783 lines
28 KiB
C++
783 lines
28 KiB
C++
#include "RodWeldSeamPresenter.h"
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#include "VrError.h"
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#include "VrLog.h"
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#include <QtCore/QCoreApplication>
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#include <QtCore/QFileInfo>
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#include <QtCore/QDir>
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#include <QtCore/QString>
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#include <QtCore/QStandardPaths>
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#include <QtCore/QFile>
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#include <QtCore/QDateTime>
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#include <cmath>
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#include <algorithm>
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#include <QImage>
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#include <QThread>
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#include <atomic>
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#include <cstring>
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#include "Version.h"
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#include "VrTimeUtils.h"
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#include "VrDateUtils.h"
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#include "SG_baseDataType.h"
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#include "VrConvert.h"
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#include "DetectPresenter.h"
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#include "PathManager.h"
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RodWeldSeamPresenter::RodWeldSeamPresenter(QObject *parent)
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: BasePresenter(parent)
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, m_pConfigManager(nullptr)
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, m_pDetectPresenter(nullptr)
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{
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// 基类已经创建了相机重连定时器和检测数据缓存
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}
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RodWeldSeamPresenter::~RodWeldSeamPresenter()
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{
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// 基类会自动处理：相机重连定时器、算法检测线程、检测数据缓存、相机设备资源
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// 释放ConfigManager（析构函数会自动调用Shutdown）
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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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// 释放检测处理器
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if(m_pDetectPresenter)
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{
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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 RodWeldSeamPresenter::InitApp()
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{
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LOG_DEBUG("Start APP Version: %s\n", RODWELDSEAM_FULL_VERSION_STRING);
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// 初始化连接状态
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SetWorkStatus(WorkStatus::InitIng);
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m_pDetectPresenter = new DetectPresenter();
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int nRet = SUCCESS;
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// 创建 ConfigManager 实例
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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<IYRodWeldSeamStatus>()) pStatus->OnStatusUpdate("配置管理器创建失败");
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return ERR_CODE(DEV_CONFIG_ERR);
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}
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// 初始化 ConfigManager
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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<IYRodWeldSeamStatus>()) pStatus->OnStatusUpdate("配置管理器初始化失败");
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return ERR_CODE(DEV_CONFIG_ERR);
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}
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LOG_INFO("Configuration loaded successfully\n");
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// 获取配置结果
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ConfigResult configResult = m_pConfigManager->GetConfigResult();
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// 调用基类InitCamera进行相机初始化（bRGB=false, bSwing=true）
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InitCamera(configResult.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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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) pStatus->OnStatusUpdate("设备初始化完成");
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CheckAndUpdateWorkStatus();
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) pStatus->OnStatusUpdate("配置初始化成功");
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return SUCCESS;
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}
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// 初始化算法参数（实现BasePresenter纯虚函数）
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int RodWeldSeamPresenter::InitAlgoParams()
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{
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LOG_DEBUG("initializing algorithm parameters\n");
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QString exePath = QCoreApplication::applicationFilePath();
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// 清空现有的手眼标定矩阵列表
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m_clibMatrixList.clear();
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// 从 ConfigManager 获取配置结果
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ConfigResult configResult = m_pConfigManager->GetConfigResult();
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// 从 config.xml 加载手眼标定矩阵列表（支持多相机）
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for (const auto& handEyeMatrix : configResult.handEyeCalibMatrixList) {
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CalibMatrix calibMatrix;
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memcpy(calibMatrix.clibMatrix, handEyeMatrix.matrix, sizeof(double) * 16);
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m_clibMatrixList.push_back(calibMatrix);
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LOG_INFO("Loaded hand-eye calibration matrix for camera %d:\n", handEyeMatrix.cameraIndex);
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QString clibMatrixStr;
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for (int i = 0; i < 4; ++i) {
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clibMatrixStr.clear();
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for (int j = 0; j < 4; ++j) {
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clibMatrixStr += QString::asprintf("%8.4f ", calibMatrix.clibMatrix[i * 4 + j]);
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}
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LOG_INFO(" %s\n", clibMatrixStr.toStdString().c_str());
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}
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}
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LOG_INFO("Total loaded %zu hand-eye calibration matrices\n", m_clibMatrixList.size());
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const VrAlgorithmParams& xmlParams = configResult.algorithmParams;
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LOG_INFO("Loaded XML params - Rod: rodDiameter=%.1f, rodLen=%.1f\n",
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xmlParams.rodParam.rodDiameter,
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xmlParams.rodParam.rodLen);
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LOG_INFO("Loaded XML params - WeldSeam: weldSeanRange=%.1f\n",
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xmlParams.weldSeamParam.weldSeanRange);
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LOG_INFO("Loaded XML params - Filter: continuityTh=%.1f, outlierTh=%.1f\n",
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xmlParams.filterParam.continuityTh, xmlParams.filterParam.outlierTh);
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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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// 获取算法版本
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QString RodWeldSeamPresenter::GetAlgoVersion() const
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{
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return DetectPresenter::GetAlgoVersion();
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}
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// 手眼标定矩阵管理方法实现
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CalibMatrix RodWeldSeamPresenter::GetClibMatrix(int index) const
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{
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CalibMatrix clibMatrix;
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double initClibMatrix[16] = {
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1.0, 0.0, 0.0, 0.0, // 第一行
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0.0, 1.0, 0.0, 0.0, // 第二行
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0.0, 0.0, 1.0, 0.0, // 第三行
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0.0, 0.0, 0.0, 1.0 // 第四行
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};
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memcpy(clibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));
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if (index >= 0 && index < static_cast<int>(m_clibMatrixList.size())) {
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clibMatrix = m_clibMatrixList[index];
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memcpy(clibMatrix.clibMatrix, m_clibMatrixList[index].clibMatrix, sizeof(initClibMatrix));
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} else {
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LOG_WARNING("Invalid hand-eye calibration matrix\n");
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}
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return clibMatrix;
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}
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void RodWeldSeamPresenter::CheckAndUpdateWorkStatus()
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{
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if (m_bCameraConnected) {
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SetWorkStatus(WorkStatus::Ready);
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} else {
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SetWorkStatus(WorkStatus::Error);
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}
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}
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// 实现BasePresenter纯虚函数：执行算法检测
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int RodWeldSeamPresenter::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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// 1. 获取缓存的点云数据（已由基类验证非空）
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unsigned int lineNum = detectionDataCache.size();
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if(GetStatusCallback<IYRodWeldSeamStatus>()){
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) pStatus->OnStatusUpdate("扫描线数:" + std::to_string(lineNum) + "，正在算法检测...");
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}
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// 检查检测处理器是否已初始化
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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 (GetStatusCallback<IYRodWeldSeamStatus>()) {
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) 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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// 获取当前使用的手眼标定矩阵
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const CalibMatrix currentClibMatrix = GetClibMatrix(m_currentCameraIndex - 1);
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// 从 ConfigManager 获取算法参数和调试参数
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VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
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ConfigResult configResult = m_pConfigManager->GetConfigResult();
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VrDebugParam debugParam = configResult.debugParam;
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int eulerOrder = configResult.eulerOrder;
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const int calibIdx = m_currentCameraIndex - 1;
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if (calibIdx >= 0 && calibIdx < static_cast<int>(configResult.handEyeCalibMatrixList.size())) {
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eulerOrder = configResult.handEyeCalibMatrixList[calibIdx].eulerOrder;
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} else if (!configResult.handEyeCalibMatrixList.empty()) {
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eulerOrder = configResult.handEyeCalibMatrixList[0].eulerOrder;
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}
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const int dirVectorInvert = configResult.dirVectorInvert;
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const int longAxisDir = configResult.longAxisDir;
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LOG_INFO("[Algo Thread] Using euler order: %d, dir vector invert: %d, long axis dir: %d\n", eulerOrder, dirVectorInvert, longAxisDir);
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DetectionResult detectionResult;
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int nRet = m_pDetectPresenter->DetectWeldSeam(m_currentCameraIndex, detectionDataCache,
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algorithmParams, debugParam, m_dataLoader,
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currentClibMatrix.clibMatrix, eulerOrder, dirVectorInvert,
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longAxisDir, detectionResult);
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// 根据项目类型选择处理方式
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if (GetStatusCallback<IYRodWeldSeamStatus>()) {
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QString err = QString("错误:%1").arg(nRet);
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) pStatus->OnStatusUpdate(QString("检测%1").arg(SUCCESS == nRet ? "成功": err).toStdString());
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}
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LOG_INFO("[Algo Thread] sx_rebarWeldSeamPositioning detected %zu objects time : %.2f ms\n", detectionResult.positions.size(), oTimeUtils.GetElapsedTimeInMilliSec());
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ERR_CODE_RETURN(nRet);
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// 8. 通知UI检测结果
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detectionResult.cameraIndex = m_currentCameraIndex;
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) {
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pStatus->OnDetectionResult(detectionResult);
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}
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// 更新状态
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QString statusMsg = QString("检测完成，发现%1个焊缝").arg(detectionResult.positions.size());
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) pStatus->OnStatusUpdate(statusMsg.toStdString());
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// 缓存检测结果，重置索引（首次发送index=0，下次写10从1开始）
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{
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std::lock_guard<std::mutex> lock(m_resultCacheMutex);
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m_lastDetectionResult = detectionResult;
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m_resultIndex = 1;
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}
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// 发送第0个结果
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_SendDetectionResultToModbus(detectionResult, m_currentCameraIndex, 0);
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// 9. 检测完成后，将工作状态更新为"完成"
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SetWorkStatus(WorkStatus::Completed);
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// 恢复到就绪状态
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SetWorkStatus(WorkStatus::Ready);
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return SUCCESS;
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}
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// 实现配置改变通知接口
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void RodWeldSeamPresenter::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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// 重新初始化算法参数
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int result = InitAlgoParams();
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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 (GetStatusCallback<IYRodWeldSeamStatus>()) {
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) 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 (GetStatusCallback<IYRodWeldSeamStatus>()) {
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) 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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}
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// 根据相机索引获取调平参数
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SSG_planeCalibPara RodWeldSeamPresenter::_GetCameraCalibParam(int cameraIndex)
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{
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// 查找指定相机索引的调平参数
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SSG_planeCalibPara calibParam;
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// 使用单位矩阵（未校准状态）
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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; // 使用默认高度
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// 从 ConfigManager 获取算法参数
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VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
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for (const auto& cameraParam : algorithmParams.planeCalibParam.cameraCalibParams) {
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if (cameraParam.cameraIndex == cameraIndex) {
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// 根据isCalibrated标志决定使用标定矩阵还是单位矩阵
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if (cameraParam.isCalibrated) {
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// 使用实际的标定矩阵
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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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}
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return calibParam;
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}
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// 实现BasePresenter纯虚函数：相机状态变化通知
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void RodWeldSeamPresenter::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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// 通知UI更新相机状态
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if (GetStatusCallback<IYRodWeldSeamStatus>()) {
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if (cameraIndex == 1) {
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) pStatus->OnCamera1StatusChanged(isConnected);
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} else if (cameraIndex == 2) {
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) pStatus->OnCamera2StatusChanged(isConnected);
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}
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// 获取相机名称用于状态消息
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QString cameraName;
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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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QString statusMsg = QString("%1%2").arg(cameraName).arg(isConnected ? "已连接" : "已断开");
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if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) pStatus->OnStatusUpdate(statusMsg.toStdString());
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}
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// 检查并更新工作状态
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CheckAndUpdateWorkStatus();
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}
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// 实现BasePresenter虚函数：工作状态变化通知
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void RodWeldSeamPresenter::OnWorkStatusChanged(WorkStatus status)
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{
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auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>();
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if (pStatus) {
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pStatus->OnWorkStatusChanged(status);
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}
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}
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// 实现BasePresenter虚函数：相机数量变化通知
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void RodWeldSeamPresenter::OnCameraCountChanged(int count)
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{
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auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>();
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if (pStatus) {
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pStatus->OnCameraCountChanged(count);
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}
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}
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// 实现BasePresenter虚函数：状态文字更新通知
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void RodWeldSeamPresenter::OnStatusUpdate(const std::string& statusMessage)
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{
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auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>();
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if (pStatus) {
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pStatus->OnStatusUpdate(statusMessage);
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}
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}
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// ============ 实现 ICameraLevelCalculator 接口 ============
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bool RodWeldSeamPresenter::CalculatePlaneCalibration(
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const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& scanData,
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double planeCalib[9],
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double& planeHeight,
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double invRMatrix[9])
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{
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try {
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// 检查是否有足够的扫描数据
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if (scanData.empty()) {
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LOG_ERROR("No scan data available for plane calibration\n");
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return false;
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}
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LOG_INFO("Calculating plane calibration from %zu scan lines\n", scanData.size());
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// 转换为算法需要的XYZ格式
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LaserDataLoader dataLoader;
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std::vector<std::vector<SVzNL3DPosition>> xyzData;
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int convertResult = dataLoader.ConvertToSVzNL3DPosition(scanData, xyzData);
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if (convertResult != SUCCESS || xyzData.empty()) {
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LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
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return false;
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}
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// 钢筋焊缝定位项目暂时使用简单的平面拟合
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// 使用默认的单位矩阵
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double identity[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
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memcpy(planeCalib, identity, sizeof(double) * 9);
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memcpy(invRMatrix, identity, sizeof(double) * 9);
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planeHeight = -1.0;
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LOG_INFO("Plane calibration calculated successfully: height=%.3f\n", planeHeight);
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return true;
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} catch (const std::exception& e) {
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LOG_ERROR("Exception in CalculatePlaneCalibration: %s\n", e.what());
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return false;
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} catch (...) {
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LOG_ERROR("Unknown exception in CalculatePlaneCalibration\n");
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return false;
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}
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}
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// ============ 实现 ICameraLevelResultSaver 接口 ============
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bool RodWeldSeamPresenter::SaveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
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int cameraIndex, const QString& cameraName)
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{
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try {
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if (!m_pConfigManager) {
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LOG_ERROR("ConfigManager is null, cannot save leveling results\n");
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return false;
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}
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// 验证传入的相机参数
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if (cameraIndex <= 0) {
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LOG_ERROR("Invalid camera index: %d\n", cameraIndex);
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return false;
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}
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if (cameraName.isEmpty()) {
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LOG_ERROR("Camera name is empty\n");
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||
return false;
|
||
}
|
||
|
||
// 获取当前配置
|
||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
LOG_INFO("Config path: %s\n", configPath.toUtf8().constData());
|
||
|
||
SystemConfig systemConfig = m_pConfigManager->GetConfig();
|
||
|
||
// 创建或更新指定相机的调平参数
|
||
VrCameraPlaneCalibParam cameraParam;
|
||
cameraParam.cameraIndex = cameraIndex;
|
||
cameraParam.cameraName = cameraName.toStdString();
|
||
cameraParam.planeHeight = planeHeight;
|
||
cameraParam.isCalibrated = true;
|
||
|
||
// 复制校准矩阵
|
||
for (int i = 0; i < 9; i++) {
|
||
cameraParam.planeCalib[i] = planeCalib[i];
|
||
cameraParam.invRMatrix[i] = invRMatrix[i];
|
||
}
|
||
|
||
// 更新配置中的相机校准参数
|
||
systemConfig.configResult.algorithmParams.planeCalibParam.SetCameraCalibParam(cameraParam);
|
||
|
||
// 更新并保存配置
|
||
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());
|
||
LOG_INFO("Plane height: %.3f\n", planeHeight);
|
||
LOG_INFO("Calibration marked as completed\n");
|
||
|
||
return true;
|
||
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in SaveLevelingResults: %s\n", e.what());
|
||
return false;
|
||
}
|
||
}
|
||
|
||
bool RodWeldSeamPresenter::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;
|
||
}
|
||
|
||
// 从ConfigManager获取配置结果
|
||
ConfigResult configResult = m_pConfigManager->GetConfigResult();
|
||
|
||
// 获取指定相机的标定参数
|
||
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;
|
||
}
|
||
|
||
// 复制标定数据
|
||
for (int i = 0; i < 9; i++) {
|
||
planeCalib[i] = cameraParamValue.planeCalib[i];
|
||
invRMatrix[i] = cameraParamValue.invRMatrix[i];
|
||
}
|
||
planeHeight = cameraParamValue.planeHeight;
|
||
|
||
LOG_INFO("Calibration data loaded successfully for camera %d (%s)\n", cameraIndex, cameraName.toUtf8().constData());
|
||
LOG_INFO("Plane height: %.3f\n", planeHeight);
|
||
|
||
return true;
|
||
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in LoadLevelingResults: %s\n", e.what());
|
||
return false;
|
||
}
|
||
}
|
||
|
||
// 反初始化
|
||
void RodWeldSeamPresenter::DeinitApp()
|
||
{
|
||
LOG_DEBUG("Deinitializing RodWeldSeamPresenter\n");
|
||
|
||
// 停止检测
|
||
StopDetection();
|
||
|
||
// 释放ConfigManager（析构函数会自动调用Shutdown）
|
||
if (m_pConfigManager) {
|
||
delete m_pConfigManager;
|
||
m_pConfigManager = nullptr;
|
||
}
|
||
|
||
// 释放检测处理器
|
||
if (m_pDetectPresenter) {
|
||
delete m_pDetectPresenter;
|
||
m_pDetectPresenter = nullptr;
|
||
}
|
||
|
||
LOG_DEBUG("RodWeldSeamPresenter deinitialized\n");
|
||
}
|
||
|
||
// 触发检测
|
||
bool RodWeldSeamPresenter::TriggerDetection(int cameraIndex)
|
||
{
|
||
// 设置相机索引
|
||
if (cameraIndex > 0) {
|
||
SetDefaultCameraIndex(cameraIndex);
|
||
}
|
||
|
||
// 检查是否已连接相机
|
||
if (!m_bCameraConnected) {
|
||
LOG_WARNING("Camera not connected, cannot trigger detection\n");
|
||
return false;
|
||
}
|
||
|
||
// 触发检测
|
||
int ret = StartDetection(cameraIndex, false);
|
||
if (ret != SUCCESS) {
|
||
LOG_ERROR("Failed to trigger detection, error: %d\n", ret);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
// 加载文件并检测
|
||
int RodWeldSeamPresenter::LoadAndDetect(const QString& fileName)
|
||
{
|
||
LOG_INFO("Loading data from file: %s\n", fileName.toStdString().c_str());
|
||
|
||
// 使用基类的方法加载调试数据并执行检测
|
||
return LoadDebugDataAndDetect(fileName.toStdString());
|
||
}
|
||
|
||
// 重连相机
|
||
void RodWeldSeamPresenter::ReconnectCamera()
|
||
{
|
||
LOG_INFO("Attempting to reconnect cameras\n");
|
||
TryReconnectCameras();
|
||
}
|
||
|
||
// 获取算法参数
|
||
RodWeldSeamPresenter::AlgoParams RodWeldSeamPresenter::GetAlgoParams() const
|
||
{
|
||
AlgoParams params;
|
||
|
||
if (m_pConfigManager) {
|
||
VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
|
||
params.rodParam = algorithmParams.rodParam;
|
||
params.weldSeamParam = algorithmParams.weldSeamParam;
|
||
params.cornerParam = algorithmParams.cornerParam;
|
||
params.filterParam = algorithmParams.filterParam;
|
||
params.growParam = algorithmParams.growParam;
|
||
} else {
|
||
// 使用默认参数
|
||
params.rodParam.rodDiameter = 16.0;
|
||
params.rodParam.rodLen = 50.0;
|
||
params.weldSeamParam.weldSeanRange = 100.0;
|
||
}
|
||
|
||
return params;
|
||
}
|
||
|
||
// 设置算法参数
|
||
void RodWeldSeamPresenter::SetAlgoParams(const AlgoParams& params)
|
||
{
|
||
if (!m_pConfigManager) {
|
||
LOG_WARNING("ConfigManager not initialized, cannot set algorithm params\n");
|
||
return;
|
||
}
|
||
|
||
// 获取当前配置
|
||
VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
|
||
|
||
// 更新参数
|
||
algorithmParams.rodParam = params.rodParam;
|
||
algorithmParams.weldSeamParam = params.weldSeamParam;
|
||
algorithmParams.cornerParam = params.cornerParam;
|
||
algorithmParams.filterParam = params.filterParam;
|
||
algorithmParams.growParam = params.growParam;
|
||
|
||
// 更新到ConfigManager
|
||
m_pConfigManager->UpdateAlgorithmParams(algorithmParams);
|
||
|
||
LOG_INFO("Algorithm parameters updated\n");
|
||
}
|
||
|
||
// ============ ModbusTCP Server 相关实现 ============
|
||
|
||
void RodWeldSeamPresenter::OnModbusWriteCallback(uint16_t startAddress, const uint16_t* data, uint16_t count)
|
||
{
|
||
// 检测触发寄存器 (地址 0)：写入非零值触发检测或读取缓存结果
|
||
if (startAddress == 0 && count >= 1 && data[0] != 0) {
|
||
int cmd = data[0]; // 1=触发相机1, 2=触发相机2, 10=读取下一个缓存结果
|
||
LOG_INFO("Modbus command received: cmd=%d\n", cmd);
|
||
|
||
// 清除触发寄存器
|
||
uint16_t clearValue = 0;
|
||
WriteModbusRegisters(0, &clearValue, 1);
|
||
|
||
if (cmd == 10) {
|
||
// 读取缓存中的下一个焊缝结果
|
||
_SendNextCachedResult();
|
||
} else {
|
||
// 新检测触发，索引归零
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_resultCacheMutex);
|
||
m_resultIndex = 0;
|
||
}
|
||
// 设置状态为"正在检测"
|
||
uint16_t detecting = 0;
|
||
WriteModbusRegisters(1, &detecting, 1);
|
||
// 触发对应相机检测
|
||
TriggerDetection(cmd);
|
||
}
|
||
}
|
||
}
|
||
|
||
void RodWeldSeamPresenter::OnModbusServerStatusChanged(bool isConnected)
|
||
{
|
||
LOG_INFO("Modbus server status changed: %s\n", isConnected ? "connected" : "disconnected");
|
||
|
||
if (auto pStatus = GetStatusCallback<IYRodWeldSeamStatus>()) {
|
||
pStatus->OnRobotConnectionChanged(isConnected);
|
||
}
|
||
}
|
||
|
||
void RodWeldSeamPresenter::_SendDetectionResultToModbus(const DetectionResult& result, int cameraIndex, int index)
|
||
{
|
||
if (!IsModbusServerRunning()) {
|
||
LOG_WARNING("Modbus server not running, skip sending result\n");
|
||
return;
|
||
}
|
||
|
||
// 从配置获取字节序
|
||
ConfigResult configResult = m_pConfigManager->GetConfigResult();
|
||
bool bigEndian = (configResult.byteOrder == 0); // 0=大端序, 1=小端序
|
||
|
||
// 地址 1：状态码（0=正在检测，1=成功，2=失败，3=结果为空/无更多结果）
|
||
uint16_t statusCode = 1; // 默认成功
|
||
if (!result.success) {
|
||
statusCode = 2; // 检测失败
|
||
} else if (result.positions.empty() || index >= (int)result.positions.size()) {
|
||
statusCode = 3; // 成功但结果为空或索引越界
|
||
}
|
||
WriteModbusRegisters(1, &statusCode, 1);
|
||
|
||
// 仅在状态码为成功时输出焊缝数据（地址 2~29）
|
||
if (statusCode == 1) {
|
||
// 地址 2：焊缝类型（0=未知，1=点焊，2=焊缝，3=焊缝间隙）
|
||
// 地址 3：当前焊缝索引（从 1 开始计数，对应页面"焊缝 N"）
|
||
// 地址 4：焊缝总数
|
||
// 地址 5：保留
|
||
uint16_t weldType = 0;
|
||
if (index < (int)result.weldSeamInfoList.size()) {
|
||
weldType = (uint16_t)result.weldSeamInfoList[index].weldType;
|
||
}
|
||
uint16_t headerRegs[4] = {
|
||
weldType,
|
||
(uint16_t)(index + 1),
|
||
(uint16_t)result.positions.size(),
|
||
0 // 保留
|
||
};
|
||
WriteModbusRegisters(2, headerRegs, 4);
|
||
|
||
// 地址 6~29：中心(3) + 起点(3) + 终点(3) + RPY(3) = 12 个 float = 24 个寄存器
|
||
float values[12] = {0};
|
||
if (index < (int)result.weldSeamInfoList.size()) {
|
||
const auto& info = result.weldSeamInfoList[index];
|
||
values[0] = (float)info.centerX;
|
||
values[1] = (float)info.centerY;
|
||
values[2] = (float)info.centerZ;
|
||
values[3] = (float)info.startPtX;
|
||
values[4] = (float)info.startPtY;
|
||
values[5] = (float)info.startPtZ;
|
||
values[6] = (float)info.endPtX;
|
||
values[7] = (float)info.endPtY;
|
||
values[8] = (float)info.endPtZ;
|
||
} else {
|
||
// 焊缝信息缺失时，回退使用 positions 中的中心坐标
|
||
const auto& pos = result.positions[index];
|
||
values[0] = (float)pos.x;
|
||
values[1] = (float)pos.y;
|
||
values[2] = (float)pos.z;
|
||
}
|
||
// RPY 始终从 positions 取（已由算法将轴向/法向折算为欧拉角）
|
||
const auto& pos = result.positions[index];
|
||
values[9] = (float)pos.roll;
|
||
values[10] = (float)pos.pitch;
|
||
values[11] = (float)pos.yaw;
|
||
|
||
uint16_t regs[24];
|
||
memcpy(regs, values, sizeof(regs));
|
||
|
||
// 大端序时交换每个 float 的高低字序（x86 小端 → Modbus 大端字序）
|
||
if (bigEndian) {
|
||
for (int i = 0; i < 12; i++) {
|
||
std::swap(regs[i * 2], regs[i * 2 + 1]);
|
||
}
|
||
}
|
||
|
||
WriteModbusRegisters(6, regs, 24);
|
||
}
|
||
|
||
LOG_INFO("Detection result sent via Modbus, camera: %d, index: %d, status: %d\n",
|
||
cameraIndex, index, statusCode);
|
||
}
|
||
|
||
void RodWeldSeamPresenter::_SendNextCachedResult()
|
||
{
|
||
if (!IsModbusServerRunning()) {
|
||
LOG_WARNING("Modbus server not running, skip sending cached result\n");
|
||
return;
|
||
}
|
||
|
||
std::lock_guard<std::mutex> lock(m_resultCacheMutex);
|
||
if (m_lastDetectionResult.positions.empty() ||
|
||
m_resultIndex >= (int)m_lastDetectionResult.positions.size()) {
|
||
// 无更多结果，写状态码3
|
||
uint16_t statusCode = 3;
|
||
WriteModbusRegisters(1, &statusCode, 1);
|
||
LOG_INFO("No more cached results, index=%d, total=%zu\n",
|
||
m_resultIndex, m_lastDetectionResult.positions.size());
|
||
return;
|
||
}
|
||
|
||
LOG_INFO("Sending cached result index=%d, total=%zu\n",
|
||
m_resultIndex, m_lastDetectionResult.positions.size());
|
||
_SendDetectionResultToModbus(m_lastDetectionResult,
|
||
m_lastDetectionResult.cameraIndex,
|
||
m_resultIndex);
|
||
m_resultIndex++;
|
||
}
|