoseAddress && addr < kRobotPoseAddress + kRobotPoseRegCount) {
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m_modbusRobotPoseRegs[addr - kRobotPoseAddress] = data[i];
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}
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}
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// 检查触发
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uint16_t triggerValue = 0;
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bool hasTrigger = false;
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for (uint16_t i = 0; i < count; ++i) {
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if (startAddress + i == kTriggerAddress) {
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triggerValue = data[i];
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hasTrigger = true;
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break;
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}
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}
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if (!hasTrigger) {
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return;
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}
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const uint16_t resetValue = 0;
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WriteModbusRegisters(kTriggerAddress, &resetValue, 1);
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if (triggerValue == static_cast<uint16_t>(DETECTION_TYPE_DISC_HOLE) ||
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triggerValue == static_cast<uint16_t>(DETECTION_TYPE_DISC_RACK)) {
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// 从缓存的寄存器中解析机械臂位姿
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RobotPose6D robotPose;
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auto regToFloat = [this](int offset) -> float {
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uint32_t raw = (static_cast<uint32_t>(m_modbusRobotPoseRegs[offset]) << 16) | static_cast<uint32_t>(m_modbusRobotPoseRegs[offset + 1]);
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float val = 0;
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std::memcpy(&val, &raw, sizeof(val));
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return val;
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};
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robotPose.x = regToFloat(0);
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robotPose.y = regToFloat(2);
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robotPose.z = regToFloat(4);
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robotPose.a = regToFloat(6);
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robotPose.b = regToFloat(8);
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robotPose.c = regToFloat(10);
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LOG_INFO("Modbus trigger: type=%u, robotPose=(%.3f, %.3f, %.3f, %.3f, %.3f, %.3f)\n",
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triggerValue, robotPose.x, robotPose.y, robotPose.z, robotPose.a, robotPose.b, robotPose.c);
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TriggerDetection(-1, static_cast<DetectionType>(triggerValue), robotPose);
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return;
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}
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||
LOG_WARNING("Unsupported Modbus trigger value: %u\n", triggerValue);
|
||
_UpdateModbusWorkStatus(3);
|
||
if (auto pStatus = GetStatusCallback<IYDiscHolePoseStatus>()) {
|
||
pStatus->OnStatusUpdate(QString("Modbus触发值无效:%1").arg(triggerValue).toStdString());
|
||
}
|
||
}
|
||
|
||
bool DiscHolePosePresenter::CalculatePlaneCalibration(
|
||
const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& scanData,
|
||
double planeCalib[9],
|
||
double& planeHeight,
|
||
double invRMatrix[9])
|
||
{
|
||
try {
|
||
if (scanData.empty()) {
|
||
LOG_ERROR("No scan data available for plane calibration\n");
|
||
return false;
|
||
}
|
||
|
||
LaserDataLoader dataLoader;
|
||
std::vector<std::vector<SVzNL3DPosition>> xyzData;
|
||
int convertResult = dataLoader.ConvertToSVzNL3DPosition(scanData, xyzData);
|
||
if (convertResult != SUCCESS || xyzData.empty()) {
|
||
LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
|
||
return false;
|
||
}
|
||
|
||
const double identity[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
|
||
std::memcpy(planeCalib, identity, sizeof(double) * 9);
|
||
std::memcpy(invRMatrix, identity, sizeof(double) * 9);
|
||
planeHeight = -1.0;
|
||
LOG_INFO("Plane calibration calculated successfully: height=%.3f\n", planeHeight);
|
||
return true;
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in CalculatePlaneCalibration: %s\n", e.what());
|
||
return false;
|
||
} catch (...) {
|
||
LOG_ERROR("Unknown exception in CalculatePlaneCalibration\n");
|
||
return false;
|
||
}
|
||
}
|
||
|
||
bool DiscHolePosePresenter::SaveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
|
||
int cameraIndex, const QString& cameraName)
|
||
{
|
||
try {
|
||
if (!m_pConfigManager) {
|
||
LOG_ERROR("ConfigManager is null, cannot save leveling results\n");
|
||
return false;
|
||
}
|
||
if (cameraIndex <= 0 || cameraName.isEmpty()) {
|
||
LOG_ERROR("Invalid camera info when saving leveling results\n");
|
||
return false;
|
||
}
|
||
|
||
const QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
SystemConfig systemConfig = m_pConfigManager->GetConfig();
|
||
|
||
VrCameraPlaneCalibParam cameraParam;
|
||
cameraParam.cameraIndex = cameraIndex;
|
||
cameraParam.cameraName = cameraName.toStdString();
|
||
cameraParam.planeHeight = planeHeight;
|
||
cameraParam.isCalibrated = true;
|
||
for (int i = 0; i < 9; ++i) {
|
||
cameraParam.planeCalib[i] = planeCalib[i];
|
||
cameraParam.invRMatrix[i] = invRMatrix[i];
|
||
}
|
||
|
||
systemConfig.configResult.algorithmParams.planeCalibParam.SetCameraCalibParam(cameraParam);
|
||
if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
|
||
LOG_ERROR("Failed to update config with leveling results\n");
|
||
return false;
|
||
}
|
||
|
||
if (!m_pConfigManager->SaveConfigToFile(configPath.toStdString())) {
|
||
LOG_ERROR("Failed to save config file with leveling results\n");
|
||
return false;
|
||
}
|
||
|
||
LOG_INFO("Leveling results saved successfully for camera %d (%s)\n",
|
||
cameraIndex, cameraName.toUtf8().constData());
|
||
return true;
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in SaveLevelingResults: %s\n", e.what());
|
||
return false;
|
||
}
|
||
}
|
||
|
||
bool DiscHolePosePresenter::LoadLevelingResults(int cameraIndex, const QString& cameraName,
|
||
double planeCalib[9], double& planeHeight, double invRMatrix[9])
|
||
{
|
||
try {
|
||
if (!m_pConfigManager) {
|
||
LOG_ERROR("ConfigManager is null, cannot load calibration data\n");
|
||
return false;
|
||
}
|
||
|
||
const ConfigResult configResult = m_pConfigManager->GetConfigResult();
|
||
VrCameraPlaneCalibParam cameraParamValue;
|
||
if (!configResult.algorithmParams.planeCalibParam.GetCameraCalibParam(cameraIndex, cameraParamValue) ||
|
||
!cameraParamValue.isCalibrated) {
|
||
LOG_INFO("No calibration data found for camera %d (%s)\n",
|
||
cameraIndex, cameraName.toUtf8().constData());
|
||
return false;
|
||
}
|
||
|
||
for (int i = 0; i < 9; ++i) {
|
||
planeCalib[i] = cameraParamValue.planeCalib[i];
|
||
invRMatrix[i] = cameraParamValue.invRMatrix[i];
|
||
}
|
||
planeHeight = cameraParamValue.planeHeight;
|
||
return true;
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in LoadLevelingResults: %s\n", e.what());
|
||
return false;
|
||
}
|
||
}
|
||
|
||
void DiscHolePosePresenter::DeinitApp()
|
||
{
|
||
LOG_DEBUG("Deinitializing DiscHolePosePresenter\n");
|
||
|
||
StopDetection();
|
||
|
||
if (m_pTCPServer) {
|
||
m_pTCPServer->StopServer();
|
||
delete m_pTCPServer;
|
||
m_pTCPServer = nullptr;
|
||
}
|
||
|
||
if (m_pConfigManager) {
|
||
delete m_pConfigManager;
|
||
m_pConfigManager = nullptr;
|
||
}
|
||
|
||
if (m_pDetectPresenter) {
|
||
delete m_pDetectPresenter;
|
||
m_pDetectPresenter = nullptr;
|
||
}
|
||
}
|
||
|
||
bool DiscHolePosePresenter::TriggerDetection(int cameraIndex, DetectionType detectionType, const RobotPose6D& robotPose)
|
||
{
|
||
if (cameraIndex > 0) {
|
||
SetDefaultCameraIndex(cameraIndex);
|
||
}
|
||
|
||
m_currentDetectionType = detectionType;
|
||
m_currentRobotPose = robotPose;
|
||
m_requestTimestamp = QDateTime::currentMSecsSinceEpoch();
|
||
|
||
if (!m_bCameraConnected) {
|
||
LOG_WARNING("Camera not connected, cannot trigger detection\n");
|
||
_UpdateModbusWorkStatus(3);
|
||
return false;
|
||
}
|
||
|
||
if (GetCurrentWorkStatus() == WorkStatus::Working) {
|
||
LOG_WARNING("Detection is already running, skip duplicated trigger\n");
|
||
_UpdateModbusWorkStatus(1);
|
||
return false;
|
||
}
|
||
|
||
_InitializeModbusRegisters();
|
||
_ResetModbusResultRegisters();
|
||
_UpdateModbusWorkStatus(1);
|
||
|
||
int ret = StartDetection(cameraIndex, false);
|
||
if (ret != SUCCESS) {
|
||
LOG_ERROR("Failed to trigger detection, error: %d\n", ret);
|
||
_UpdateModbusWorkStatus(3);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
int DiscHolePosePresenter::LoadAndDetect(const QString& fileName, DetectionType detectionType)
|
||
{
|
||
LOG_INFO("Loading data from file: %s, detectionType: %d\n",
|
||
fileName.toStdString().c_str(), static_cast<int>(detectionType));
|
||
m_currentDetectionType = detectionType;
|
||
return LoadDebugDataAndDetect(fileName.toStdString());
|
||
}
|
||
|
||
void DiscHolePosePresenter::ReconnectCamera()
|
||
{
|
||
LOG_INFO("Attempting to reconnect cameras\n");
|
||
TryReconnectCameras();
|
||
}
|
||
|
||
VrCornerParam DiscHolePosePresenter::GetCornerParams() const
|
||
{
|
||
VrCornerParam params;
|
||
if (m_pConfigManager) {
|
||
// 以 (Camera 1, DiscHole) 作为「公共默认」展示值。
|
||
// 这条 set 在加载时已被 EnsureDetectionConfig 兜底填充，肯定存在。
|
||
const ConfigResult configResult = m_pConfigManager->GetConfigResult();
|
||
const VrDetectionConfigSet* defaultSet =
|
||
configResult.FindDetectionConfig(1, DETECTION_TYPE_DISC_HOLE);
|
||
if (defaultSet) {
|
||
params = defaultSet->algorithmParams.cornerParam;
|
||
return params;
|
||
}
|
||
}
|
||
// 默认值由 VrCornerParam 结构体默认初始化提供
|
||
return params;
|
||
}
|
||
|
||
QString DiscHolePosePresenter::GetAlgoVersion() const
|
||
{
|
||
return DetectPresenter::GetAlgoVersion();
|
||
}
|
||
|
||
void DiscHolePosePresenter::SetCornerParams(const VrCornerParam& params)
|
||
{
|
||
if (!m_pConfigManager) {
|
||
LOG_WARNING("ConfigManager not initialized, cannot set algorithm params\n");
|
||
return;
|
||
}
|
||
|
||
// DiscHolePose 仅使用 cornerParam，将其写到全部 4 套 (camera, type) 上，
|
||
// 想要差异化的用户通过逐套单独覆盖。
|
||
SystemConfig systemConfig = m_pConfigManager->GetConfig();
|
||
for (auto& item : systemConfig.configResult.detectionConfigList) {
|
||
item.algorithmParams.cornerParam = params;
|
||
}
|
||
m_pConfigManager->UpdateFullConfig(systemConfig);
|
||
|
||
LOG_INFO("Corner parameters updated for all (camera, type) sets\n");
|
||
}
|