增加超时时间

异步拍照加快速度
修改请求，增加延时关灯操作
修改拍照逻辑，精简逻辑，加快速度

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

@@ -20,8 +20,8 @@ public class FusionDesignApplication {
     // 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
+        return builder.setConnectTimeout(Duration.ofMinutes(5)) // 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
+                .setReadTimeout(Duration.ofMinutes(20))    // 设置读取超时时间，单位秒
                 .build();
     }
 }

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

@@ -35,6 +35,7 @@ import java.time.format.DateTimeFormatter;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.UUID;
+import java.util.concurrent.CompletableFuture;
 
 import static com.zhehekeji.web.service.algorithm.FeatureMatchingExample.base642Mat;
 
@@ -70,12 +71,26 @@ public class IndustrialCameraController {
         DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
 
         if(configProperties.getCameraConfig().getIndustrialCamera()!=null) {
-            for (String camera:configProperties.getCameraConfig().getIndustrialCamera()) {
+            List<CompletableFuture<Void>> futures = new ArrayList<>();
 
-                String path = "industrialCamera/" +currentDate.format(formatter)+"/"+camera+ UUID.randomUUID() + ".jpeg";
+            for (String camera : configProperties.getCameraConfig().getIndustrialCamera()) {
-                hikSaveImage.saveImage(camera, configProperties.getSavePath().getMediaPath() + path, "sn");
+                String path = "industrialCamera/" + currentDate.format(formatter) + "/" + camera + UUID.randomUUID() + ".jpeg";
+                String fullPath = configProperties.getSavePath().getMediaPath() + path;
+
+                // 提交异步任务
+                CompletableFuture<Void> future = CompletableFuture.runAsync(() -> {
+                    hikSaveImage.saveImage(camera, fullPath, "sn");
+                    synchronized (list) {
                         list.add(path);
                     }
+                });
+
+                futures.add(future);
+            }
+
+            // 等待所有任务完成
+            CompletableFuture.allOf(futures.toArray(new CompletableFuture[0])).join();
+
             return new Result<>(list);
         }else {
             return new Result<>(list);
@@ -186,7 +201,7 @@ public class IndustrialCameraController {
         kuKou.setWmsCode(industrialCameraVo.getCode());
         kuKou.setPath(configProperties.getSavePath().getNetPicPath()+pa+".jpg");
         kuKouService.save(kuKou);
-        serialPortExample.openLight(0);
+//        serialPortExample.openLight(0);
         return new Result<>(kuKou);
     }
 

web/src/main/java/com/zhehekeji/web/service/IndustrialCamera/HikSaveImage.java

@@ -167,33 +167,23 @@ public class HikSaveImage implements CameraSaveUtil{
     @Override
     public boolean saveImage(String sn, String path,String type) {
         int nRet = MV_OK;
-        ArrayList<MV_CC_DEVICE_INFO> stDeviceList;
 
         do
         {
             System.out.println("SDK Version " + MvCameraControl.MV_CC_GetSDKVersion());
 
             // Enuerate GigE and USB devices
-            try
-            {
-                stDeviceList = MV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE);
-                if (0 >= stDeviceList.size())
-                {
-                    System.out.println("No devices found!");
-                    break;
-                }
-            }
-            catch (CameraControlException e)
-            {
-                System.err.println("Enumrate devices failed!" + e.toString());
-                e.printStackTrace();
-                break;
-            }
 
             // choose camera
 
 
-            Handle hCamera =  init(sn,stDeviceList,type);
+            Handle hCamera =  null;
+            if (handleMap.containsKey(sn) && handleMap.get(sn) != null) {
+                //已经获得句柄
+                hCamera = handleMap.get(sn);
+            }else {
+                System.out.println("未找到句柄");
+            }
             // Create handle
 
 

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

@@ -89,15 +89,19 @@ public class InitService implements ApplicationRunner {
     @Override
     public void run(ApplicationArguments args) throws Exception {
 
+        if (configProperties.getComConfig()!=null&& !configProperties.getComConfig().equals(""))
         SerialPortManager.connectSerialPort(configProperties.getComConfig());
         ConfigProperties.KSEC ksec = configProperties.getKsec();
         inventoryService.init();
+        if (configProperties.getCameraConfig()!=null
+                && configProperties.getCameraConfig().getIndustrialCamera()!=null
+                && !configProperties.getCameraConfig().getIndustrialCamera().equals(""))
             hikSaveImage.init(configProperties.getCameraConfig().getIndustrialCamera(),"sn");
         if(ksec != null&& ksec.getIp()!=null&& !ksec.getIp().equals("")){
 
 
             TaskDelayExecutor.runMp4DownloadExecutor();
-            nettyServer.CreateNettyServer(configProperties.getServerPort());
+//            nettyServer.CreateNettyServer(configProperties.getServerPort());
             //球机登录
             List<Camera> cameras = cameraMapper.selectByMap(new HashMap<>(0));
             cameras.forEach(camera -> {

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

@@ -522,20 +522,20 @@ public class PlcService {
     }
     public boolean 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());
         scTransmission.setCount(dataInfo.getQuantity());
 
         scTransmission.setCode(dataInfo.getTrayCode());
+        try {
+            HttpHeaders headers = new HttpHeaders();
+            headers.set("Content-Type", "application/json");
+            headers.set("User-Agent", "Mozilla/5.0");
+
 
             // 创建 HttpEntity 对象
             HttpEntity<IndustrialCameraVO> entity = new HttpEntity<>(scTransmission, headers);
-            Map<String, ConfigProperties.Template> map = configProperties.getTemplate().stream().collect(Collectors.toMap(k->k.getCode(), v->v));
+//            Map<String, ConfigProperties.Template> map = configProperties.getTemplate().stream().collect(Collectors.toMap(k->k.getCode(), v->v));
 
             // 发送 POST 请求
             ResponseEntity<Result<KuKou>> response = restTemplate.exchange(
@@ -567,6 +567,12 @@ public class PlcService {
             }
         } catch (Exception e) {
             log.error("3D get pcd error", e);
+
+            scTransmission.setWmsTrayCode(dataInfo.getTrayCode());
+
+            scTransmission.setTrayCode("");
+            scTransmission.setCount(0);
+            kuKouService.setHttp(scTransmission,flag);
             return false;
         }
     }

web/src/main/java/com/zhehekeji/web/service/algorithm/InventoryService.java

@@ -66,8 +66,10 @@ public class InventoryService {
     }
 
     public void init(){
+        if (configProperties.getCameraConfig()!=null && configProperties.getCameraConfig().getCamera3D()!=null && !configProperties.getCameraConfig().getCamera3D().equals("")) {
             PointerByReference handleRef = LxPointCloudSaveImage.init(configProperties.getCameraConfig().getCamera3D());
         }
+    }
     public int match3D(String category,String path){
         //拍照
         log.info("3D拍照pcd：     "+path);

web/src/main/java/com/zhehekeji/web/service/algorithm/PointCloudProcessor.java

@@ -671,10 +671,12 @@ public class PointCloudProcessor {
             }
         }
         for (int h =5; h>0; h--){
-            if (map.containsKey(h) && map.get(h).size()>500){
+            if (map.containsKey(h) && map.get(h).size()>1000){
                 double area =IntervalPolygonArea.calculateArea(map.get(h),pojo.minBounds[0],10);
                 if (area>0){
-                    int i =(layersCount*(h-1))+(int) Math.round(area/(double) (l*w));
+                    System.out.println("面积："+area);
+                    System.out.println("个数："+area/(double) (l*w));
+                    int i =(layersCount*(h-1))+(int) Math.min(Math.round(area/(double) (l*w)),layersCount);
                     return i;
                 }
                 break;
@@ -684,9 +686,9 @@ public class PointCloudProcessor {
     }
 
     public static void main(String[] args) {
-        String path ="E:\\工作\\泸州测试\\2\\62de6477-2ae4-47b8-91d8-f0ca54ea4a05--192.168.40.11.pcd";
+        String path ="E:\\泸州\\pcd\\实际53识别出54\\58ed9ebf-6956-427d-b248-50f254d652ef--192.168.32.11.pcd";
-        String configPath = "E:\\工作\\泸州测试\\2\\27.json";
+        String configPath = "E:\\工作\\泸州测试\\24\\27.json";
-        String typeConfPath = "E:\\工作\\泸州测试\\2\\40014845.json";
+        String typeConfPath = "E:\\工作\\泸州测试\\24\\40016741.json";
         List<double[]> points = readPCD(path);
         PcdPojo pojo = new PcdPojo();
         PcdPojo pcdPojo = new PcdPojo();

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

@@ -13,6 +13,9 @@ import org.springframework.stereotype.Service;
 import java.io.OutputStream;
 import java.util.ArrayList;
 import java.util.List;
+import java.util.concurrent.Executors;
+import java.util.concurrent.Future;
+import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
 import java.util.stream.Collectors;
 
@@ -38,11 +41,31 @@ public class SerialPortExample {
 
     public static volatile SerialPort SERIAL_PORT_OBJECT = null;
 
+    private ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1);
+    private Future<?> lightFuture = null;
 
     public void openLight(int i){
-        if(i==1) {
+
+        if (i == 1) {
+            // 如果已经有任务在运行，先取消它
+            if (lightFuture != null && !lightFuture.isDone()) {
+                lightFuture.cancel(false);
+            }
+
+            // 开灯
             SerialPortManager.sendSerialPortData(open);
-        }else {
+
+            // 安排30分钟后执行关灯任务
+            lightFuture = scheduler.schedule(() -> {
+                synchronized (this) {
+                    SerialPortManager.sendSerialPortData(close);
+                }
+            }, 30, TimeUnit.MINUTES);
+        } else {
+            // 如果外部直接调用关灯，也取消定时任务
+            if (lightFuture != null && !lightFuture.isDone()) {
+                lightFuture.cancel(false);
+            }
             SerialPortManager.sendSerialPortData(close);
         }
     }