增加视觉盘点功能

web/src/main/java/com/aijiao/test/JNIDemo.java

@@ -1,17 +1,21 @@
-package com.zhehekeji.web.lib;
+package com.aijiao.test;
 
 import lombok.extern.slf4j.Slf4j;
 
 import java.lang.reflect.Field;
 
 @Slf4j
-public class BarCodeScan {
+public class JNIDemo {
 
     public static native String detectBestBarCode(String filePath);
 
+
+
     static
     {
         try{
+            //BarCodeScan barCodeScan = Native.load(".\\libs\\code_scan\\TestJNI", BarCodeScan.class);
+
             String path = System.getProperty("user.dir")+"\\libs\\code_scan";
             System.setProperty("java.library.path", path);
             Field fieldSysPath = ClassLoader.class.getDeclaredField("sys_paths");
@@ -30,4 +34,10 @@ public class BarCodeScan {
         }
 
     }
+
+    public static void main(String[] args) {
+        JNIDemo barCodeScan = new JNIDemo();
+        String code = barCodeScan.detectBestBarCode("d:\\data\\media\\2022\\01\\12\\10\\camera25\\1324-hfhaegaaag.jpg");
+        System.out.println(code);
+    }
 }

web/src/main/java/com/aijiao/test/com_aijiao_test_JNIDemo.h

@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_aijiao_test_JNIDemo */
+
+#ifndef _Included_com_aijiao_test_JNIDemo
+#define _Included_com_aijiao_test_JNIDemo
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_aijiao_test_JNIDemo
+ * Method:    detectBestBarCode
+ * Signature: (Ljava/lang/String;)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL Java_com_aijiao_test_JNIDemo_detectBestBarCode
+  (JNIEnv *, jobject, jstring);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java

@@ -55,6 +55,7 @@ public class ConfigProperties {
     public static class SavePath{
         private String mediaPath;
         private String mp4Path;
+        private String checkPath;
     }
 
     @Data

web/src/main/java/com/zhehekeji/web/controller/CameraControlController.java

@@ -293,7 +293,7 @@ public class CameraControlController {
     public Result pic(@PathVariable Integer id) {
         checkLogin(id);
         String path = "D:\\work\\qqq.jpeg";
-        OrderInfo orderInfo = new OrderInfo(0L,"SRM123","AAA",1,1,"C5",true,1,1);
+
         cameraControlModule.pic(id,0,path);
         return Result.success();
     }

web/src/main/java/com/zhehekeji/web/entity/Stock.java

@@ -19,6 +19,8 @@ public class Stock {
 
     private String orderNum;
 
+    private String checkNum;
+
     @ApiModelProperty("条码")
     private String code;
 
@@ -56,6 +58,8 @@ public class Stock {
     @ApiModelProperty("操作后的图片")
     private String overoperationPic;
 
+    private String checkPic;
+
     @JsonFormat(pattern="yyyy-MM-dd HH:mm:ss")
     private LocalDateTime exportTime;
 

web/src/main/java/com/zhehekeji/web/lib/OrderInfo.java

@@ -36,6 +36,8 @@ public class OrderInfo {
      */
     private Integer separation;
 
+    private String cmdCode;
+
     public OrderInfo(Street street, PlcCmdInfo plcCmdInfo, Integer times, String c) {
         if (street == null) {
             return;
@@ -87,6 +89,7 @@ public class OrderInfo {
         orderId = 0L;
         orderNum = plcCmdInfo.getOrderNum();
         code = c;
+        cmdCode = c + ((leftRight == 1) ? "-L":"-R") + ((separation == 1) ? "":"-out");
     }
 
 

web/src/main/java/com/zhehekeji/web/lib/joyware/JoywareCameraControlModuleImpl.java

@@ -113,9 +113,13 @@ public class JoywareCameraControlModuleImpl implements CameraControlModule {
      * 向左下
      */
     public boolean ptzControlLeftDownStart(Integer cameraId, int nChannelID, int lParam1, int lParam2) {
-        return JoywareLoginModuleImpl.netsdk.CLIENT_DHPTZControlEx(CameraConnMap.getConnId(cameraId), nChannelID,
+        Boolean ok =  JoywareLoginModuleImpl.netsdk.CLIENT_DHPTZControlEx(CameraConnMap.getConnId(cameraId), nChannelID,
                 NetSDKLib.NET_EXTPTZ_ControlType.NET_EXTPTZ_LEFTDOWN,
                 lParam1, lParam2, 0, 0);
+        if(!ok){
+            log.error("ptzControlLeftDownStart error :{},cameraId:{}", ToolKits.getErrorCodePrint(),cameraId);
+        }
+        return ok;
     }
 
     public boolean ptzControlLeftDownEnd(Integer cameraId, int nChannelID) {

web/src/main/java/com/zhehekeji/web/service/PlcService.java

@@ -1,7 +1,9 @@
 package com.zhehekeji.web.service;
 
+import com.aijiao.test.JNIDemo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.zhehekeji.common.util.PathUtil;
+import com.zhehekeji.core.util.Assert;
 import com.zhehekeji.web.config.ConfigProperties;
 import com.zhehekeji.web.entity.*;
 import com.zhehekeji.web.lib.*;
@@ -54,6 +56,8 @@ public class PlcService {
 
     private CameraControlModule cameraControlModule;
 
+    private static JNIDemo barCodeScan = new JNIDemo();
+
     public void setCameraControlModule(CameraControlModule cameraControlModule){
         this.cameraControlModule = cameraControlModule;
     }
@@ -80,7 +84,19 @@ public class PlcService {
      */
     public void orderStart(PlcCmdInfo plcCmdInfo) {
         Street street = streetService.getStreetByPlcId(plcCmdInfo.getPlcId());
+
         if (street != null) {
+            if(plcCmdInfo.getLeftRight1() == 1){
+                if(plcCmdInfo.getRow1()>street.getLeftRow() && plcCmdInfo.getColumn1() > street.getLeftColumn()){
+                    log.error("row:{},column:{},error in streetId:{} left",plcCmdInfo.getRow1(),plcCmdInfo.getColumn1(),street.getId());
+                    return;
+                }
+            }else {
+                if(plcCmdInfo.getRow1()>street.getRightRow() && plcCmdInfo.getColumn1() > street.getRightColumn()){
+                    log.error("row:{},column:{},error in streetId:{} right",plcCmdInfo.getRow1(),plcCmdInfo.getColumn1(),street.getId());
+                    return;
+                }
+            }
             Order order = new Order();
             order.setOrderNum(plcCmdInfo.getOrderNum());
             order.setStatus(0);
@@ -186,21 +202,8 @@ public class PlcService {
          * 右侧转camera2
          * 没有就不管了
          */
-        if (street.getCamera1Id() != null && street.getCamera2Id() != null && street.getCamera1Id() != 0 && street.getCamera2Id() != 0) {
+        Integer cameraId = getCameraByPlcCmd(plcCmdInfo,orderInfo.getLeftRight());
-            if (orderInfo.getLeftRight() == 1) {
+        gyrateCameraByCode(cameraId,code);
-                gyrateCameraByCode(street.getCamera1Id(), code);
-                if (needCapture) {
-                    if(code.startsWith("C1") || code.startsWith("C3")){
-                        try {
-                            Thread.sleep(1200);
-                        } catch (InterruptedException e) {
-                            e.printStackTrace();
-                        }
-                    }
-                    path = cameraCapture(street.getCamera1Id());
-                }
-            } else {
-                gyrateCameraByCode(street.getCamera2Id(), code);
         if(needCapture){
             if(code.startsWith("C1") || code.startsWith("C3")){
                 try {
@@ -209,22 +212,13 @@ public class PlcService {
                     e.printStackTrace();
                 }
             }
-                    path = cameraCapture(street.getCamera2Id());
-                }
-            }
-        } else {
-            Integer cameraId = street.getCamera1Id() != null && street.getCamera1Id() != 0 ? street.getCamera1Id() : street.getCamera2Id();
-            if (cameraId != null && cameraId != 0) {
-                gyrateCameraByCode(cameraId, code);
-                if (needCapture) {
             path = cameraCapture(cameraId);
         }
-            }
-        }
         //update order info after capture
         if (path != null && needCapture) {
             captureUpdateOrderAndStock(orderInfo, path);
         }
+        //转向原点位
         if(times == 2){
             if(street.getCamera2Id() != null){
                 gyrateCameraByCode(street.getCamera2Id(),"C5");
@@ -232,7 +226,6 @@ public class PlcService {
             if(street.getCamera1Id() != null){
                 gyrateCameraByCode(street.getCamera1Id(),"C5");
             }
-
         }
     }
 
@@ -432,78 +425,73 @@ public class PlcService {
         }
     }
 
-
+    public Integer getCameraByPlcCmd(PlcCmdInfo plcCmdInfo,Integer leftRight){
-//    /**
-//     * 执行动作 旋转360,然后执行C8动作
-//     *
-//     * @param plcId
-//     * @Param ptzId 旋转360之后，再转到这个预置点
-//     */
-//    public void turn360AndC8(String plcId) {
-//        Street street = streetMapper.getStreetByPlcId(plcId);
-//        if (street == null) {
-//            return;
-//        }
-//
-//        if (street.getCamera1Id() != null) {
-//            List<CameraIO> ioConfigs = ioMapper.selectList(new QueryWrapper<CameraIO>().eq("code", "C8").eq("camera_id", street.getCamera1Id()));
-//            Integer ptzId = null;
-//            if (ioConfigs.size() > 0) {
-//                ptzId = ioConfigs.get(0).getPtzId();
-//            }
-//            JoywarePtzControlModule.turn360C8(street.getCamera1Id(), ptzId);
-//        }
-//        if (street.getCamera2Id() != null) {
-//            List<CameraIO> ioConfigs = ioMapper.selectList(new QueryWrapper<CameraIO>().eq("code", "C8").eq("camera_id", street.getCamera2Id()));
-//            Integer ptzId = null;
-//            if (ioConfigs.size() > 0) {
-//                ptzId = ioConfigs.get(0).getPtzId();
-//            }
-//            JoywarePtzControlModule.turn360C8(street.getCamera2Id(), ptzId);
-//        }
-//    }
-
-    /**
-     * 从货架 行列找到 前后前后两个照片
-     *
-     * @param plcCmdInfo
-     * @param barCodeSys
-     * @param boxNumSys
-     * @param boxNumAlgo
-     */
-    public void recordStock(PlcCmdInfo plcCmdInfo, String barCodeSys, int boxNumSys, int boxNumAlgo) {
         Street street = streetService.getStreetByPlcId(plcCmdInfo.getPlcId());
-        if (street == null) {
+        if (street.getCamera1Id() != null && street.getCamera2Id() != null && street.getCamera1Id() != 0 && street.getCamera2Id() != 0) {
-            return;
-        }
-        //判断左右 行列号
-        Integer leftRight = plcCmdInfo.getLeftRight2();
-        String shelveId;
             if (leftRight == 1) {
-            shelveId = street.getLeftShelveId();
+                return street.getCamera1Id();
+
             } else {
-            shelveId = street.getRightShelveId();
+                return street.getCamera2Id();
-        }
+            }
-        Stock stock = stockMapper.getByShelveIdAndRowColumn(shelveId, plcCmdInfo.getRow2(), plcCmdInfo.getColumn2());
-        if (stock != null) {
-            stock.setCategory(barCodeSys);
-            stock.setCount(boxNumSys);
-            String prevFile = configProperties.getSavePath().getMediaPath() + stock.getPreoperationPic();
-            String overFile = configProperties.getSavePath().getMediaPath() + stock.getOveroperationPic();
-            String code = BarCodeScan.detectBestBarCode(overFile);
-            if (boxNumSys == boxNumAlgo && code.equals(barCodeSys)) {
-                stock.setStatus(StockStatus.SUCCESS.getStatus());
-                log.info("核对正确");
-                stockMapper.updateById(stock);
         } else {
-                log.info("核对失败");
+            Integer cameraId = street.getCamera1Id() != null && street.getCamera1Id() != 0 ? street.getCamera1Id() : street.getCamera2Id();
-                stock.setStatus(StockStatus.ERROR.getStatus());
+            return cameraId;
-                stockMapper.updateById(stock);
+        }
     }
-            //核对记录 todo
-//            StockLog stockLog = new StockLog();
-//            stockLog.set
 
+    public void check(PlcCmdInfo plcCmdInfo,String cmdCode,String wmsCode){
+        Street street = streetService.getStreetByPlcId(plcCmdInfo.getPlcId());
+        Integer cameraId = getCameraByPlcCmd(plcCmdInfo,1);
+        gyrateCameraByCode(cameraId, cmdCode);
+        //暂停2500ms再抓图
+        try {
+            Thread.sleep(2000);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
         }
+        String path = cameraCapture(cameraId);
+        OrderInfo orderInfo = new OrderInfo(street,plcCmdInfo,1,cmdCode);
+        Stock stock = stockMapper.getByShelveIdAndRowColumn(orderInfo.getShelveId(),orderInfo.getRow(),orderInfo.getColumn());
+
+        System.out.println(configProperties.getSavePath().getMediaPath()+path);
+        try {
+            Thread.sleep(800);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
+        String scanCode = barCodeScan.detectBestBarCode(configProperties.getSavePath().getMediaPath()+path);
+        if(StringUtils.isEmpty(scanCode)){
+            scanCode = "识别异常";
+        }
+        System.out.println(scanCode);
+        //核对正确
+        Integer status = 2;
+        if(!wmsCode.equals(scanCode)){
+            status = 1;
         }
+        if(stock == null){
+            stock = new Stock();
+            stock.setStatus(status);
+            stock.setCheckNum(plcCmdInfo.getOrderNum());
+            stock.setShelveId(orderInfo.getShelveId());
+            stock.setRow(orderInfo.getRow());
+            stock.setColumn(orderInfo.getColumn());
+            stock.setExportTime(LocalDateTime.now());
+            stock.setCheckPic(path);
+            stock.setCode(scanCode);
+            stock.setWmsCode(wmsCode);
+            stockMapper.insert(stock);
+        }else {
+            stock.setStatus(status);
+            stock.setExportTime(LocalDateTime.now());
+            stock.setCheckPic(path);
+            stock.setCheckNum(plcCmdInfo.getOrderNum());
+            stock.setCode(scanCode);
+            stock.setWmsCode(wmsCode);
+            stockMapper.updateById(stock);
+        }
+    }
+
+
 }

web/src/main/java/com/zhehekeji/web/service/RealTimeService.java

@@ -28,8 +28,6 @@ public class RealTimeService {
     @Resource
     private CameraMapper cameraMapper;
 
-    @Value("${mediaServer}")
-    private String mediaServer;
     @Autowired
     private ConfigProperties configProperties;
 
@@ -38,10 +36,6 @@ public class RealTimeService {
         List<Camera> cameras = cameraMapper.selectByMap(new HashMap<>(0));
         Map<Integer,Camera> cameraMap = new HashMap<>(cameras.size());
         cameras.forEach(camera -> {
-            if(StringUtils.isEmpty(camera.getM3u8())){
-                String m3u8 = String.format(mediaServer,camera.getId());
-                camera.setM3u8(m3u8);
-            }
             cameraMap.put(camera.getId(),camera);
         });
         List<RealTime> realTimes = new ArrayList<>();

web/src/main/java/com/zhehekeji/web/service/StockService.java

@@ -15,6 +15,7 @@ import com.zhehekeji.web.mapper.StockMapper;
 import com.zhehekeji.web.pojo.category.PageSearch;
 import com.zhehekeji.web.pojo.stock.*;
 import com.zhehekeji.web.pojo.street.StreetType;
+import io.swagger.models.auth.In;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.BeanUtils;
 import org.springframework.stereotype.Service;
@@ -98,10 +99,7 @@ public class StockService {
         checkStatus.setRowEnd(rowColumnStatus.getRowEnd());
         checkStatus.setShelveId(rowColumnStatus.getShelveId());
 
-        List<Stock> stocks = stockMapper.selectList(new QueryWrapper<Stock>().select("status","`row`","`column`","`shelve_id`").eq("`shelve_id`",rowColumnStatus.getShelveId()));
+
-        if(CollectionUtils.isEmpty(stocks)){
-            return checkStatus;
-        }
         List<Stock>stockList = new ArrayList<>();
         Map<String,Integer> rowTabStatus = new LinkedHashMap<>();
         for(String rowTab: rowColumnStatus.getRowTabs()){
@@ -111,12 +109,19 @@ public class StockService {
         for(String column:rowColumnStatus.getColumnTabs()){
             columnTabStatus.put(column,0);
         }
-
+        List<Stock> stocks = stockMapper.selectList(new QueryWrapper<Stock>().select("status","`row`","`column`","`shelve_id`").eq("`shelve_id`",rowColumnStatus.getShelveId()));
+        if(CollectionUtils.isEmpty(stocks)){
+            stockInit(rowColumnStatus.getRowStart(), rowColumnStatus.getRowEnd(), rowColumnStatus.getColumnStart(), rowColumnStatus.getColumnEnd(), rowColumnStatus.getShelveId(),stocks);
+            checkStatus.setStocks(stocks);
+            checkStatus.setRowTabStatus(rowTabStatus);
+            checkStatus.setColumnTabStatus(columnTabStatus);
+            return checkStatus;
+        }
         for(Stock stock: stocks){
             if(stock.getStatus() == null){
                 continue;
             }
-            if(stock.getRow()>= rowColumnStatus.getColumnStart() && stock.getRow()<= rowColumnStatus.getColumnEnd() && stock.getColumn() >= rowColumnStatus.getColumnStart() && stock.getColumn()<= rowColumnStatus.getColumnEnd()){
+            if(stock.getColumn()>= rowColumnStatus.getColumnStart() && stock.getColumn()<= rowColumnStatus.getColumnEnd() && stock.getRow() >= rowColumnStatus.getRowStart() && stock.getRow()<= rowColumnStatus.getRowEnd()){
                 stockList.add(stock);
             }
             if(!CollectionUtils.isEmpty(rowColumnStatus.getRowTabs())){
@@ -136,10 +141,77 @@ public class StockService {
         }
         checkStatus.setColumnTabStatus(columnTabStatus);
         checkStatus.setRowTabStatus(rowTabStatus);
-        checkStatus.setStocks(stockList);
+        checkStatus.setStocks(stockInit(rowColumnStatus.getRowStart(), rowColumnStatus.getRowEnd(), rowColumnStatus.getColumnStart(), rowColumnStatus.getColumnEnd(), rowColumnStatus.getShelveId(),stockList));
         return checkStatus;
     }
 
+    private List<Stock> stockInit(Integer rowStart, Integer rowEnd,Integer columnStart,Integer columnEnd,String shelveId,List<Stock> readyList){
+        Map<Integer,Map<Integer,Boolean>> map = new HashMap<>();
+        readyList.forEach(stock -> {
+            if(map.get(stock.getRow()) == null){
+                Map<Integer,Boolean> columnMap = new HashMap<>();
+                columnMap.put(stock.getColumn(),true);
+                map.put(stock.getRow(),columnMap);
+            }else {
+                Map<Integer,Boolean> columnMap = map.get(stock.getRow());
+                if(columnMap.get(stock.getColumn()) == null){
+                    columnMap.put(stock.getColumn(),true);
+                }
+                map.put(stock.getRow(),columnMap);
+            }
+
+        });
+        for(int i = rowStart;i<=rowEnd;i++){
+            Map<Integer,Boolean> columnMap = map.get(i);
+            for(int j = columnStart;j<=columnEnd;j++){
+                if(columnMap == null || columnMap.get(j) == null){
+                    Stock stock = new Stock();
+                    stock.setColumn(j);
+                    stock.setRow(i);
+                    stock.setStatus(0);
+                    stock.setShelveId(shelveId);
+                    readyList.add(stock);
+                }
+            }
+        }
+        return readyList;
+
+    }
+
+    public static void main(String[] args) {
+        List<Stock> readyList = new ArrayList<>();
+        Stock stock = new Stock();
+        stock.setRow(1);
+        stock.setColumn(1);
+
+        readyList.add(stock);
+        Stock stock2 = new Stock();
+        stock2.setRow(2);
+        stock2.setColumn(4);
+
+        readyList.add(stock2);
+        Map<Integer,Map<Integer,Boolean>> map = new HashMap<>();
+        Map<Integer,Boolean> rowMap = new HashMap<>();
+        readyList.forEach(stockw -> {
+            if(map.get(stockw.getRow()) == null){
+                Map<Integer,Boolean> columnMap = new HashMap<>();
+                columnMap.put(stockw.getColumn(),true);
+                map.put(stockw.getRow(),columnMap);
+            }else {
+                Map<Integer,Boolean> columnMap = map.get(stockw.getRow());
+                if(columnMap.get(stockw.getColumn()) == null){
+                    columnMap.put(stockw.getColumn(),true);
+                }
+                map.put(stockw.getRow(),columnMap);
+            }
+
+        });
+        System.out.println(map);
+
+    }
+
+
+
     //0 : 未盘点   1：盘点异常   2：盘点正确
 
     private void tabStatus(Stock stock,Map<String,Integer> tabStatus,String tab){
@@ -158,10 +230,7 @@ public class StockService {
         }
     }
 
-    public static void main(String[] args) {
-        Map<String,Integer> ss = new HashMap<>();
 
-    }
 
     private Boolean isRowColumnInTab(Stock stock,String tab,Boolean isRow){
         String [] strings = tab.split(" - ");

web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java

@@ -99,8 +99,10 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
             } else if (Cmd.E.name().equals(ksecInfo.getType())) {
                 tcpLogger.info("info:{}",body);
                 //盘点
+                //转球机到盘点位 然后拍照
+                plcService.check(plcCmdInfo,Cmd.E1.name(), dataInfo.getCode());
                 //找到该货位的最后一张照片与现在的照片比照
-                plcService.recordStock(plcCmdInfo, dataInfo.getCode(), 0, 0);
+                //plcService.recordStock(plcCmdInfo, dataInfo.getCode(), 0, 0);
             }
         }
         in.release();

web/src/main/java/com/zhehekeji/web/service/robotic/ProtocolDecoder.java

@@ -114,7 +114,7 @@ public class ProtocolDecoder extends FixedLengthFrameDecoder {
                 } else {
                     log.info("盘点模式");
                     log.info("Verification mode. Code   er(algorithm):{}", barCodeSys, boxNumSys, boxNumAlgo);
-                    plcService.recordStock(plcCmdInfo,barCodeSys,boxNumSys,boxNumAlgo);
+                    //plcService.recordStock(plcCmdInfo,barCodeSys,boxNumSys,boxNumAlgo);
                 }
 
             }

web/src/main/resources/application-dev.yml

@@ -31,13 +31,14 @@ cameraConfig:
   cameraPassword: a1234567
   cameraUser: admin
   cameraPort: 37777
-  videoServer: 127.0.0.1:8083
+  videoServer: 192.168.8.140:8083
 
 # ------------
 # -----图片  mp4下载地址
 savePath:
   mediaPath: d:\\data\media\
   mp4Path: d:\\data\mp4\
+  checkPath: d:\\data\check\
 # ------------服务端类型  0：TCP(罗伯泰克)    1:KSEC(JSON)（昆船）
 serverMode: 1
 ksec:
@@ -48,8 +49,3 @@ ksec:
 videoStyleConfig:
   videoStyleRow: 1
   videoStyleColumn: 2
-# ------------球机m3u8默认地址 %d是球机数据库id，如果数据库没有，就使用此默认值
-mediaServer: http://127.0.0.1:9080/hls/camera%d.m3u8
-rtcServer:
-  rtcServerIp: 127.0.0.1
-  rtcServerPort: 8083