diff --git a/libs/3d/3ddll.dll b/libs/3d/3ddll.dll
new file mode 100644
index 0000000..a3601a5
Binary files /dev/null and b/libs/3d/3ddll.dll differ
diff --git a/libs/3d/BoxTopCalculation.dll b/libs/3d/BoxTopCalculation.dll
new file mode 100644
index 0000000..000bda6
Binary files /dev/null and b/libs/3d/BoxTopCalculation.dll differ
diff --git a/libs/3d/ConsoleApplication1.exe b/libs/3d/ConsoleApplication1.exe
new file mode 100644
index 0000000..7f37e44
Binary files /dev/null and b/libs/3d/ConsoleApplication1.exe differ
diff --git a/libs/3d/OpenNI2.dll b/libs/3d/OpenNI2.dll
new file mode 100644
index 0000000..0a39c4e
Binary files /dev/null and b/libs/3d/OpenNI2.dll differ
diff --git a/libs/3d/cameraapi1.dll b/libs/3d/cameraapi1.dll
new file mode 100644
index 0000000..7063797
Binary files /dev/null and b/libs/3d/cameraapi1.dll differ
diff --git a/libs/3d/opencv_world3416.dll b/libs/3d/opencv_world3416.dll
new file mode 100644
index 0000000..dd96802
Binary files /dev/null and b/libs/3d/opencv_world3416.dll differ
diff --git a/libs/3d/pcl_common.dll b/libs/3d/pcl_common.dll
new file mode 100644
index 0000000..cbf938f
Binary files /dev/null and b/libs/3d/pcl_common.dll differ
diff --git a/libs/3d/pcl_filters.dll b/libs/3d/pcl_filters.dll
new file mode 100644
index 0000000..5366a37
Binary files /dev/null and b/libs/3d/pcl_filters.dll differ
diff --git a/libs/3d/pcl_io.dll b/libs/3d/pcl_io.dll
new file mode 100644
index 0000000..2ae6804
Binary files /dev/null and b/libs/3d/pcl_io.dll differ
diff --git a/libs/3d/pcl_io_ply.dll b/libs/3d/pcl_io_ply.dll
new file mode 100644
index 0000000..63b8ef6
Binary files /dev/null and b/libs/3d/pcl_io_ply.dll differ
diff --git a/libs/3d/pcl_kdtree.dll b/libs/3d/pcl_kdtree.dll
new file mode 100644
index 0000000..d53de0d
Binary files /dev/null and b/libs/3d/pcl_kdtree.dll differ
diff --git a/libs/3d/pcl_octree.dll b/libs/3d/pcl_octree.dll
new file mode 100644
index 0000000..e3320eb
Binary files /dev/null and b/libs/3d/pcl_octree.dll differ
diff --git a/libs/3d/pcl_sample_consensus.dll b/libs/3d/pcl_sample_consensus.dll
new file mode 100644
index 0000000..51eac5d
Binary files /dev/null and b/libs/3d/pcl_sample_consensus.dll differ
diff --git a/libs/3d/pcl_search.dll b/libs/3d/pcl_search.dll
new file mode 100644
index 0000000..24ea77c
Binary files /dev/null and b/libs/3d/pcl_search.dll differ
diff --git a/libs/3d/vtkCommonCore-8.2.dll b/libs/3d/vtkCommonCore-8.2.dll
new file mode 100644
index 0000000..cd41b1e
Binary files /dev/null and b/libs/3d/vtkCommonCore-8.2.dll differ
diff --git a/libs/3d/vtksys-8.2.dll b/libs/3d/vtksys-8.2.dll
new file mode 100644
index 0000000..ac39d48
Binary files /dev/null and b/libs/3d/vtksys-8.2.dll differ
diff --git a/libs/lx/LxCameraApi.dll b/libs/lx/LxCameraApi.dll
new file mode 100644
index 0000000..f3599e6
Binary files /dev/null and b/libs/lx/LxCameraApi.dll differ
diff --git a/libs/lx/LxDataProcess.dll b/libs/lx/LxDataProcess.dll
new file mode 100644
index 0000000..5222376
Binary files /dev/null and b/libs/lx/LxDataProcess.dll differ
diff --git a/libs/opencv_java480.dll b/libs/opencv_java480.dll
new file mode 100644
index 0000000..42f7a47
Binary files /dev/null and b/libs/opencv_java480.dll differ
diff --git a/web/pom.xml b/web/pom.xml
index f4a7149..94cead1 100644
--- a/web/pom.xml
+++ b/web/pom.xml
@@ -19,6 +19,7 @@
+
com.zhehekeji
common
@@ -107,6 +108,19 @@
system
${project.basedir}/src/main/resources/libs/rxtx-2.1.7.jar
+
+
+
+
+
+
+
+
+ com.fazecast
+ jSerialComm
+ 2.9.2
+
+
diff --git a/web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java b/web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java
index facc777..0f3d9fa 100644
--- a/web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java
+++ b/web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java
@@ -5,6 +5,8 @@ import lombok.Data;
import org.springframework.boot.context.properties.ConfigurationProperties;
import org.springframework.stereotype.Component;
+import java.util.List;
+
@Component
@ConfigurationProperties
@Data
@@ -20,6 +22,8 @@ public class ConfigProperties {
*/
public static Integer JOYWARE_CAMERA = 0;
+ private String ComConfig;
+
private CameraConfig cameraConfig;
private VideoStyleConfig videoStyleConfig;
@@ -51,6 +55,21 @@ public class ConfigProperties {
private Rfid rfid;
private IntelliBink intelliBink;
+
+ private String siteInventoryIp;
+ private String localIp;
+ private List template;
+
+ @Data
+ public static class Template {
+
+ private String name;
+
+ private String code;
+ private Integer id;
+
+ }
+
@Data
public static class IntelliBink {
@@ -90,9 +109,11 @@ public class ConfigProperties {
public Integer verticalAdjustmentTime = 2;
- private String industrialCamera;
+ private List industrialCamera;
private String camera3D;
+ private String sickIp;
+ private Integer sickPort;
}
@Data
@@ -105,6 +126,9 @@ public class ConfigProperties {
public static class SavePath{
private String mediaPath;
private String mp4Path;
+ private String croppingPath;
+ private String winePreparationPath;
+ private String netPicPath;
}
@Data
diff --git a/web/src/main/java/com/zhehekeji/web/config/FusionDesignApplication.java b/web/src/main/java/com/zhehekeji/web/config/FusionDesignApplication.java
new file mode 100644
index 0000000..68b486f
--- /dev/null
+++ b/web/src/main/java/com/zhehekeji/web/config/FusionDesignApplication.java
@@ -0,0 +1,27 @@
+package com.zhehekeji.web.config;
+
+import org.springframework.boot.web.client.RestTemplateBuilder;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.scheduling.annotation.EnableAsync;
+import org.springframework.scheduling.annotation.EnableScheduling;
+import org.springframework.web.client.RestTemplate;
+
+import javax.annotation.Resource;
+import java.time.Duration;
+
+@EnableAsync
+@EnableScheduling
+@Configuration
+public class FusionDesignApplication {
+ @Resource
+ //RestTemplateBuilder
+ private RestTemplateBuilder builder;
+ // 使用RestTemplateBuilder来实例化RestTemplate对象，spring默认已经注入了RestTemplateBuilder实例
+ @Bean
+ public RestTemplate restTemplate() {
+ return builder.setConnectTimeout(Duration.ofSeconds(20)) // 设置连接超时时间，单位毫秒
+ .setReadTimeout(Duration.ofSeconds(20)) // 设置读取超时时间，单位毫秒
+ .build();
+ }
+}
diff --git a/web/src/main/java/com/zhehekeji/web/controller/CameraControlController.java b/web/src/main/java/com/zhehekeji/web/controller/CameraControlController.java
index 8a8f4b7..520738f 100644
--- a/web/src/main/java/com/zhehekeji/web/controller/CameraControlController.java
+++ b/web/src/main/java/com/zhehekeji/web/controller/CameraControlController.java
@@ -41,14 +41,14 @@ public class CameraControlController {
checkLogin(id);
return Result.success();
}
-
- private NetSDKLib.LLong cameraLogin(Integer cameraId){
- log.info("相机登录 cameraId:{}",cameraId);
- Camera camera = cameraMapper.selectById(cameraId);
- Assert.notNull(camera,"球机不存在");
- NetSDKLib.LLong lLong = loginControlModule.login(camera.getIp(),camera.getPort(),camera.getUser(),camera.getPassword());
- return lLong;
- }
+//
+// private NetSDKLib.LLong cameraLogin(Integer cameraId){
+// log.info("相机登录 cameraId:{}",cameraId);
+// Camera camera = cameraMapper.selectById(cameraId);
+// Assert.notNull(camera,"球机不存在");
+// NetSDKLib.LLong lLong = loginControlModule.login(camera.getIp(),camera.getPort(),camera.getUser(),camera.getPassword());
+// return lLong;
+// }
@PostMapping("/up/{id}")
@ApiOperation(value = "球机控制向上")
diff --git a/web/src/main/java/com/zhehekeji/web/controller/IndustrialCameraController.java b/web/src/main/java/com/zhehekeji/web/controller/IndustrialCameraController.java
index 68021aa..4849c0e 100644
--- a/web/src/main/java/com/zhehekeji/web/controller/IndustrialCameraController.java
+++ b/web/src/main/java/com/zhehekeji/web/controller/IndustrialCameraController.java
@@ -2,11 +2,13 @@ package com.zhehekeji.web.controller;
import com.zhehekeji.core.pojo.Result;
import com.zhehekeji.web.config.ConfigProperties;
+import com.zhehekeji.web.entity.KuKou;
import com.zhehekeji.web.entity.Street;
import com.zhehekeji.web.pojo.IndustrialCameraVO;
import com.zhehekeji.web.pojo.stock.CheckLogSearch;
import com.zhehekeji.web.service.IndustrialCamera.HikSaveImage;
import com.zhehekeji.web.service.IndustrialCamera.LxPointCloudSaveImage;
+import com.zhehekeji.web.service.KuKouService;
import com.zhehekeji.web.service.PlcService;
import com.zhehekeji.web.service.StreetService;
import com.zhehekeji.web.service.algorithm.FeatureMatchingExample;
@@ -14,22 +16,24 @@ import com.zhehekeji.web.service.algorithm.InventoryService;
import com.zhehekeji.web.service.algorithm.PcdPojo;
import com.zhehekeji.web.service.algorithm.PointCloudProcessor;
import com.zhehekeji.web.service.client.TransmissionPojo;
+import com.zhehekeji.web.service.com.SerialPortExample;
+import com.zhehekeji.web.service.sick.SickSocket;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.extern.slf4j.Slf4j;
import org.opencv.core.Mat;
import org.opencv.imgcodecs.Imgcodecs;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
import java.io.IOException;
import java.nio.file.*;
import java.nio.file.attribute.BasicFileAttributes;
import java.time.LocalDate;
+import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
+import java.util.ArrayList;
+import java.util.List;
import java.util.UUID;
import static com.zhehekeji.web.service.algorithm.FeatureMatchingExample.base642Mat;
@@ -51,31 +55,151 @@ public class IndustrialCameraController {
@Resource
ConfigProperties configProperties;
+ @Resource
+ SerialPortExample serialPortExample;
+
+ @Resource
+ KuKouService kuKouService;
+
@ApiOperation("拍照")
@PostMapping("pic")
- public Result pic(@RequestBody CheckLogSearch checkLogSearch){
- Street street = streetService.streetById(checkLogSearch.getStreetId());
+ public Result> pic(){
+ List list = new ArrayList<>();
+
+ LocalDate currentDate = LocalDate.now();
+ DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
+
+ if(configProperties.getCameraConfig().getIndustrialCamera()!=null) {
+ for (String camera:configProperties.getCameraConfig().getIndustrialCamera()) {
+
+ String path = "industrialCamera/" +currentDate.format(formatter)+"/"+camera+ UUID.randomUUID() + ".jpeg";
+ hikSaveImage.saveImage(camera, configProperties.getSavePath().getMediaPath() + path, "sn");
+ list.add(path);
+ }
+ return new Result<>(list);
+ }else {
+ return new Result<>(list);
+ }
+ }
+
+ @ApiOperation("拍照")
+ @PostMapping("pic3D")
+ public Result> pic3D(){
+ List list = new ArrayList<>();
+
+ LocalDate currentDate = LocalDate.now();
+ DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
+
+ if(configProperties.getCameraConfig().getIndustrialCamera()!=null) {
+ String path = "industrialCamera/" +currentDate.format(formatter)+"/"+configProperties.getCameraConfig().getCamera3D()+ UUID.randomUUID() + ".pcd";
+ LxPointCloudSaveImage.saveImage(configProperties.getCameraConfig().getCamera3D(), path,1);
+ list.add(path);
+ return new Result<>(list);
+ }else {
+ return new Result<>(list);
+ }
+ }
+
+
+
+ @ApiOperation("拍照")
+ @GetMapping("task")
+ public Result> task(int i){
+ List list = new ArrayList<>();
+ String path = "task/"+i+"箱" +"/";
+
+ if(configProperties.getCameraConfig().getIndustrialCamera()!=null) {
+
+ LxPointCloudSaveImage.saveImage(configProperties.getCameraConfig().getCamera3D(), path+configProperties.getCameraConfig().getCamera3D() + ".pcd",1);
+
+ }else {
+
+ }
+
if(configProperties.getCameraConfig().getIndustrialCamera()!=null) {
- String path = "industrialCamera/" + UUID.randomUUID() + ".jpeg";
- hikSaveImage.saveImage(configProperties.getCameraConfig().getIndustrialCamera(), configProperties.getSavePath().getMediaPath() + path, "sn");
- return new Result<>(path);
+ for (String camera:configProperties.getCameraConfig().getIndustrialCamera()) {
+
+ //String path = "industrialCamera/" +currentDate.format(formatter)+"/"+camera+ UUID.randomUUID() + ".jpeg";
+ hikSaveImage.saveImage(camera, configProperties.getSavePath().getMediaPath() + path+camera + ".jpeg", "sn");
+ list.add(path);
+ }
+
}else {
- return new Result<>("");
+
+ }
+ return new Result<>();
+ }
+
+ @ApiOperation("打开光源")
+ @GetMapping("openLight")
+ public Result openLight(int i){
+ serialPortExample.openLight(i);
+
+ return new Result<>("");
+ }
+
+
+ @ApiOperation("站点盘点")
+ @PostMapping("siteInventory")
+ public Result siteInventory(@RequestBody IndustrialCameraVO industrialCameraVo){
+ serialPortExample.openLight(1);
+ //2d图片保存
+ Result> listResult = pic();
+ boolean re = false;
+ //sick识别
+ String code = SickSocket.readOCR(configProperties.getCameraConfig().getSickIp(), configProperties.getCameraConfig().getSickPort());
+ //2d识别
+ if (listResult.getData().size()!=0){
+ re = FeatureMatchingExample.matchTemplate(
+ InventoryService.readImagesInFolder(configProperties.getSavePath().getMediaPath() + "template/" + industrialCameraVo.getTypeMacth()),
+ configProperties.getSavePath().getMediaPath() +listResult.getData().get(0));
}
+ //3d pcd保存
+ LocalDate currentDate = LocalDate.now();
+ DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
+
+
+ String pathPcd = configProperties.getSavePath().getMediaPath()
+ +"camera3D/"
+ +currentDate.format(formatter)+"/" +UUID.randomUUID()+"-";
+ int count = inventoryService.match3D(industrialCameraVo.getTypeMacth(),pathPcd+"-"+configProperties.getCameraConfig().getCamera3D()+".pcd","");
+ //3d识别
+ //保存信息
+ KuKou kuKou = new KuKou();
+ kuKou.setCreateTime(LocalDateTime.now());
+ if (re) {
+ kuKou.setFlag(1);
+ kuKou.setCategoryName(industrialCameraVo.getTypeMacthName());
+ }
+ kuKou.setCount(count);
+ kuKou.setCode(code);
+ kuKou.setPath(configProperties.getSavePath().getNetPicPath()+listResult.getData().get(0));
+ kuKouService.save(kuKou);
+ serialPortExample.openLight(0);
+ return new Result<>(kuKou);
}
@ApiOperation("识别")
@PostMapping("Macth")
public Result Macth(@RequestBody IndustrialCameraVO industrialCameraVo){
- String srcImg = configProperties.getSavePath().getMediaPath() + industrialCameraVo.getPicImg();
- String srcImgRest = configProperties.getSavePath().getMediaPath() + industrialCameraVo.getPicImg();
+ LocalDate currentDate = LocalDate.now();
+ DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
+ String camera= configProperties.getCameraConfig().getIndustrialCamera().get(0);
+
+
+ String path = "industrialCamera/" + currentDate.format(formatter) + "/" + camera + UUID.randomUUID() + ".jpeg";
+ hikSaveImage.saveImage(camera, configProperties.getSavePath().getMediaPath() + path, "sn");
+
+
+
+ String srcImg = configProperties.getSavePath().getMediaPath() + path;
//识别结果
boolean re = FeatureMatchingExample.matchTemplate(
InventoryService.readImagesInFolder(configProperties.getSavePath().getMediaPath() + "template/" + industrialCameraVo.getTypeMacth()),
srcImg);
if (re){
- return new Result<>(industrialCameraVo.getPicImg()+".jpg");
+ return new Result<>(srcImg+".jpg");
}else {
return new Result<>("");
@@ -92,74 +216,10 @@ public class IndustrialCameraController {
String pathPcd = configProperties.getSavePath().getMediaPath()
+"camera3D/"
+currentDate.format(formatter)+"/" +UUID.randomUUID()+"-";
- Integer count = inventoryService.match3D(industrialCameraVo.getName(),pathPcd+"-"+configProperties.getCameraConfig().getCamera3D()+".pcd");
+ int count = inventoryService.match3D(industrialCameraVo.getTypeMacth(),pathPcd+"-"+configProperties.getCameraConfig().getCamera3D()+".pcd","");
return Result.success(count);
}
@Resource
InventoryService inventoryService;
-//
-// @ApiOperation("匹配所有")
-// @PostMapping("matchFeatures")
-// public Boolean matchFeatures(@RequestBody TransmissionPojo transmissionPojo) {
-// //return true;
-//
-// return null;
-// }
-
-//
-// @ApiOperation("随行")
-// @PostMapping("actionType")
-// public void action(@RequestBody TransmissionPojo transmissionPojo) {
-//
-// Street street = streetService.getStreetByPlcId(transmissionPojo.getStreetNumber());
-//
-//
-// //随行地址
-// String pcdPath1 =configProperties.getSavePath().getMediaPath() + street.getLeft3D()+"\\000\\"
-// +transmissionPojo.getRow()+"-"+transmissionPojo.getColumn()+"-"+transmissionPojo.getDirection()+"-L"+".pcd";
-//
-// String pcdPath2 =configProperties.getSavePath().getMediaPath() + street.getRight3D()+"\\000\\"
-// +transmissionPojo.getRow()+"-"+transmissionPojo.getColumn()+"-"+transmissionPojo.getDirection()+"-R"+".pcd";
-// //拍照
-// System.out.println(street.getLeft3D()+" 111211 "+ pcdPath1);
-// LxPointCloudSaveImage lxPointCloudSaveImage = new LxPointCloudSaveImage();
-// lxPointCloudSaveImage.saveImage(street.getLeft3D(), pcdPath1,1);
-//
-// LxPointCloudSaveImage lxPointCloudSaveImage1 = new LxPointCloudSaveImage();
-// lxPointCloudSaveImage1.saveImage(street.getRight3D(), pcdPath2,2);
-// }
-// @ApiOperation("模板建立")
-// @PostMapping("MacthCreate")
-// public Result MacthCreate(@RequestBody IndustrialCameraVO industrialCameraVo){
-// Path folder = Paths.get(configProperties.getSavePath().getMediaPath()+"template/"+industrialCameraVo.getTypeMacth());
-// try {
-// Files.walkFileTree(folder, new SimpleFileVisitor() {
-// @Override
-// public FileVisitResult visitFile(Path file, BasicFileAttributes attrs) throws IOException {
-// Files.delete(file);
-// return FileVisitResult.CONTINUE;
-// }
-//
-// @Override
-// public FileVisitResult postVisitDirectory(Path dir, IOException exc) throws IOException {
-// Files.delete(dir);
-// return FileVisitResult.CONTINUE;
-// }
-// });
-// } catch (IOException e) {
-// e.printStackTrace();
-// }
-// for (int i = 0; i < industrialCameraVo.getFileList().size(); i++){
-// try {
-// Mat template = base642Mat(industrialCameraVo.getFileList().get(i).getThumbUrl()
-// .replace("data:image/jpeg;base64,","").replace("data:image/png;base64,",""));
-//
-// Imgcodecs.imwrite(configProperties.getSavePath().getMediaPath()+"template/"+industrialCameraVo.getTypeMacth()+"/"+i+".jpg", template);
-// } catch (IOException e) {
-// throw new RuntimeException(e);
-// }
-// }
-// return new Result<>(true);
-// }
}
diff --git a/web/src/main/java/com/zhehekeji/web/controller/KuKouController.java b/web/src/main/java/com/zhehekeji/web/controller/KuKouController.java
index 55a658c..f2e53a0 100644
--- a/web/src/main/java/com/zhehekeji/web/controller/KuKouController.java
+++ b/web/src/main/java/com/zhehekeji/web/controller/KuKouController.java
@@ -9,10 +9,7 @@ import com.zhehekeji.web.service.KuKouService;
import com.zhehekeji.web.service.OrderService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
@@ -34,7 +31,7 @@ public class KuKouController {
return Result.success(kuKouService.pageInfo(orderSearch));
}
- @PostMapping("/latest")
+ @GetMapping("/latest")
@ApiOperation(value = "最新数据")
//@SessionHandler
public Result latest() {
diff --git a/web/src/main/java/com/zhehekeji/web/entity/Interval3D.java b/web/src/main/java/com/zhehekeji/web/entity/Interval3D.java
new file mode 100644
index 0000000..f99c575
--- /dev/null
+++ b/web/src/main/java/com/zhehekeji/web/entity/Interval3D.java
@@ -0,0 +1,90 @@
+package com.zhehekeji.web.entity;
+
+import com.alibaba.fastjson.JSONObject;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+
+@Data
+public class Interval3D {
+ private int storey;
+ private double maxX;
+ private double minX;
+ private double maxZ;
+ private double minZ;
+ private double maxY;
+ private double minY;
+ private Interval3D z;
+ private List list;
+
+ public static void main(String[] args) {
+// Interval3D interval3D = new Interval3D();
+// interval3D.maxX = 2d;
+// interval3D.minX = 2d;
+// interval3D.maxY = 2d;
+// interval3D.minY = 2d;
+// interval3D.maxZ = 2d;
+// interval3D.minZ = 2d;
+// List,List>> list1= new ArrayList<>();
+// List listZ= new ArrayList<>();
+// listZ.add(interval3D);
+// List listXY= new ArrayList<>();
+// listXY.add(interval3D);
+// listXY.add(interval3D);
+// list1.add(Map.of(listZ,listXY));
+// ObjectMapper objectMapper = new ObjectMapper();
+// try {
+// String formattedJson = objectMapper.writerWithDefaultPrettyPrinter().writeValueAsString(list1);
+// System.out.println(formattedJson);
+// } catch (JsonProcessingException e) {
+// throw new RuntimeException(e);
+// }
+ String jsonString = "\n" +
+ "[ {\n" +
+ " \"z\":{\"maxZ\":2.0, \"minZ\":2.0} ,\n" +
+ " \"list\": [ {\n" +
+ " \"maxX\" : 2.0,\n" +
+ " \"minX\" : 2.0,\n" +
+ " \"maxY\" : 2.0,\n" +
+ " \"minY\" : 2.0\n" +
+ " }, {\n" +
+ " \"maxX\" : 2.0,\n" +
+ " \"minX\" : 2.0,\n" +
+ " \"maxY\" : 2.0,\n" +
+ " \"minY\" : 2.0\n" +
+ " } ]\n" +
+ "} ,{\n" +
+ " \"z\":{\"maxZ\":2.0, \"minZ\":2.0} ,\n" +
+ " \"list\": [ {\n" +
+ " \"maxX\" : 2.0,\n" +
+ " \"minX\" : 2.0,\n" +
+ " \"maxY\" : 2.0,\n" +
+ " \"minY\" : 2.0\n" +
+ " }, {\n" +
+ " \"maxX\" : 2.0,\n" +
+ " \"minX\" : 2.0,\n" +
+ " \"maxY\" : 2.0,\n" +
+ " \"minY\" : 2.0\n" +
+ " } ]\n" +
+ "} ]";
+
+ ObjectMapper objectMapper = new ObjectMapper();
+
+ try {
+ // 将 JSON 字符串转换为 List
+ List persons = objectMapper.readValue(jsonString, objectMapper.getTypeFactory().constructCollectionType(List.class, Interval3D.class));
+
+ // 打印结果
+ for (Interval3D person : persons) {
+ System.out.println(person);
+ }
+
+ } catch (JsonProcessingException e) {
+ e.printStackTrace();
+ }
+ }
+}
diff --git a/web/src/main/java/com/zhehekeji/web/entity/KuKou.java b/web/src/main/java/com/zhehekeji/web/entity/KuKou.java
index 2ac3d8f..03bcbfe 100644
--- a/web/src/main/java/com/zhehekeji/web/entity/KuKou.java
+++ b/web/src/main/java/com/zhehekeji/web/entity/KuKou.java
@@ -17,7 +17,8 @@ public class KuKou {
private int count;
private String code;
private String path;
- private int flag;
+ private String categoryName;
+ private int flag = 0;
@JsonFormat(pattern="yyyy-MM-dd HH:mm:ss")
private LocalDateTime createTime;
diff --git a/web/src/main/java/com/zhehekeji/web/lib/CameraConnMap.java b/web/src/main/java/com/zhehekeji/web/lib/CameraConnMap.java
index ef03a71..0231d52 100644
--- a/web/src/main/java/com/zhehekeji/web/lib/CameraConnMap.java
+++ b/web/src/main/java/com/zhehekeji/web/lib/CameraConnMap.java
@@ -4,6 +4,7 @@ import com.zhehekeji.web.lib.joyware.NetSDKLib;
import java.util.HashMap;
import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
/**
* camera login handler
@@ -14,13 +15,13 @@ public class CameraConnMap {
* key :cameraId
* value: loginId
*/
- public static Map cameraMap = new HashMap<>();
+ public static Map cameraMap = new ConcurrentHashMap<>();
/**
* key:loginId
* value: cameraId
*/
- public static Map loginMap = new HashMap<>();
+ public static Map loginMap = new ConcurrentHashMap<>();
public static void conn(Integer cameraId,NetSDKLib.LLong handlerId){
synchronized (cameraId.toString().intern()){
diff --git a/web/src/main/java/com/zhehekeji/web/lib/hik/HikCameraControlModuleImpl.java b/web/src/main/java/com/zhehekeji/web/lib/hik/HikCameraControlModuleImpl.java
index 392c37b..b8de780 100644
--- a/web/src/main/java/com/zhehekeji/web/lib/hik/HikCameraControlModuleImpl.java
+++ b/web/src/main/java/com/zhehekeji/web/lib/hik/HikCameraControlModuleImpl.java
@@ -290,7 +290,7 @@ public class HikCameraControlModuleImpl implements CameraControlModule {
HCNetSDK.NET_DVR_JPEGPARA jpegpara = new HCNetSDK.NET_DVR_JPEGPARA(wPicSize, wPicQuality);
boolean picResult = HikLoginModuleImpl.hcNetsdk.NET_DVR_CaptureJPEGPicture(lUserId, 1, jpegpara, path);
if (!picResult) {
- log.error("pic error:{},cameraId:{}", HikLoginModuleImpl.hcNetsdk.NET_DVR_GetLastError(),cameraId);
+ log.error("pic error:{},cameraId:{}，lUserId{}", HikLoginModuleImpl.hcNetsdk.NET_DVR_GetLastError(),cameraId,lUserId);
}
return picResult;
diff --git a/web/src/main/java/com/zhehekeji/web/lib/hik/HikLoginModuleImpl.java b/web/src/main/java/com/zhehekeji/web/lib/hik/HikLoginModuleImpl.java
index 37f09a0..8e56835 100644
--- a/web/src/main/java/com/zhehekeji/web/lib/hik/HikLoginModuleImpl.java
+++ b/web/src/main/java/com/zhehekeji/web/lib/hik/HikLoginModuleImpl.java
@@ -58,6 +58,7 @@ public class HikLoginModuleImpl implements CameraControlLoginModule {
//检测球机连接状态
public static Boolean connectStatus(int userId){
+
return hcNetsdk.NET_DVR_RemoteControl(userId,20005,null,0);
}
@@ -69,6 +70,7 @@ public class HikLoginModuleImpl implements CameraControlLoginModule {
* \endif
*/
public NetSDKLib.LLong login(String m_strIp, int m_nPort, String m_strUser, String m_strPassword) {
+
init();
HCNetSDK.NET_DVR_USER_LOGIN_INFO m_strLoginInfo = new HCNetSDK.NET_DVR_USER_LOGIN_INFO();//设备登录信息
HCNetSDK.NET_DVR_DEVICEINFO_V40 m_strDeviceInfo = new HCNetSDK.NET_DVR_DEVICEINFO_V40();//设备信息
@@ -84,7 +86,7 @@ public class HikLoginModuleImpl implements CameraControlLoginModule {
m_strLoginInfo.wPort = (short) m_nPort;
- m_strLoginInfo.bUseAsynLogin = true; //是否异步登录：0- 否，1- 是
+ m_strLoginInfo.bUseAsynLogin = false; //是否异步登录：0- 否，1- 是
m_strLoginInfo.write();
HCNetSDK.NET_DVR_DEVICEINFO_V30 m_strDeviceInfo30 = new HCNetSDK.NET_DVR_DEVICEINFO_V30();//设备信息
diff --git a/web/src/main/java/com/zhehekeji/web/pojo/IndustrialCameraVO.java b/web/src/main/java/com/zhehekeji/web/pojo/IndustrialCameraVO.java
index 0528cc0..a1a5525 100644
--- a/web/src/main/java/com/zhehekeji/web/pojo/IndustrialCameraVO.java
+++ b/web/src/main/java/com/zhehekeji/web/pojo/IndustrialCameraVO.java
@@ -9,6 +9,7 @@ public class IndustrialCameraVO {
private String name;
private String picImg;
private String typeMacth;
+ private String typeMacthName;
//private List fileList;
private String pcdPath;
diff --git a/web/src/main/java/com/zhehekeji/web/service/CronTab.java b/web/src/main/java/com/zhehekeji/web/service/CronTab.java
index 2f99f20..562d1a6 100644
--- a/web/src/main/java/com/zhehekeji/web/service/CronTab.java
+++ b/web/src/main/java/com/zhehekeji/web/service/CronTab.java
@@ -87,7 +87,9 @@ public class CronTab {
@Scheduled(cron = "0 0/1 * * * ?")
public void cameraTimeUpdate() {
- cameraService.cameraTimeUpdate();
+ if(configProperties.getKsec()!=null && configProperties.getKsec().getIp() != null) {
+ cameraService.cameraTimeUpdate();
+ }
}
@Scheduled(cron = "0 0/1 * * * ?")
public void lightStatus() {
@@ -115,6 +117,24 @@ public class CronTab {
}
}
}
+ /*
+ 球机归位
+ */
+ @Scheduled(cron = "0 55 23 * * ? ")
+ public void cameraHoming() {
+ List cameras = cameraMapper.selectList(new QueryWrapper());
+ for (Camera camera : cameras){
+
+ cameraControlModule.ptzControlUpStart(camera.getId(),0,0,1);
+ try {
+ Thread.sleep(5000);
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+ cameraControlModule.ptzControlUpEnd(camera.getId(),0);
+
+ }
+ }
public static void checkFileTime(File dir,int days) {
diff --git a/web/src/main/java/com/zhehekeji/web/service/IndustrialCamera/DcLibrary.java b/web/src/main/java/com/zhehekeji/web/service/IndustrialCamera/DcLibrary.java
index 1d0af86..11ee2e7 100644
--- a/web/src/main/java/com/zhehekeji/web/service/IndustrialCamera/DcLibrary.java
+++ b/web/src/main/java/com/zhehekeji/web/service/IndustrialCamera/DcLibrary.java
@@ -9,7 +9,6 @@ import com.sun.jna.ptr.PointerByReference;
import java.util.Arrays;
import java.util.List;
public interface DcLibrary extends Library {
- DcLibrary INSTANCE = (DcLibrary) Native.load((System.getProperty("user.dir"))+"\\libs\\plc\\LxCameraApiR.dll", DcLibrary.class);
// 创建一个新的实例
// 设备详细信息结构体
diff --git a/web/src/main/java/com/zhehekeji/web/service/IndustrialCamera/LxPointCloudSaveImage.java b/web/src/main/java/com/zhehekeji/web/service/IndustrialCamera/LxPointCloudSaveImage.java
index 8c16150..1dee438 100644
--- a/web/src/main/java/com/zhehekeji/web/service/IndustrialCamera/LxPointCloudSaveImage.java
+++ b/web/src/main/java/com/zhehekeji/web/service/IndustrialCamera/LxPointCloudSaveImage.java
@@ -13,7 +13,7 @@ import java.util.concurrent.ConcurrentHashMap;
@Slf4j
public class LxPointCloudSaveImage {
- static DcLibrary INSTANCER = (DcLibrary) Native.loadLibrary((System.getProperty("user.dir"))+"\\libs\\plc\\LxCameraApi.dll", DcLibrary.class);
+ static DcLibrary INSTANCER = (DcLibrary) Native.loadLibrary((System.getProperty("user.dir"))+"\\libs\\lx\\LxCameraApi.dll", DcLibrary.class);
static Map handleMap = new ConcurrentHashMap<>();
public static PointerByReference getHandle(String sn,int type ,DcLibrary INSTANCE){
@@ -40,7 +40,7 @@ public class LxPointCloudSaveImage {
}else {
for (int ii=0;i<50;i++ ) {
result = INSTANCE.DcOpenDevice(1, sn, handleRef, info);
- System.out.println(i + "次尝试");
+ System.out.println(i + "次尝试;"+"异常："+result);
try {
Thread.sleep(500);
} catch (InterruptedException e) {
diff --git a/web/src/main/java/com/zhehekeji/web/service/InitService.java b/web/src/main/java/com/zhehekeji/web/service/InitService.java
index 3057557..8e21bad 100644
--- a/web/src/main/java/com/zhehekeji/web/service/InitService.java
+++ b/web/src/main/java/com/zhehekeji/web/service/InitService.java
@@ -12,6 +12,7 @@ import com.zhehekeji.web.mapper.CameraMapper;
import com.zhehekeji.web.mapper.StreetMapper;
import com.zhehekeji.web.service.client.ClientChanel;
import com.zhehekeji.web.service.client.NettyServer;
+import com.zhehekeji.web.service.com.SerialPortManager;
import com.zhehekeji.web.service.ksec.KsecNettyClient;
import com.zhehekeji.web.service.putian.PuTianNettyClient;
import lombok.extern.slf4j.Slf4j;
@@ -79,35 +80,39 @@ public class InitService implements ApplicationRunner {
@Override
public void run(ApplicationArguments args) throws Exception {
- nettyServer.CreateNettyServer(configProperties.getServerPort());
- //球机登录
- List cameras = cameraMapper.selectByMap(new HashMap<>(0));
- cameras.forEach(camera -> {
- LoginThread loginThread = new LoginThread(camera);
- loginThread.start();
- });
- //所有客户端的IP 标识保存到map内存
- List streets = streetMapper.selectByMap(new HashMap<>());
- streets.forEach(street -> {
- if(street.getPlcIp()!=null && "".equals(street.getPlcIp())) {
- ClientChanel.putIp(street.getPlcIp(), street.getPlcId());
- }
- });
+
+ SerialPortManager.connectSerialPort(configProperties.getComConfig());
ConfigProperties.KSEC ksec = configProperties.getKsec();
- if(ksec != null){
+ if(ksec != null&& ksec.getIp()!=null&& !ksec.getIp().equals("")){
+
+
+ TaskDelayExecutor.runMp4DownloadExecutor();
+ nettyServer.CreateNettyServer(configProperties.getServerPort());
+ //球机登录
+ List cameras = cameraMapper.selectByMap(new HashMap<>(0));
+ cameras.forEach(camera -> {
+ LoginThread loginThread = new LoginThread(camera);
+ loginThread.start();
+ });
+ //所有客户端的IP 标识保存到map内存
+ List streets = streetMapper.selectByMap(new HashMap<>());
+ streets.forEach(street -> {
+ if(street.getPlcIp()!=null && "".equals(street.getPlcIp())) {
+ ClientChanel.putIp(street.getPlcIp(), street.getPlcId());
+ }
+ });
StreetConn.init(1,"ksec");
try {
ksecNettyClient.createClient(ksec);
}catch (Exception e){
log.error("kesc connect error,url:{},port:{}",ksec.getIp(),ksec.getPort());
- //ksecNettyClient.reconnect(0);
+ ksecNettyClient.reconnect(0);
}
}else {
log.error("ksec no config");
}
- TaskDelayExecutor.runMp4DownloadExecutor();
}
class LoginThread extends Thread{
diff --git a/web/src/main/java/com/zhehekeji/web/service/KuKouService.java b/web/src/main/java/com/zhehekeji/web/service/KuKouService.java
index 85f2bd5..7365471 100644
--- a/web/src/main/java/com/zhehekeji/web/service/KuKouService.java
+++ b/web/src/main/java/com/zhehekeji/web/service/KuKouService.java
@@ -25,7 +25,7 @@ public class KuKouService extends ServiceImpl implements IS
}
public KuKou latest(){
- KuKou kuKou = getOne(new QueryWrapper().orderByDesc("createTime").last("limit 1"));
+ KuKou kuKou = getOne(new QueryWrapper().orderByDesc("create_Time").last("limit 1"));
return kuKou;
}
diff --git a/web/src/main/java/com/zhehekeji/web/service/PlcService.java b/web/src/main/java/com/zhehekeji/web/service/PlcService.java
index 1ad36c1..4f97d2f 100644
--- a/web/src/main/java/com/zhehekeji/web/service/PlcService.java
+++ b/web/src/main/java/com/zhehekeji/web/service/PlcService.java
@@ -6,6 +6,7 @@ import com.zhehekeji.web.config.ConfigProperties;
import com.zhehekeji.web.entity.*;
import com.zhehekeji.web.lib.*;
import com.zhehekeji.web.mapper.*;
+import com.zhehekeji.web.pojo.IndustrialCameraVO;
import com.zhehekeji.web.pojo.OrderVO;
import com.zhehekeji.web.pojo.camera.CameraPtzPojo;
import com.zhehekeji.web.pojo.stock.StockStatus;
@@ -21,9 +22,14 @@ import com.zhehekeji.web.service.lbScanCode.ReentrantLockExample;
import com.zhehekeji.web.service.sick.SickSocket;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
+import org.springframework.http.HttpEntity;
+import org.springframework.http.HttpHeaders;
+import org.springframework.http.HttpMethod;
+import org.springframework.http.ResponseEntity;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.StringUtils;
+import org.springframework.web.client.RestTemplate;
import javax.annotation.Resource;
import java.time.Duration;
@@ -34,6 +40,7 @@ import java.util.*;
import java.util.concurrent.ArrayBlockingQueue;
import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;
+import java.util.function.Function;
import java.util.stream.Collectors;
/**
@@ -356,6 +363,9 @@ public class PlcService {
@Resource
ReentrantLockExample reentrantLockExample;
+ @Resource
+ RestTemplate restTemplate;
+
String scan(PlcCmdInfo plcCmdInfo,Street street){
Boolean trayCheck = Boolean.FALSE;
String trayCode = "";
@@ -397,29 +407,29 @@ public class PlcService {
}
}
}else {
- Integer cameraId;
+ Integer cameraId=street.getCamera1Id();;
String code = "E1-DEEP-";
String path = "";
//使用同侧的camera
if(plcCmdInfo.getLeftRight1() ==1){
- cameraId = street.getCamera1Id();
+
code = code+"L";
}else {
- cameraId = street.getCamera2Id();
+
code = code+"R";
}
path = PathUtil.createFileNameByRowColumn("jpg",cameraId,plcCmdInfo.getRow1(),plcCmdInfo.getColumn1());
gyrateCameraByCode(cameraId,code);
try {
- Thread.sleep(1500L);
+ Thread.sleep(5000L);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
path = cameraCapture(cameraId,false,0L,path);
- trayCode = reentrantLockExample.identify(path,configProperties.getIntelliBink().getIp(),configProperties.getIntelliBink().getPort());
+ trayCode = reentrantLockExample.identify( configProperties.getSavePath().getMediaPath() + path,configProperties.getIntelliBink().getIp(),configProperties.getIntelliBink().getPort());
if(trayCode != null && !"".equals(trayCode)){
if ("".equals(plcCmdInfo.getWmsCode())) {
//托盘码为空，无货物
@@ -447,9 +457,11 @@ public class PlcService {
}
}
plcCmdInfo.setTrayCode(trayCode);
+ plcCmdInfo.setTrayCheck(trayCheck);
return trayCode;
}
public boolean checkVision(KsecDataInfo dataInfo){
+
KuKou kuKou = new KuKou();
LocalDate currentDate = LocalDate.now();
DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
@@ -462,18 +474,44 @@ public class PlcService {
String pathPcd = configProperties.getSavePath().getMediaPath()
+"camera3D/"
+currentDate.format(formatter)+"/" +UUID.randomUUID()+"-";
- boolean flag2D =inventoryService.match2D(dataInfo.getCategoryName(),path+configProperties.getCameraConfig().getIndustrialCamera()+".jpeg");
+ boolean flag2D =inventoryService.match2D(dataInfo.getCategoryName(),path+configProperties.getCameraConfig().getIndustrialCamera().get(0)+".jpeg");
int count = inventoryService.match3D(dataInfo.getCategoryName(),pathPcd+"-"+configProperties.getCameraConfig().getCamera3D()+".pcd");
kuKou.setCreateTime(LocalDateTime.now());
if (flag2D) {
kuKou.setFlag(1);
}
- kuKou.setCode(dataInfo.getCategoryName());
+ kuKou.setCategoryName(dataInfo.getCategoryName());
kuKou.setCount(count);
kuKouService.save(kuKou);
return true;
}
+ public void checkVision(KsecDataInfo dataInfo,Boolean flag){
+
+ try {
+ HttpHeaders headers = new HttpHeaders();
+ headers.set("Content-Type", "application/json");
+ headers.set("User-Agent", "Mozilla/5.0");
+
+ IndustrialCameraVO scTransmission = new IndustrialCameraVO();
+ scTransmission.setTypeMacth(dataInfo.getTypeNum());
+
+ // 创建 HttpEntity 对象
+ HttpEntity entity = new HttpEntity<>(scTransmission, headers);
+ Map map = configProperties.getTemplate().stream().collect(Collectors.toMap(k->k.getCode(), v->v));
+
+ // 发送 POST 请求
+ ResponseEntity response = restTemplate.exchange(
+ "http://" + configProperties.getSiteInventoryIp() + ":8099" + "/api/industrialCamera/siteInventory",
+ HttpMethod.POST,
+ entity,
+ Boolean.class
+ );
+ } catch (Exception e) {
+ log.error("3D get pcd error", e);
+ }
+ }
+
public Boolean check(PlcCmdInfo plcCmdInfo,String cmdCode,String wmsCode,String wmsTrayCode,String wmsCatagary){
@@ -518,68 +556,8 @@ public class PlcService {
//托盘码
String trayCode = "";
Boolean trayCheck = Boolean.TRUE;
- //扫托盘码
- if(configProperties.getScanCodeMode().getTray() == 2) {
- log.info("扫码类型：" + configProperties.getScanCodeMode().getTray());
- //托盘使用sick扫码枪
- SensorGun sensorGun = sensorService.getSensorByPlc(street.getId(), plcCmdInfo.getLeftRight1());
- if (sensorGun == null) {
- trayCode = "扫码枪未配置";
- trayCheck = Boolean.FALSE;
- log.error("no sensor gun config in database ,street id:{},direction:{}", street.getId(), plcCmdInfo.getLeftRight1());
- } else {
- trayCode = SickSocket.readOCR(sensorGun.getIp(), sensorGun.getPort());
- log.info("sensor tray code:{}", trayCode);
- if ("".equals(wmsTrayCode)) {
- //托盘码为空，无货物
- //只要扫码枪未识别出条码，即认为盘点正确
- if (StringUtils.isEmpty(trayCode) || trayCode.equals("NoRead")) {
- trayCode = "无货物";
- trayCheck = Boolean.TRUE;
- } else {
- trayCode = "扫码枪识别异常";
- trayCheck = Boolean.FALSE;
- log.warn("sick ocr error:{}", trayCode);
- }
- } else {
- if (StringUtils.isEmpty(trayCode) || trayCode.equals("NoRead")) {
- trayCode = "扫码枪识别异常";
- trayCheck = Boolean.FALSE;
- log.warn("sick ocr error:{}", trayCode);
- } else {
- //扫到就认为正常
- trayCheck = Boolean.TRUE;
- }
- }
- }
- }else
- if(configProperties.getScanCodeMode().getTray() == 3){
- //扫到的码
- Set tags = new HashSet<>();
- try {
- RFIDCheck(plcCmdInfo);
- Thread.sleep(1000 * configProperties.getRfid().getScanTime());
- } catch (Exception e) {
- e.printStackTrace();
- } finally {
- tags = RFIDStop(plcCmdInfo);
- log.info("盘点rfid扫描结果：" + tags);
- }
- if (tags !=null && tags.contains(wmsTrayCode)) {
- //托盘码为空，无货物
- //只要扫码枪未识别出条码，即认为盘点正确
- trayCode = wmsTrayCode;
- trayCheck = Boolean.TRUE;
-
- } else {
- trayCode = trayCode+ "扫码枪识别异常";
- trayCheck = Boolean.FALSE;
- log.warn("rfid error:{}", trayCode);
-
- }
-
- }
- Boolean trayGoodCheck = Boolean.TRUE;
+ trayCode = scan(plcCmdInfo,street);
+ trayCheck = plcCmdInfo.getTrayCheck();
OrderInfo orderInfo = new OrderInfo(street, plcCmdInfo, 1, cmdCode);
@@ -592,7 +570,7 @@ public class PlcService {
//核对异常
Integer status = 1;
//托盘和货物都正确
- if (trayCheck && trayGoodCheck ) {
+ if (trayCheck ) {
status = 2;
}
if (stock == null) {
diff --git a/web/src/main/java/com/zhehekeji/web/service/algorithm/AreaUtil.java b/web/src/main/java/com/zhehekeji/web/service/algorithm/AreaUtil.java
new file mode 100644
index 0000000..df93b85
--- /dev/null
+++ b/web/src/main/java/com/zhehekeji/web/service/algorithm/AreaUtil.java
@@ -0,0 +1,58 @@
+package com.zhehekeji.web.service.algorithm;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class AreaUtil {
+ /**
+ * 使用鞋带公式计算多边形的面积。
+ * @param points 多边形顶点坐标列表
+ * @return 多边形的面积
+ */
+ public static double calculatePolygonArea(List points) {
+ int numPoints = points.size();
+ if (numPoints < 3) {
+ return 0.0;
+ }
+
+ double area = 0.0;
+ for (int i = 0; i < numPoints; i++) {
+ double[] current = points.get(i);
+ double[] next = points.get((i + 1) % numPoints); // 将最后一个点与第一个点相连
+ area += current[0] * next[1];
+ area -= next[0] * current[1];
+ }
+
+ return Math.abs(area) / 2.0;
+ }
+
+ // 计算多边形的面积
+ public static double calculateArea(double[][] points) {
+ double area = 0.0;
+ int n = points.length;
+
+ for (int i = 0; i < n; i++) {
+ int j = (i + 1) % n; // 下一个点，循环回到起点
+ area += points[i][0] * points[j][1];
+ area -= points[j][0] * points[i][1];
+ }
+
+ return Math.abs(area) / 2.0;
+ }
+
+ public static void main(String[] args) {
+ // 示例点（自交多边形的点）
+ double[][] points = {
+ {0, 0}, // 点 0
+ {4, 0}, // 点 1
+ {2, 2}, // 点 2
+ {4, 4}, // 点 3
+ {4, 0}, // 点 1
+ {0, 4}, // 点 4
+ {-1, -1} // 点 4
+ };
+
+ double area = calculateArea(points);
+ System.out.println("Self-intersecting polygon area: " + area);
+ }
+}
diff --git a/web/src/main/java/com/zhehekeji/web/service/algorithm/FeatureMatchingExample.java b/web/src/main/java/com/zhehekeji/web/service/algorithm/FeatureMatchingExample.java
index de5b8c4..e966373 100644
--- a/web/src/main/java/com/zhehekeji/web/service/algorithm/FeatureMatchingExample.java
+++ b/web/src/main/java/com/zhehekeji/web/service/algorithm/FeatureMatchingExample.java
@@ -1,6 +1,7 @@
package com.zhehekeji.web.service.algorithm;
+import com.sun.jna.Native;
import org.opencv.core.*;
import org.opencv.core.Point;
import org.opencv.features2d.DescriptorMatcher;
@@ -13,8 +14,10 @@ import javax.imageio.ImageIO;
import java.awt.*;
import java.awt.image.BufferedImage;
import java.io.ByteArrayInputStream;
+import java.io.File;
import java.io.IOException;
import java.lang.reflect.Field;
+import java.net.URL;
import java.util.Base64;
import java.util.LinkedList;
import java.util.List;
@@ -24,25 +27,11 @@ import java.util.List;
*/
public class FeatureMatchingExample {
+
static {
// 加载动态库
- try {
- String path = System.getProperty("user.dir")+"\\libs";
- System.setProperty("java.library.path", path);
- Field fieldSysPath = null;
- fieldSysPath = ClassLoader.class.getDeclaredField("sys_paths");
-
- fieldSysPath.setAccessible(true);
- fieldSysPath.set(null, null);
- //URL url = ClassLoader.getSystemResource(System.getProperty("user.dir")+"/libs/opencv_java480.dll");
-
- System.loadLibrary("opencv_java480");
- } catch (NoSuchFieldException e) {
- throw new RuntimeException(e);
- } catch (IllegalAccessException e) {
- throw new RuntimeException(e);
- }
+ System.load(new File(System.getProperty("user.dir")+"\\libs\\opencv_java480.dll").getAbsolutePath());
}
@@ -78,9 +67,9 @@ public class FeatureMatchingExample {
// 创建 URL 对象
//特征图
- Mat img2 = Imgcodecs.imread("D:\\WeChet\\WeChat Files\\wxid_ttkf0xgmyihv22\\FileStorage\\File\\2024-09\\aa20c309-7412-4392-88cd-aef08153f7c8 (2).jpeg");;//原图
- Mat img1 = Imgcodecs.imread("D:\\WeChet\\WeChat Files\\wxid_ttkf0xgmyihv22\\FileStorage\\File\\2024-09\\aa20c309-7412-4392-88cd-aef08153f7c8.jpeg");
-
+ Mat img2 = Imgcodecs.imread("E:\\task\\00J50359930.jpeg");;
+ //原图
+ Mat img1 = Imgcodecs.imread("E:\\task\\20241008115417.jpeg");
/* try {
img1 = base642Mat("data:image/png;base64,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".replace("data:image/jpeg;base64,","").replace("data:image/png;base64,",""));
} catch (IOException e) {
@@ -88,14 +77,14 @@ public class FeatureMatchingExample {
}*/
// 生成特征图
- Mat featureMap1 = generateFeatureMap(img1);
- Imgcodecs.imwrite("D:\\WeChet\\WeChat Files\\wxid_ttkf0xgmyihv22\\FileStorage\\File\\2024-09\\feature_map1.jpg", featureMap1);
+// Mat featureMap1 = generateFeatureMap(img1);
+// Imgcodecs.imwrite("E:\\task\\feature_map1.jpg", featureMap1);
// 检查两张图片是否匹配
boolean isMatched = matchFeatures(img1, img2);
System.out.println("Images matched: " + isMatched);
//FeatureOrbLannbased(img1, img2);
- matchTemplate(img1, img2,"D:\\WeChet\\WeChat Files\\wxid_ttkf0xgmyihv22\\FileStorage\\File\\2024-09\\2oooo.jpg");
+ matchTemplate(img1, img2,"E:\\task\\2oooo.jpg");
// 裁剪图片
// Mat croppedImage = cropImage(img1, 100, 100, 200, 200);
// Imgcodecs.imwrite("E:\\m\\3.png", croppedImage);
@@ -208,10 +197,10 @@ public class FeatureMatchingExample {
for(String template: templates){
if(FeatureMatchingExample.matchTemplate( Imgcodecs.imread(template), Imgcodecs.imread(srcImgRest), srcImage+".jpg")){
//识别成功后之后识别根据结果图识别
-
- srcImgRest = srcImage+".jpg";
-
+ srcImgRest = srcImage+".jpg";
macthBoolean = true;
+ }else {
+ macthBoolean = false;
break;
}
}
diff --git a/web/src/main/java/com/zhehekeji/web/service/algorithm/InventoryService.java b/web/src/main/java/com/zhehekeji/web/service/algorithm/InventoryService.java
index f8ec069..4cb2643 100644
--- a/web/src/main/java/com/zhehekeji/web/service/algorithm/InventoryService.java
+++ b/web/src/main/java/com/zhehekeji/web/service/algorithm/InventoryService.java
@@ -48,7 +48,7 @@ public class InventoryService {
boolean flag = false;
//2d拍照并识别
- cameraSaveUtil.saveImage(configProperties.getCameraConfig().getIndustrialCamera(),path,"sn");
+ cameraSaveUtil.saveImage(configProperties.getCameraConfig().getIndustrialCamera().get(0),path,"sn");
log.info(configProperties.getCameraConfig().getIndustrialCamera()+" 2d拍照路径："+path);
if(category!=null && !category.equals("")) {
flag = FeatureMatchingExample.matchTemplate(
@@ -64,120 +64,21 @@ public class InventoryService {
}
public int match3D(String category,String path){
- LocalDate currentDate = LocalDate.now();
- DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
- Boolean flag = false;
-
//拍照
log.info("3D拍照pcd： "+path);
LxPointCloudSaveImage.saveImage(configProperties.getCameraConfig().getCamera3D(), path,1);
+
return 30;
}
-//
-//
-// public boolean matchFeatures(TransmissionPojo transmissionPojo){
-// Street street = streetService.getStreetByPlcId(transmissionPojo.getStreetNumber());
-//
-// LocalDate currentDate = LocalDate.now();
-// DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
-// //路径
-// String path = configProperties.getSavePath().getMediaPath()
-// +"industrialCamera/"
-// +transmissionPojo.getStreetNumber()+"/"
-// +currentDate.format(formatter)+"/"
-// +transmissionPojo.getRow()+"-"
-// +transmissionPojo.getColumn()+"-"
-// +transmissionPojo.getDirection()+"-";
-// //结果
-// transmissionPojo.setResult(1);
-// //2d拍照并识别
-// if(street != null&& street.getIndustrialCamera()!=null){
-// cameraSaveUtil.saveImage(street.getIndustrialCamera(),path+street.getIndustrialCamera()+".jpeg","sn");
-// log.info(street.getIndustrialCamera()+" 2d拍照路径："+path+street.getIndustrialCamera()+".jpeg");
-// if(transmissionPojo.getCategory()!=null && !transmissionPojo.getCategory().equals("")) {
-// boolean re = FeatureMatchingExample.matchTemplate(
-// readImagesInFolder(configProperties.getSavePath().getMediaPath() + "template/" + transmissionPojo.getCategory()),
-// path + street.getIndustrialCamera() + ".jpeg");
-// log.info("2d识别结果："+re);
-// if (!re) {
-// transmissionPojo.setResult(0);
-// }
-// }else {
-// transmissionPojo.setResult(0);
-// log.info("未识别到任何模板");
-// }
-// }
-// //3d拍照盘点
-// //盘点地址
-// String pcdPath1 =configProperties.getSavePath().getMediaPath() + street.getLeft3D()+ "/"+currentDate.format(formatter)+"/"+transmissionPojo.getCheckId()+".pcd";
-// String pcdPath2 =configProperties.getSavePath().getMediaPath() + street.getRight3D()+ "/"+ currentDate.format(formatter)+"/"+transmissionPojo.getCheckId()+".pcd";
-// //随行地址
-// //随行地址
-// String pcdPath3 =configProperties.getSavePath().getMediaPath() + street.getLeft3D()+"\\000\\"
-// +transmissionPojo.getRow()+"-"+transmissionPojo.getColumn()+"-"+transmissionPojo.getDirection()+"-L"+".pcd";
-//
-// String pcdPath4 =configProperties.getSavePath().getMediaPath() + street.getRight3D()+"\\000\\"
-// +transmissionPojo.getRow()+"-"+transmissionPojo.getColumn()+"-"+transmissionPojo.getDirection()+"-R"+".pcd";
-//
-// //拍照
-// log.info("3D拍照 左侧pcd： "+pcdPath1+" 右侧pcd：: "+pcdPath2);
-//
-// LxPointCloudSaveImage.saveImage(street.getLeft3D(), pcdPath1,1);
-//
-// LxPointCloudSaveImage.saveImage(street.getRight3D(), pcdPath2,2);
-// //左侧比较
-// PcdPojo pojo = new PcdPojo();
-// pojo.setPcd1(pcdPath1);
-// pojo.setPcd2(pcdPath3);
-// pojo.setConfigPath("D://config//3DConfig/"+street.getLeft3D()+".json");
-// log.info("对比左侧："+pojo.toString());
-//
-// double leftScore = PointCloudProcessor.similarity(pojo,10);
-// log.info("3D leftScore："+leftScore);
-//
-// //右侧比较
-// pojo.setPcd1(pcdPath2);
-// pojo.setPcd2(pcdPath4);
-// pojo.setConfigPath("D://config//3DConfig/"+street.getRight3D()+".json");
-// log.info("对比右侧："+pojo.toString());
-//
-// double rightScore = PointCloudProcessor.similarity( pojo,10);
-//
-// log.info("3D rightScore："+rightScore);
-// if(leftScore<0.87||rightScore<0.87){
-// transmissionPojo.setResult(0);
-// }
-// log.info("最终结果："+transmissionPojo.getResult());
-// CheckLog checkLog = checkLogMapper.selectById(transmissionPojo.getCheckId());
-// plcService.visualCalculationResults(transmissionPojo,checkLog);
-//
-// Stock stock = stockMapper.getByStreetAndDirectionAndSideAndRowColumn(street.getId(), transmissionPojo.getDirection(),1, transmissionPojo.getRow(), transmissionPojo.getColumn());
-//
-// checkLogMapper.updateById(checkLog);
-// if (stock == null) {
-// stock = Stock.builder()
-// .streetId(street.getId())
-// .row(transmissionPojo.getRow())
-// .column(transmissionPojo.getColumn())
-// .direction(transmissionPojo.getDirection())
-// .side(1)
-// .statusVision(checkLog.getStatusVision())
-// .count(checkLog.getCount())
-// .category(checkLog.getCategory())
-// .exportTime(LocalDateTime.now()).build();
-// stockMapper.insert(stock);
-// } else {
-// stock.setStatusVision(checkLog.getStatusVision());
-// stock.setCount(checkLog.getCount());
-// stock.setCategory(checkLog.getCategory());
-// stockMapper.updateById(stock);
-// }
-// return !(transmissionPojo.getResult()==0);
-//
-// };
-//
-//
-//
+
+
+ public int match3D(String category,String path,String configPath){
+ //拍照
+ log.info("3D拍照pcd： "+path);
+ LxPointCloudSaveImage.saveImage(configProperties.getCameraConfig().getCamera3D(), path,1);
+
+ return PointCloudProcessor.getBaijiuBox(path,configProperties.getSavePath().getCroppingPath(),configProperties.getSavePath().getWinePreparationPath()+category+".json");
+ }
/**
diff --git a/web/src/main/java/com/zhehekeji/web/service/algorithm/PCDReader.java b/web/src/main/java/com/zhehekeji/web/service/algorithm/PCDReader.java
index 9fd455c..f171ce1 100644
--- a/web/src/main/java/com/zhehekeji/web/service/algorithm/PCDReader.java
+++ b/web/src/main/java/com/zhehekeji/web/service/algorithm/PCDReader.java
@@ -11,7 +11,7 @@ import java.nio.ByteOrder;
public class PCDReader {
public static void main(String[] args) {
- String filePath = "path/to/your/file.pcd";
+ String filePath = "E:\\泸州老窖3D相机取图\\泸州老窖特曲酒2019版（满垛90箱）\\10箱\\20240810_152222510_t.pcd";
try {
if (isBinaryFormat(filePath)) {
readBinaryPCD(filePath);
@@ -74,4 +74,5 @@ public class PCDReader {
}
+
}
diff --git a/web/src/main/java/com/zhehekeji/web/service/algorithm/PcdPojo.java b/web/src/main/java/com/zhehekeji/web/service/algorithm/PcdPojo.java
index 06c211a..21b2900 100644
--- a/web/src/main/java/com/zhehekeji/web/service/algorithm/PcdPojo.java
+++ b/web/src/main/java/com/zhehekeji/web/service/algorithm/PcdPojo.java
@@ -29,6 +29,10 @@ public class PcdPojo {
private String cameraSn1;
private String cameraSn2;
private Integer count;
+ private int width;
+ private int[] height;
+ private int length;
+ private String arrangeType;
PcdPojo setPCDInfo(PcdPojo pojo) {
this.setMinBounds(pojo.getMin_pt());
this.setMaxBounds(pojo.getMax_pt());
diff --git a/web/src/main/java/com/zhehekeji/web/service/algorithm/PointCloudProcessor.java b/web/src/main/java/com/zhehekeji/web/service/algorithm/PointCloudProcessor.java
index 1520bb4..1590093 100644
--- a/web/src/main/java/com/zhehekeji/web/service/algorithm/PointCloudProcessor.java
+++ b/web/src/main/java/com/zhehekeji/web/service/algorithm/PointCloudProcessor.java
@@ -3,28 +3,28 @@ package com.zhehekeji.web.service.algorithm;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.JsonMappingException;
import com.fasterxml.jackson.databind.ObjectMapper;
+import com.zhehekeji.web.entity.Interval3D;
+import lombok.Data;
import java.io.*;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.text.DecimalFormat;
-import java.util.ArrayList;
-import java.util.Comparator;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
import java.util.stream.Collectors;
public class PointCloudProcessor {
-
- public static void main(String[] args) {
- PcdPojo pojo = new PcdPojo();
- pojo.setPcd1("D:\\WeChet\\WeChat Files\\wxid_ttkf0xgmyihv22\\FileStorage\\File\\2024-09\\8-6-2-L.pcd");
- pojo.setPcd2("D:\\WeChet\\WeChat Files\\wxid_ttkf0xgmyihv22\\FileStorage\\File\\2024-09\\369.pcd");
- pojo.setConfigPath("E:\\D91FCF1FAB3568DB.json");
- double i = similarity(pojo,10);
- System.out.println("111 "+i);
- }
+//
+// public static void main(String[] args) {
+// PcdPojo pojo = new PcdPojo();
+// pojo.setPcd1("E:\\泸州老窖3D相机取图\\泸州老窖特曲酒2019版（满垛90箱）\\11箱\\20240810_152837486_t.pcd");
+// //pojo.setPcd2("D:\\WeChet\\WeChat Files\\wxid_ttkf0xgmyihv22\\FileStorage\\File\\2024-09\\369.pcd");
+// pojo.setConfigPath("E:\\D91FCF1FAB3568DB.json");
+// double i = similarity(pojo,10);
+// System.out.println("111 "+i);
+// }
/**
* 计算两个pcd的相似性
@@ -109,10 +109,10 @@ public class PointCloudProcessor {
Double xAge2 = clippedPoint2.keySet().stream().collect(Collectors.averagingDouble(v -> v));
Double yAge2 = clippedPoint2.values().stream().flatMap(map -> map.values().stream()).collect(Collectors.averagingDouble(v -> v));
//计算相似度
- return (Math.abs(yAge) < Math.abs(yAge2) ? Math.abs(yAge) / Math.abs(yAge2) : Math.abs(yAge2) / Math.abs(yAge));
+ return (Math.abs(yAge) < Math.abs(yAge2) ? Math.abs(yAge) / Math.abs(yAge2) : Math.abs(yAge2) / Math.abs(yAge));
}
- public static double similarity(PcdPojo pojo,int i) {
+ public static double similarity(PcdPojo pojo, int i) {
ObjectMapper mapper = new ObjectMapper();
try {
// 读取 JSON 文件并转换为 配置信息
@@ -144,18 +144,77 @@ public class PointCloudProcessor {
}
//计算相似度
- return calculateTruncatedMeans(points,points2,pojo,i,new ArrayList<>());
+ return calculateTruncatedMeans(points, points2, pojo, i, new ArrayList<>());
+ }
+
+
+ public static double similarityLuZhou(PcdPojo pojo, int i) {
+ ObjectMapper mapper = new ObjectMapper();
+ try {
+ // 读取 JSON 文件并转换为 配置信息
+ PcdPojo pojoIn = mapper.readValue(new File(pojo.getConfigPath()), mapper.getTypeFactory().constructType(PcdPojo.class));
+ // 打印转换后的实体类列表
+ pojo = pojo.setPCDInfo(pojoIn);
+ //报错则认为没有配置文件，返回盘点失败
+ } catch (JsonMappingException e) {
+ e.printStackTrace();
+ return 0;
+ } catch (JsonProcessingException e) {
+ e.printStackTrace();
+ return 0;
+ } catch (IOException e) {
+ e.printStackTrace();
+ return 0;
+ }
+ //System.out.println(pojo.toString());
+ // 计算pcd1
+ List points = readPCD(pojo.getPcd1());
+ if (points == null || points.isEmpty()) {
+ return 0;
+ }
+
+
+ //计算相似度
+ return calculateTruncatedMeans(points, pojo, false) / i;
}
+ public static double similarity(PcdPojo pojo, int i, int j) {
+ ObjectMapper mapper = new ObjectMapper();
+ try {
+ // 读取 JSON 文件并转换为 配置信息
+ PcdPojo pojoIn = mapper.readValue(new File(pojo.getConfigPath()), mapper.getTypeFactory().constructType(PcdPojo.class));
+ // 打印转换后的实体类列表
+ pojo = pojo.setPCDInfo(pojoIn);
+ //报错则认为没有配置文件，返回盘点失败
+ } catch (JsonMappingException e) {
+ e.printStackTrace();
+ return 0;
+ } catch (JsonProcessingException e) {
+ e.printStackTrace();
+ return 0;
+ } catch (IOException e) {
+ e.printStackTrace();
+ return 0;
+ }
+ System.out.println(pojo.toString());
+ // 计算pcd1
+ List points = readPCD(pojo.getPcd1());
+ if (points == null || points.isEmpty()) {
+ return 0;
+ }
+
+
+ return 0;
+ }
/**
* 计算每个子区域内的 y 坐标的截断均值
*
* @param pointCloud 点云列表
- * @param divisions 每边分割的数量
+ * @param divisions 每边分割的数量
* @return 一个列表，其中每个元素是一个长度为3的一维数组，表示每个子区域的左下角坐标、右上角坐标和该区域内的 y 坐标的截断均值
*/
- public static double calculateTruncatedMeans(List pointCloud, List pointCloud2,PcdPojo pojo, int divisions,List results) {
+ public static double calculateTruncatedMeans(List pointCloud, List pointCloud2, PcdPojo pojo, int divisions, List results) {
double width = (pojo.getMaxBounds()[0] - pojo.getMinBounds()[0]) / divisions; // 每个小方块的宽度
double depth = (pojo.getMaxBounds()[2] - pojo.getMinBounds()[2]) / divisions; // 每个小方块的深度
@@ -171,7 +230,7 @@ public class PointCloudProcessor {
List yValues = new ArrayList<>();
for (double[] point : pointCloud) {
point = rotatePoints(point, pojo.getRotationMatrix());
- if(clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds())) {
+ if (clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds())) {
if (point[0] >= leftBottomX && point[0] < rightTopX &&
point[2] >= leftBottomZ && point[2] < rightTopZ) {
yValues.add(point[1]);
@@ -182,7 +241,7 @@ public class PointCloudProcessor {
List yValues2 = new ArrayList<>();
for (double[] point : pointCloud2) {
point = rotatePoints(point, pojo.getRotationMatrix());
- if(clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds())) {
+ if (clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds())) {
if (point[0] >= leftBottomX && point[0] < rightTopX &&
point[2] >= leftBottomZ && point[2] < rightTopZ) {
yValues2.add(point[1]);
@@ -191,16 +250,16 @@ public class PointCloudProcessor {
}
double truncatedMean = calculateTruncatedMean(yValues, 0.1); // 截断比例为10%
double truncatedMean2 = calculateTruncatedMean(yValues2, 0.1); // 截断比例为10%
- double similarity = (truncatedMean - pojo.getMinBounds()[1])/(pojo.getMaxBounds()[1] - pojo.getMinBounds()[1]);
- double similarity2 = (truncatedMean2 - pojo.getMinBounds()[1])/(pojo.getMaxBounds()[1] - pojo.getMinBounds()[1]);
+ double similarity = (truncatedMean - pojo.getMinBounds()[1]) / (pojo.getMaxBounds()[1] - pojo.getMinBounds()[1]);
+ double similarity2 = (truncatedMean2 - pojo.getMinBounds()[1]) / (pojo.getMaxBounds()[1] - pojo.getMinBounds()[1]);
countSum++;
- if(Double.isNaN(similarity) && Double.isNaN(similarity2)){
+ if (Double.isNaN(similarity) && Double.isNaN(similarity2)) {
break;
}
- System.out.println("similarity:"+similarity+"similarity2:"+similarity2);
+ System.out.println("similarity:" + similarity + "similarity2:" + similarity2);
double max = Math.max(similarity, similarity2); // 获取较大数
double min = Math.min(similarity, similarity2); // 获取较小数
- if(max-min<0.01){
+ if (max - min < 0.01) {
count++;
}
results.add(new double[]{leftBottomX, leftBottomZ, truncatedMean, truncatedMean2});
@@ -208,14 +267,540 @@ public class PointCloudProcessor {
}
System.out.println(count);
pojo.setCount(count);
- return (double) count /countSum;
+ return (double) count / countSum;
}
+ //泸州z是高度
+ public static int calculateTruncatedMeans(List pointCloud, PcdPojo pojo, boolean b, List interval3DS) {
+ for (double[] point : pointCloud) {
+ if (clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds())) {
+ for (Interval3D interval3D : interval3DS) {
+ if (point[2] > interval3D.getZ().getMinZ() && point[2] < interval3D.getZ().getMaxZ()) {
+ for (Interval3D interval3D1 : interval3D.getList()) {
+ if (point[0] > interval3D1.getMinX() && point[0] < interval3D1.getMaxX()) {
+
+ if (point[1] > interval3D1.getMinY() && point[1] < interval3D1.getMaxY()) {
+ interval3D1.setStorey(interval3D1.getStorey() + 1);
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+ int count = 0;
+ for (int i = 0; i < interval3DS.size(); i++) {
+ for (Interval3D interval3D1 : interval3DS.get(i).getList()) {
+ if (interval3D1.getStorey() >= 3) {
+ count++;
+ }
+ }
+ if (count > 0) {
+ count = count + interval3DS.get(i).getList().size() * (interval3DS.size() - i - 1);
+ }
+ }
+
+
+ return count;
+ }
+
+
+ //泸州z是高度
+ public static double calculateTruncatedMeans(List pointCloud, PcdPojo pojo, boolean b) {
+ int count = 0;
+ //截断个数
+ int divisions = 10;
+
+ double width = (pojo.getMaxBounds()[0] - pojo.getMinBounds()[0]) / divisions; // 每个小方块的宽度
+ double depth = (pojo.getMaxBounds()[1] - pojo.getMinBounds()[1]) / divisions; // 每个小方块的深度
+ int[] c = new int[]{
+ 2550,
+ 2300,
+ 2050,
+ 1822,
+ 1530};
+ int cc = 0;
+ Map map = new HashMap<>();
+ //记录统计，其中[][]含义是[[x左下值，y左下值，z平均值，z记录个数]]
+ double[][] get = new double[divisions * divisions][4];
+ //z值平均
+ double averageZ = pointCloud.stream()
+ .filter(point -> clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds()))
+ .mapToDouble(p -> {
+ return pojo.getMaxBounds()[2] - p[2];
+ })
+ .average().orElse(0.0);
+// for (double[] point :pointCloud){
+// if(!clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds())){
+// pointCloud.remove(point);
+//
+// }
+// }
+ pointCloud = pointCloud.stream().filter(point -> clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds())).collect(Collectors.toList());
+ double area = AreaUtil.calculatePolygonArea(pointCloud);
+
+ System.out.println(area);
+// for (double[] point :pointCloud){
+// if(clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds())){
+// get[(int)((point[0]-pojo.getMinBounds()[0])/width)][0]=1;
+//
+// //double z = pojo.getMaxBounds()[2]-point[2];
+// count++;
+// int index = findIntervalIndex(c, (int) point[2]);
+// if(index!=-1){
+// cc+=(index+1)*18;
+// map.put(index,map.getOrDefault(index,0)+1);
+// }
+// }
+// }
+// System.out.println(gao*18/count);
+// System.out.print(cc/(double)count+" count： "+count+";");
+ return averageZ;
+ }
+
+ private static int findIntervalIndex(int[] boundaries, int number) {
+ // 特殊情况：数字小于最小边界
+ if (number < boundaries[boundaries.length - 1]) {
+ return boundaries.length - 1;
+ }
+
+ // 特殊情况：数字大于最大边界
+ if (number > boundaries[0]) {
+ return -1;
+ }
+
+ // 查找区间索引
+ for (int i = 0; i < boundaries.length - 1; i++) {
+ if (number <= boundaries[i] && number > boundaries[i + 1]) {
+ return i;
+ }
+ }
+
+ // 如果未找到，返回 -1 表示不在任何区间内
+ return -1;
+ }
+
+ @Data
+ static class In {
+ Double start;
+ Double end;
+ Double max;
+ Double min;
+ Double interval;
+ int horizontalCount;//横向个数
+ int longitudinalCount;
+ }
+
+ public static void main(String[] args) {
+// List points = readPCD("E:\\泸州\\c88165e7-9ea6-493e-9130-e74342e5b639--192.168.40.11.pcd");
+// PcdPojo pojo = new PcdPojo();
+// pojo.setConfigPath("E:\\26.json");
+// ObjectMapper mapper = new ObjectMapper();
+// PcdPojo pcdPojo
+// try {
+// // 读取 JSON 文件并转换为 配置信息
+// pcdPojo = mapper.readValue(new File("E:\\1.txt"), mapper.getTypeFactory().constructType(PcdPojo.class));
+// // 打印转换后的实体类列表
+// pojo = pojo.setPCDInfo(pojoIn);
+// //报错则认为没有配置文件，返回盘点失败
+// } catch (JsonMappingException e) {
+// e.printStackTrace();
+//
+// } catch (JsonProcessingException e) {
+// e.printStackTrace();
+// } catch (IOException e) {
+// e.printStackTrace();
+// }
+ getBaijiuBox("E:\\泸州\\5a11d221-268a-4ed6-ad50-446fa481a56e--192.168.40.11.pcd" ,"E:\\26.json","E:\\1.txt");
+ {//getLongitudinalType(points, pojo, pcdPojo.getWidth(), pcdPojo.getLength(), pcdPojo.getHeight(),pcdPojo.getArrangeType());
+ //getLongitudinalType(points, pojo, 350, 297, new int[]{2443,2142,1750, 1420},"3w 4h 4h");
+ }
+ }
+ static int getBaijiuBox(String path,String configPath,String typeConfPath){
+ List points = readPCD(path);
+ PcdPojo pojo = new PcdPojo();
+ PcdPojo pcdPojo = new PcdPojo();
+ pojo.setConfigPath(configPath);
+ ObjectMapper mapper = new ObjectMapper();
+ try {
+ // 读取 JSON 文件并转换为 配置信息
+ PcdPojo pojoIn = mapper.readValue(new File(pojo.getConfigPath()), mapper.getTypeFactory().constructType(PcdPojo.class));
+ // 打印转换后的实体类列表
+ pojo = pojo.setPCDInfo(pojoIn);
+ // 读取 JSON 文件并转换为 配置信息
+ pcdPojo = mapper.readValue(new File(typeConfPath), mapper.getTypeFactory().constructType(PcdPojo.class));
+
+
+ //报错则认为没有配置文件，返回盘点失败
+ } catch (JsonMappingException e) {
+ e.printStackTrace();
+
+ } catch (JsonProcessingException e) {
+ e.printStackTrace();
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+
+ return getLongitudinalType(points, pojo, pcdPojo.getWidth(), pcdPojo.getLength(), pcdPojo.getHeight(),pcdPojo.getArrangeType());
+
+ }
+
+ /**
+ * 计算个数
+ * @param points 点云数据
+ * @param pojo 配置信息
+ * @param l 长度
+ * @param w 宽度
+ * @param heights 高度列表
+ * @param type 4w 4w 3l (w代表横宽，l代表竖长)
+ * @return
+ */
+ static int seg = 5;
+ private static int getLongitudinalType(List points, PcdPojo pojo, int l, int w, int[] heights,String type) {
+
+ double width = (pojo.getMaxBounds()[0] - pojo.getMinBounds()[0]) / seg; // 将整体分为5个小列，之后将计算每个列的最大最小，以及这个列有横向酒个数纵向酒个数
+ Map map = new HashMap<>();
+ Map heightMap = new HashMap<>();
+ points = points.stream()
+ .filter(point -> clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds()))
+ .peek(v ->{
+ for (int i = 0; i < heights.length; i++) {
+ if(v[2]>heights[i]-largeMargin&&v[2]200){
+ h = heights[i];
+ layers = i;
+ }
+ }
+ for (double[] point : points) {
+ if (clipPoints(point, pojo.getMinBounds(), pojo.getMaxBounds())) {
+ if (!(point[2] < h + 50 && point[2] > h - 50)) {
+ continue;
+ }
+// point[0]- pojo.getMinBounds()[0]/width;
+ int i = findIntervalIndex(point[0], pojo.getMinBounds()[0], pojo.getMaxBounds()[0], width);
+ In in = map.get(i);
+ if (in == null) {
+ in = new In();
+ in.setMax(point[1]);
+ in.setMin(point[1]);
+ }
+ in.setStart(pojo.getMinBounds()[0]+(i-1)*width);
+ in.setEnd(pojo.getMinBounds()[0]+(i-0)*width);
+ in.setMax(Math.max(in.getMax(), point[1]));
+ in.setMin(Math.min(in.getMin(), point[1]));
+ map.put(i, in);
+ }
+ }
+ int max =0;
+ int maW =0; //一层最多有几个横向排列
+ int maL =0; //一层最多有几个纵向排列
+ int layersCount = 0;
+ int maxW = 0;
+ int maxL = 0;
+ String[] types = type.split(" ");
+ //计算最大值
+ for (String s : types){
+ if (s.endsWith("w")){
+ max += w;
+ maW += 1;
+ maxW= Integer.parseInt(s.substring(0,1));
+ layersCount +=maxW;
+ }else if (s.endsWith("h")){
+ max += l;
+ maL += 1;
+ maxL= Integer.parseInt(s.substring(0,1));
+ layersCount +=maxL;
+ }
+ }
+ //总共多少列
+ int columns = 0;
+ double horizontalNumber = w/width; //一箱酒的横向个数
+ double longitudinalNumber = l/width; //一箱酒的纵向个数
+ int horizontalCount = 0;
+ int longitudinalCount = 0;
+
+ int minIndex =-1;
+ int maxIndex =-1;
+
+ //遍历所有列
+ for (int mapKey = 0; mapKey < seg; mapKey++) {
+ In in = map.get(mapKey);
+ if(in==null){
+ continue;
+ }
+ //计算高度
+ double d = in.getMax() - in.getMin();
+ in.setInterval(d);
+ if(d>max){
+
+ in.setLongitudinalCount(maL);
+ in.setHorizontalCount(maW);
+ }else {
+ //计算是否纵向个数
+ for (int i = (int) ((d+smallIntervals) / l); i >= 0; i--) {
+ //不存在大于2的纵向个数
+ if (i > 2) {
+ continue;
+ } else {
+ //有纵向的个数
+ int ii = 2;
+ for (; ii >= 0; ii--) {
+ if(in.getInterval()- i * l - ii * w > -smallIntervals && in.getInterval()- i * l - ii * w < smallIntervals){
+ in.setLongitudinalCount(i);
+ in.setHorizontalCount(ii);
+ break;
+ }
+
+ }
+ if (i == 0 && ii==0) {
+ //没有纵向个数
+ // 判断是否有横向个数
+ if (d + 10 > w && d - 10 < w) {
+ in.setLongitudinalCount(0);
+ in.setHorizontalCount(1);
+ break;
+ }
+ }
+
+ }
+ }
+ }
+ if(minIndex==-1 && maxIndex==-1){
+ minIndex = mapKey;
+ maxIndex = mapKey;
+ }
+ {
+ if(in.getHorizontalCount()+in.getLongitudinalCount()map.get(maxIndex).getHorizontalCount()+map.get(maxIndex).getLongitudinalCount()){
+ maxIndex = mapKey;
+ }
+ }
+ horizontalCount+= in.getHorizontalCount();
+ longitudinalCount+= in.getLongitudinalCount();
+ }
+ System.out.println(map);
+ //计算多余高度的个数
+ int topCount =0;
+ if(map.size()>0){
+ topCount = getTopCount(points, pojo, l, w, map , minIndex, maxIndex, maxW, maxL,h);
+ }
+
+
+
+ long count =topCount + layers * layersCount;
+
+ System.out.println(count);
+
+ //计算相似度
+ return (int) count;
+ }
+ static int getTopCount(List points, PcdPojo pojo, int l, int w,Map map ,int minIndex,int maxIndex,int maxW,int maxL,int h){
+ int count = 0;
+ //列相等
+ //存在满列
+ if(map.size()==seg) {
+ count = map.get(minIndex).getHorizontalCount() * maxW + map.get(minIndex).getLongitudinalCount() * maxL;
+ }else {
+ if (map.get(maxIndex).getHorizontalCount()>0){
+ //横向
+ count +=getYCount(points,map.get(maxIndex).getMax(),map.get(maxIndex).getMin(),h,l);
+
+ }else {
+ //纵向
+ count +=getYCount(points,map.get(maxIndex).getMax(),map.get(maxIndex).getMin(),h,w);
+ }
+ }
+ //存在不足满列
+ if(minIndex!=maxIndex ){
+
+ //由于是满列之后计算，所以可以直接比较横向排列个数，如果横向排列是一样的，则认为多出的是纵向排列，如果不同，则为横向排列
+ if (map.get(minIndex).getHorizontalCount()Math.abs(map.get(maxIndex).getMin() - map.get(minIndex).getMin())){
+ count += getYCount(points,map.get(maxIndex).getMax(),map.get(minIndex).getMax(),h,l);
+
+ }else {
+ count +=getYCount(points,map.get(maxIndex).getMin(),map.get(minIndex).getMin(),h,l);
+ }
+ }else {
+ //纵向
+ if(Math.abs(map.get(maxIndex).getMax() - map.get(minIndex).getMax())>Math.abs(map.get(maxIndex).getMin() - map.get(minIndex).getMin())){
+ count +=getYCount(points,map.get(maxIndex).getMax(),map.get(minIndex).getMax(),h,w);
+
+ }else {
+ count +=getYCount(points,map.get(maxIndex).getMin(),map.get(minIndex).getMin(),h,w);
+ }
+ }
+ }
+ return count;
+
+ }
+ static int largeMargin =50;//大间隔，用来减小误差
+ static int smallIntervals =30;//大间隔，用来减小误差
+ static int getYCount(List points,double max,double min,int height,double inytick){
+ double maxY = -1000;
+ double minY = 1000;
+ for (double[] point : points) {
+ if(point[1]Math.min(max,min)+largeMargin) {
+ if(point[2]>height-largeMargin&&point[2] frequencyMap = new HashMap<>();
+
+ // 统计每个数字出现的次数
+ for (int num : target) {
+ frequencyMap.put(num, frequencyMap.getOrDefault(num, 0) + 1);
+ }
+
+ int maxFrequency = 0;
+ int maxValue = Integer.MIN_VALUE;
+
+ // 找出出现次数最多且数值最大的数字
+ for (int num : data) {
+ int count = frequencyMap.getOrDefault(num, 0);
+ if (count > maxFrequency || (count == maxFrequency && num > maxValue)) {
+ maxFrequency = count;
+ maxValue = num;
+ }
+ }
+
+ return maxValue;
+ }
+
+ public static int[] solveExtendedEuclidean(int target, int factor1, int factor2) {
+ int[] gcdResult = extendedEuclidean(factor1, factor2);
+ int gcd = gcdResult[0];
+ int x = gcdResult[1];
+ int y = gcdResult[2];
+
+ if (target % gcd != 0) {
+ return null; // 无解
+ }
+
+ int k1 = x * (target / gcd);
+ int k2 = y * (target / gcd);
+
+ return new int[]{k1, k2};
+ }
+
+ public static int[] extendedEuclidean(int a, int b) {
+ if (b == 0) {
+ return new int[]{a, 1, 0};
+ } else {
+ int[] result = extendedEuclidean(b, a % b);
+ int gcd = result[0];
+ int x = result[1];
+ int y = result[2];
+
+ return new int[]{gcd, y, x - (a / b) * y};
+ }
+ }
+
+ public static int findIntervalIndex(double num, double start, double end, double intervalSize) {
+// if (num < start || num > end) {
+// return -1; // 数不在区间内
+// }
+ // 计算所在的小份数
+ int index = (int) Math.floor((num - start) / intervalSize);
+ return index;
+ }
+
+ public static boolean isMultipleSum(int target, int factor1, int factor2) {
+ // 特殊情况处理
+ if (target == 0) {
+ return true;
+ }
+ if (factor1 == 0 || factor2 == 0) {
+ return false;
+ }
+
+ // 递归求解
+ for (int k1 = 0; ; k1++) {
+ int remainder = target - k1 * factor1;
+ if (remainder == 0) {
+ return true; // 找到了符合条件的 k1 和 k2
+ }
+ if (remainder < 0) {
+ break; // 退出循环
+ }
+ if (remainder % factor2 == 0) {
+ return true; // 找到了符合条件的 k1 和 k2
+ }
+ }
+ return false;
+ }
+
+ public static void aa(String[] args) {
+ PcdPojo pojo = new PcdPojo();
+
+ //pojo.setPcd2("D:\\WeChet\\WeChat Files\\wxid_ttkf0xgmyihv22\\FileStorage\\File\\2024-09\\369.pcd");
+ pojo.setConfigPath("E:\\25151.json");
+// double i = similarityLuZhou(pojo,10);
+//
+// pojo.setPcd1("E:\\泸州\\task窖零酒\\task\\30箱\\192.168.40.11.pcd");
+// //pojo.setPcd2("D:\\WeChet\\WeChat Files\\wxid_ttkf0xgmyihv22\\FileStorage\\File\\2024-09\\369.pcd");
+// pojo.setConfigPath("E:\\25151.json");
+// i = similarityLuZhou(pojo,10);
+
+ String directoryPath = "E:\\泸州\\task国窖\\task"; // 替换为实际路径
+ File directory = new File(directoryPath);
+
+ if (!directory.exists() || !directory.isDirectory()) {
+ System.out.println("指定路径不是一个有效的目录！");
+ return;
+ }
+ Map map = new HashMap<>();
+ findPcdFiles(directory, map);
+ for (Integer count : map.keySet()) {
+ System.out.print(count + " ");
+ pojo.setPcd1(map.get(count));
+ double similarity = (similarityLuZhou(pojo, count));
+// System.out.println(similarity);
+ }
+ }
+
+
+ public static void findPcdFiles(File directory, Map listMap) {
+
+
+ File[] files = directory.listFiles();
+ if (files != null) {
+ for (File file : files) {
+ if (file.isDirectory()) {
+ // 递归处理子目录
+ findPcdFiles(file, listMap);
+ } else if (file.getName().endsWith(".pcd")) {
+ // 添加.pcd文件到结果列表
+ Integer parentName = Integer.valueOf(file.getParentFile().getName().replace("箱", ""));
+ listMap.put(parentName, file.getAbsolutePath());
+ }
+ }
+ }
+
+ }
+
/**
* 计算截断均值
*
- * @param values 值列表
+ * @param values 值列表
* @param trimRatio 截断比例
* @return 截断均值
*/
@@ -267,11 +852,11 @@ public class PointCloudProcessor {
}
while ((line = reader.readLine()) != null) {
double[] point = new double[3];
- String[] values = line.split(" ");
- point[0] = Double.parseDouble(values[0]);
- point[1] = Double.parseDouble(values[1]);
- point[2] = Double.parseDouble(values[2]);
- points.add(point);
+ String[] values = line.split(" ");
+ point[0] = Double.parseDouble(values[0]);
+ point[1] = Double.parseDouble(values[1]);
+ point[2] = Double.parseDouble(values[2]);
+ points.add(point);
}
}
@@ -292,11 +877,12 @@ public class PointCloudProcessor {
}
// Read binary data
while (buffer.hasRemaining()) {
- double x = buffer.getFloat();
+ float x = buffer.getFloat();
double y = buffer.getFloat();
double z = buffer.getFloat();
int rgb = buffer.getInt(); // Read 4 bytes for RGB
double[] point = {x, y, z};
+ //System.out.printf("x: %f, y: %f, z: %f, rgb: %d%n", x, y, z, rgb);
points.add(point);
}
} catch (Exception e) {
@@ -305,33 +891,8 @@ public class PointCloudProcessor {
return points;
}
- static void getPCDArray(String filePath) {
-
- }
-
- static void getPCDArray(Map> clippedPoint, String filePath) {
-
- // 创建一个DecimalFormat对象，指定格式
- DecimalFormat df = new DecimalFormat("#.####");
- File file = new File(filePath + ".txt");
- file.delete();
- try (BufferedWriter bw = new BufferedWriter(new FileWriter(filePath + ".txt"))) {
- bw.write("[");
- for (Double x : clippedPoint.keySet()) {
- for (Double y : clippedPoint.get(x).keySet()) {
- double z = clippedPoint.get(x).get(y);
- bw.write("[" + df.format(x) + ", " + df.format(y) + ", " + df.format(z) + "],\n");
- }
- }
- bw.write("]");
- } catch (IOException e) {
- e.printStackTrace();
- }
- // 读取点云数据
-
-
- }
+ //旋转
public static double[] rotatePoints(double[] point, double[][] rotationMatrix) {
double x = point[0];
@@ -346,18 +907,6 @@ public class PointCloudProcessor {
return rotatedPoint;
}
- public static List clipPoints(List points, double[] minBounds, double[] maxBounds) {
- List clippedPoints = new ArrayList<>();
- for (double[] point : points) {
- if (point[0] >= minBounds[0] && point[0] <= maxBounds[0] &&
- point[1] >= minBounds[1] && point[1] <= maxBounds[1] &&
- point[2] >= minBounds[2] && point[2] <= maxBounds[2]) {
- clippedPoints.add(point);
- }
- }
- return clippedPoints;
- }
-
public static boolean clipPoints(double[] point, double[] minBounds, double[] maxBounds) {
return point[0] >= minBounds[0] && point[0] <= maxBounds[0] && //x轴截取
diff --git a/web/src/main/java/com/zhehekeji/web/service/com/SerialPortCallback.java b/web/src/main/java/com/zhehekeji/web/service/com/SerialPortCallback.java
new file mode 100644
index 0000000..e2e3e60
--- /dev/null
+++ b/web/src/main/java/com/zhehekeji/web/service/com/SerialPortCallback.java
@@ -0,0 +1,21 @@
+package com.zhehekeji.web.service.com;
+
+
+import java.text.SimpleDateFormat;
+import java.util.Date;
+
+/**
+ * 蚂蚁舞
+ */
+public class SerialPortCallback {
+
+ public void dataAvailable() {
+ try {
+
+ //throw new Exception();
+ } catch (Exception e) {
+ System.out.println(e.toString());
+ }
+ }
+}
+
diff --git a/web/src/main/java/com/zhehekeji/web/service/com/SerialPortExample.java b/web/src/main/java/com/zhehekeji/web/service/com/SerialPortExample.java
new file mode 100644
index 0000000..438233a
--- /dev/null
+++ b/web/src/main/java/com/zhehekeji/web/service/com/SerialPortExample.java
@@ -0,0 +1,137 @@
+package com.zhehekeji.web.service.com;
+import com.fazecast.jSerialComm.SerialPort;
+import org.springframework.boot.CommandLineRunner;
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.scheduling.annotation.EnableAsync;
+import org.springframework.scheduling.annotation.EnableScheduling;
+import javax.annotation.PreDestroy;
+import java.io.IOException;
+
+import org.springframework.stereotype.Service;
+
+import java.io.OutputStream;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.TimeUnit;
+import java.util.stream.Collectors;
+
+
+@Service
+public class SerialPortExample {
+
+
+ byte[] close= {(byte) 0xCA, 0x01 ,0x00 ,0x14 ,0x14 , (byte) 0xEB, (byte) 0x87, (byte) 0x85,0x00 ,0x00 ,0x00 ,0x02 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 };
+
+
+ byte[] open = {(byte) 0xCA, 0x01 ,0x00 ,0x14 ,0x14 , (byte) 0xEB, (byte) 0x86, (byte) 0x85,0x00 ,0x00 ,0x00 ,0x01 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 };
+
+
+ public static void main(String[] args) {
+ //SerialPortExample example = new SerialPortExample();
+ //example.sendData(da);
+ }
+
+ public static final int SERIAL_BAUD_RATE = 115200;
+
+ public static volatile boolean SERIAL_PORT_STATE = false;
+
+ public static volatile SerialPort SERIAL_PORT_OBJECT = null;
+
+
+ public void openLight(int i){
+ if(i==1) {
+ SerialPortManager.sendSerialPortData(open);
+ }else {
+ SerialPortManager.sendSerialPortData(close);
+ }
+ }
+ //查找所有可用端口
+ public static List getSerialPortList() {
+ // 获得当前所有可用串口
+ SerialPort[] serialPorts = SerialPort.getCommPorts();
+ List portNameList = new ArrayList();
+ // 将可用串口名添加到List并返回该List
+ for(SerialPort serialPort:serialPorts) {
+ System.out.println(serialPort.getSystemPortName());
+ portNameList.add(serialPort.getSystemPortName());
+ }
+ //去重
+ portNameList = portNameList.stream().distinct().collect(Collectors.toList());
+ return portNameList;
+ }
+
+ // 连接串口
+ public static void connectSerialPort(String portName){
+ try {
+ SerialPort serialPort = SerialPortManager.openSerialPort(portName, SERIAL_BAUD_RATE);
+ TimeUnit.MILLISECONDS.sleep(2000);
+ //给当前串口对象设置监听器
+ serialPort.addDataListener(new SerialPortListener(new SerialPortCallback()));
+ if(serialPort.isOpen()) {
+ SERIAL_PORT_OBJECT = serialPort;
+ SERIAL_PORT_STATE = true;
+ System.out.println(portName+"-- start success");
+ }
+ } catch (InterruptedException ex) {
+ ex.printStackTrace();
+ }
+ }
+
+
+ // 打开串口
+ public static SerialPort openSerialPort(String portName, Integer baudRate) {
+ SerialPort serialPort = SerialPort.getCommPort(portName);
+ if (baudRate != null) {
+ serialPort.setBaudRate(baudRate);
+ }
+ if (!serialPort.isOpen()) { //开启串口
+ serialPort.openPort(1000);
+ }else{
+ return serialPort;
+ }
+ serialPort.setFlowControl(SerialPort.FLOW_CONTROL_DISABLED);
+ serialPort.setComPortParameters(baudRate, 8, SerialPort.ONE_STOP_BIT, SerialPort.NO_PARITY);
+ serialPort.setComPortTimeouts(SerialPort.TIMEOUT_READ_BLOCKING | SerialPort.TIMEOUT_WRITE_BLOCKING, 1000, 1000);
+ return serialPort;
+ }
+
+ // 关闭串口
+ public static void closeSerialPort() {
+ if (SERIAL_PORT_OBJECT != null && SERIAL_PORT_OBJECT.isOpen()){
+ SERIAL_PORT_OBJECT.closePort();
+ SERIAL_PORT_STATE = false;
+ SERIAL_PORT_OBJECT = null;
+ }
+ }
+
+ // 发送字节数组
+ public static void sendSerialPortData(byte[] content) {
+ if (SERIAL_PORT_OBJECT != null && SERIAL_PORT_OBJECT.isOpen()){
+ SERIAL_PORT_OBJECT.writeBytes(content, content.length);
+ }
+ }
+
+ // 读取字节数组
+ public static byte[] readSerialPortData() {
+ if (SERIAL_PORT_OBJECT != null && SERIAL_PORT_OBJECT.isOpen()){
+ byte[] reslutData = null;
+ try {
+ if (!SERIAL_PORT_OBJECT.isOpen()){return null;};
+ int i=0;
+ while (SERIAL_PORT_OBJECT.bytesAvailable() > 0 && i++ < 5) Thread.sleep(20);
+ byte[] readBuffer = new byte[SERIAL_PORT_OBJECT.bytesAvailable()];
+ int numRead = SERIAL_PORT_OBJECT.readBytes(readBuffer, readBuffer.length);
+ if (numRead > 0) {
+ reslutData = readBuffer;
+ }
+ } catch (InterruptedException e) {
+ e.printStackTrace();
+ }
+ return reslutData;
+ }
+ return null;
+ }
+
+
+}
diff --git a/web/src/main/java/com/zhehekeji/web/service/com/SerialPortListener.java b/web/src/main/java/com/zhehekeji/web/service/com/SerialPortListener.java
new file mode 100644
index 0000000..b9aca62
--- /dev/null
+++ b/web/src/main/java/com/zhehekeji/web/service/com/SerialPortListener.java
@@ -0,0 +1,32 @@
+package com.zhehekeji.web.service.com;
+
+
+import com.fazecast.jSerialComm.SerialPort;
+import com.fazecast.jSerialComm.SerialPortDataListener;
+import com.fazecast.jSerialComm.SerialPortEvent;
+
+/**
+ * 蚂蚁舞
+ */
+public class SerialPortListener implements SerialPortDataListener {
+
+ private final SerialPortCallback serialPortCallback;
+
+ public SerialPortListener(SerialPortCallback serialPortCallback) {
+ this.serialPortCallback = serialPortCallback;
+ }
+
+ @Override
+ public int getListeningEvents() { //必须是return这个才会开启串口工具的监听
+ return SerialPort.LISTENING_EVENT_DATA_AVAILABLE;
+ }
+
+ @Override
+ public void serialEvent(SerialPortEvent serialPortEvent) {
+ if (serialPortCallback != null) {
+ serialPortCallback.dataAvailable();
+ }
+ }
+}
+
+
diff --git a/web/src/main/java/com/zhehekeji/web/service/com/SerialPortManager.java b/web/src/main/java/com/zhehekeji/web/service/com/SerialPortManager.java
new file mode 100644
index 0000000..ae53d8e
--- /dev/null
+++ b/web/src/main/java/com/zhehekeji/web/service/com/SerialPortManager.java
@@ -0,0 +1,110 @@
+package com.zhehekeji.web.service.com;
+import com.fazecast.jSerialComm.SerialPort;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.TimeUnit;
+import java.util.stream.Collectors;
+
+/**
+ * 蚂蚁舞
+ */
+public class SerialPortManager {
+
+ public static final int SERIAL_BAUD_RATE = 115200;
+
+ public static volatile boolean SERIAL_PORT_STATE = false;
+
+ public static volatile SerialPort SERIAL_PORT_OBJECT = null;
+
+ //查找所有可用端口
+ public static List getSerialPortList() {
+ // 获得当前所有可用串口
+ SerialPort[] serialPorts = SerialPort.getCommPorts();
+ List portNameList = new ArrayList();
+ // 将可用串口名添加到List并返回该List
+ for(SerialPort serialPort:serialPorts) {
+ System.out.println(serialPort.getSystemPortName());
+ portNameList.add(serialPort.getSystemPortName());
+ }
+ //去重
+ portNameList = portNameList.stream().distinct().collect(Collectors.toList());
+ return portNameList;
+ }
+
+ // 连接串口
+ public static void connectSerialPort(String portName){
+ try {
+ SerialPort serialPort = SerialPortManager.openSerialPort(portName, SERIAL_BAUD_RATE);
+ TimeUnit.MILLISECONDS.sleep(2000);
+ //给当前串口对象设置监听器
+ serialPort.addDataListener(new SerialPortListener(new SerialPortCallback()));
+ if(serialPort.isOpen()) {
+ SERIAL_PORT_OBJECT = serialPort;
+ SERIAL_PORT_STATE = true;
+ System.out.println(portName+"-- start success");
+ }
+ } catch (InterruptedException ex) {
+ ex.printStackTrace();
+ }
+ }
+
+
+ // 打开串口
+ public static SerialPort openSerialPort(String portName, Integer baudRate) {
+ SerialPort serialPort = SerialPort.getCommPort(portName);
+ if (baudRate != null) {
+ serialPort.setBaudRate(baudRate);
+ }
+ if (!serialPort.isOpen()) { //开启串口
+ serialPort.openPort(1000);
+ }else{
+ return serialPort;
+ }
+ serialPort.setFlowControl(SerialPort.FLOW_CONTROL_DISABLED);
+ serialPort.setComPortParameters(baudRate, 8, SerialPort.ONE_STOP_BIT, SerialPort.NO_PARITY);
+ serialPort.setComPortTimeouts(SerialPort.TIMEOUT_READ_BLOCKING | SerialPort.TIMEOUT_WRITE_BLOCKING, 1000, 1000);
+ return serialPort;
+ }
+
+ // 关闭串口
+ public static void closeSerialPort() {
+ if (SERIAL_PORT_OBJECT != null && SERIAL_PORT_OBJECT.isOpen()){
+ SERIAL_PORT_OBJECT.closePort();
+ SERIAL_PORT_STATE = false;
+ SERIAL_PORT_OBJECT = null;
+ }
+ }
+
+ // 发送字节数组
+ public static void sendSerialPortData(byte[] content) {
+ if (SERIAL_PORT_OBJECT != null && SERIAL_PORT_OBJECT.isOpen()){
+ SERIAL_PORT_OBJECT.writeBytes(content, content.length);
+ }
+ }
+
+ // 读取字节数组
+ public static byte[] readSerialPortData() {
+ if (SERIAL_PORT_OBJECT != null && SERIAL_PORT_OBJECT.isOpen()){
+ byte[] reslutData = null;
+ try {
+ if (!SERIAL_PORT_OBJECT.isOpen()){return null;};
+ int i=0;
+ while (SERIAL_PORT_OBJECT.bytesAvailable() > 0 && i++ < 5) Thread.sleep(20);
+ byte[] readBuffer = new byte[SERIAL_PORT_OBJECT.bytesAvailable()];
+ int numRead = SERIAL_PORT_OBJECT.readBytes(readBuffer, readBuffer.length);
+ if (numRead > 0) {
+ reslutData = readBuffer;
+ }
+ } catch (InterruptedException e) {
+ e.printStackTrace();
+ }
+ return reslutData;
+ }
+ return null;
+ }
+
+
+
+}
+
diff --git a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java
index 96b79c4..afbb69b 100644
--- a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java
+++ b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java
@@ -214,7 +214,7 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
log.info("盘点结束："+ksecInfo.getData().toString());
}else if (Cmd.SC.name().equals(ksecInfo.getType())) {
- plcService.checkVision(dataInfo);
+ plcService.checkVision(dataInfo,true);
}
//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);
diff --git a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecNettyClient.java b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecNettyClient.java
index 8644af3..5ca6eb3 100644
--- a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecNettyClient.java
+++ b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecNettyClient.java
@@ -30,43 +30,37 @@ public class KsecNettyClient {
*/
private static int RECONNECT_NUM = 10;
- private static Bootstrap client ;; // 单例Bootstrap
+ private static Bootstrap client;
+ ; // 单例Bootstrap
private static final AtomicBoolean reconnecting = new AtomicBoolean(false); // 标记是否正在重连
private static Channel channel;
-//次数
+ //次数
static int num = 0;
+
public void createClient(ConfigProperties.KSEC ksec) throws InterruptedException {
- String lotnum = FileUtil.getText("lastLotnum");
- if (lotnum != null) {
- KsecDecoder.setLastLotnum(lotnum);
- }
- if (StringUtils.isEmpty(ksec.getIp()) || ksec.getPort() == null) {
- return;
- }
- if (client == null) {
- Bootstrap c = new Bootstrap();
- c.group(group);
- c.channel(NioSocketChannel.class);
- KsecInfo heart = KsecInfo.heart();
- c.handler(new KescFilter(heart, plcService, this));
- client = c;
- }
- try {
+ String lotnum = FileUtil.getText("lastLotnum");
+ if (lotnum != null) {
+ KsecDecoder.setLastLotnum(lotnum);
+ }
+ if (StringUtils.isEmpty(ksec.getIp()) || ksec.getPort() == null) {
+ return;
+ }
+ if (client == null) {
+ Bootstrap c = new Bootstrap();
+ c.group(group);
+ c.channel(NioSocketChannel.class);
+ KsecInfo heart = KsecInfo.heart();
+ c.handler(new KescFilter(heart, plcService, this));
+ client = c;
+ }
- channel = client.connect(ksec.getIp(), ksec.getPort()).sync().channel();
+ channel = client.connect(ksec.getIp(), ksec.getPort()).sync().channel();
- num = 0;
- }catch (Exception e){
- log.error("createClient error",e);
- if (ksec.getReconnectNum() == -1 || num < ksec.getReconnectNum() && !reconnecting.get()) {
- reconnect(0);
- }
- }
}
/**
@@ -87,29 +81,43 @@ public class KsecNettyClient {
e.printStackTrace();
}
- try {
- Thread.sleep(ksec.getReconnectInterval());
- } catch (InterruptedException e) {
- e.printStackTrace();
+
+ try {
+ //关闭之前连接
+ if (channel != null) {
+ channel.disconnect();
+ channel.close();
}
- try {
- //关闭之前连接
- if (channel != null) {
- channel.disconnect();
- channel.close();
+ num = 0;
+ while (ksec.getReconnectNum() == -1 || num < ksec.getReconnectNum() && !reconnecting.get()) {
+ try {
+ Thread.sleep(ksec.getReconnectInterval());
+ } catch (InterruptedException e) {
+ e.printStackTrace();
}
//重连次数
+ log.info("reconnect num:{}", num);
num++;
- log.error("reconnect error num:{}", num);
- createClient(ksec);
- } catch (Exception e) {
- //没连上 继续
+ try {
+ createClient(ksec);
+ break;
+
+
+ } catch (Exception e) {
+ log.error("createClient error", e);
+
+
+ }
+
+ }
+ } catch (Exception e) {
+ //没连上 继续
// try{
// Thread.sleep(ksec.getReconnectInterval());
// }catch (Exception ex){
// throw new RuntimeException(ex);
// }
- }
+ }
if (reconnecting.get()) {
log.info("plc reconnect success");
} else {
@@ -117,10 +125,10 @@ public class KsecNettyClient {
}
}
- public static void write(KsecInfo ksecInfo){
- if(channel != null){
+ public static void write(KsecInfo ksecInfo) {
+ if (channel != null) {
channel.writeAndFlush(ksecInfo);
- }else {
+ } else {
log.error(" no connected upPc");
}
diff --git a/web/src/main/java/com/zhehekeji/web/service/lbScanCode/ReentrantLockExample.java b/web/src/main/java/com/zhehekeji/web/service/lbScanCode/ReentrantLockExample.java
index 2e0e9b0..615064d 100644
--- a/web/src/main/java/com/zhehekeji/web/service/lbScanCode/ReentrantLockExample.java
+++ b/web/src/main/java/com/zhehekeji/web/service/lbScanCode/ReentrantLockExample.java
@@ -50,18 +50,20 @@ public class ReentrantLockExample {
break;
}
}
- return sb.toString();
+
+ return sb.toString().replace(";","");
}
public static void main(String[] args) {
+ String l =readOCR("127.0.0.1",6000);
+ System.out.println("111");
- for (int i = 10 ;i < 100; i++){
- Thread thread = new Thread(() -> {
- System.out.println("111");
- readOCR("127.0.0.1",6000);
- });
- thread.start();
+ try {
+ sleep(3000);
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
}
+ System.out.println(l);
}
diff --git a/web/src/main/java/com/zhehekeji/web/service/visualQuantity/VisualQuantityCameraApi.java b/web/src/main/java/com/zhehekeji/web/service/visualQuantity/VisualQuantityCameraApi.java
new file mode 100644
index 0000000..b68d704
--- /dev/null
+++ b/web/src/main/java/com/zhehekeji/web/service/visualQuantity/VisualQuantityCameraApi.java
@@ -0,0 +1,7 @@
+package com.zhehekeji.web.service.visualQuantity;
+
+import com.sun.jna.Library;
+
+public interface VisualQuantityCameraApi extends Library {
+ int cameraapi(String cloudPath, String paramPath, int typeCode);
+}
diff --git a/web/src/main/java/com/zhehekeji/web/service/visualQuantity/test.java b/web/src/main/java/com/zhehekeji/web/service/visualQuantity/test.java
new file mode 100644
index 0000000..f553905
--- /dev/null
+++ b/web/src/main/java/com/zhehekeji/web/service/visualQuantity/test.java
@@ -0,0 +1,48 @@
+package com.zhehekeji.web.service.visualQuantity;
+
+import com.sun.jna.Native;
+import com.zhehekeji.web.service.IndustrialCamera.DcLibrary;
+
+import java.io.File;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.nio.file.StandardCopyOption;
+import java.util.HashMap;
+import java.util.Map;
+
+import static com.zhehekeji.web.service.algorithm.PointCloudProcessor.findPcdFiles;
+
+public class test {
+
+
+ static VisualQuantityCameraApi INSTANCER = (VisualQuantityCameraApi) Native.loadLibrary((System.getProperty("user.dir"))+"\\libs\\3d\\3ddll.dll", VisualQuantityCameraApi.class);
+
+ public static void main(String[] args) {
+
+ String directoryPath = "E:\\泸州\\task国窖\\task"; // 替换为实际路径
+ File directory = new File(directoryPath);
+
+ if (!directory.exists() || !directory.isDirectory()) {
+ System.out.println("指定路径不是一个有效的目录！");
+ return;
+ }
+ Map map = new HashMap<>();
+ findPcdFiles(directory,map);
+ for (Integer count : map.keySet()) {
+ System.out.print(count +" ");
+ try {
+ Files.copy(Paths.get(map.get(count)), Paths.get("E:\\192.168.40.11.pcd"), StandardCopyOption.REPLACE_EXISTING);
+ } catch (IOException e) {
+ throw new RuntimeException(e);
+ }
+
+ System.out.println(1111);
+ int i = INSTANCER.cameraapi("E:\\192.168.40.11.pcd","E:\\2.json",3);
+ System.out.println(i);
+// System.out.println(similarity);
+ }
+
+ }
+}
diff --git a/web/src/main/resources/application-prod.yml b/web/src/main/resources/application-prod.yml
index acdf228..0751ce3 100644
--- a/web/src/main/resources/application-prod.yml
+++ b/web/src/main/resources/application-prod.yml
@@ -52,18 +52,26 @@ cameraConfig:
# 单位毫秒
delayDownloadMp4: 10000
#工业相机编码sn
- industrialCamera: F223
+ industrialCamera:
+ - 1
+ - 2
#camera3D(ip来标注
camera3D: 114
+ sickIp: 127.0.0.1
+ sickPort: 2001
# ------------
# -----图片 mp4下载地址
savePath:
mediaPath: d:\\data\media\
mp4Path: d://data/mp4/
+ #裁剪3d文件路径
+ croppingPath: d://data/mp4/
+ #酒箱配置文件路径
+ winePreparationPath: d://data/mp4/
+ netPicPath: "127.0.0.1:9008/api/pic/"
# ------------服务端类型 0：TCP(罗伯泰克) 1:KSEC(JSON)（昆船）
serverMode: 1
ksec:
- ip: 127.0.0.1
port: 3000
platformIp: 127.0.0.1
platformPort: 3000
@@ -75,6 +83,7 @@ ksec:
IP: 127.0.0.1
# 服务端TCP端口
serverPort: 3001
+
# ------------ 实时视频流 全部页面的格式 行列数量
videoStyleConfig:
videoStyleRow: 4
@@ -92,22 +101,26 @@ lightSource:
# 扫码模式 0:此处不盘点 1：球机扫码 2：sick扫码枪 3:南北达RFID
scanCodeMode:
tray: 0
- goods: 2
+ goods: 2x
goodsCodeTypes:
- 14
trayCodeTypes:
- 14
+
# 照片 視頻保存多久
deleteFileDays: 30
#灵闪tcp服务地址
-intelliBlink:
+intelliBink:
ip: 127.0.0.1
port: 3002
+
#模版信息
template:
- id: 1
name: "模板一"
code: "a1123"
- -
+
+# 光源串口
+comConfig: "COM2"
\ No newline at end of file