1.设置http连接时间

2、识别3d接口
3、图片位置调整
4、修改品规名称

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

@@ -24,8 +24,8 @@ 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(10)) // 设置连接超时时间，单位毫秒
+        return builder.setConnectTimeout(Duration.ofSeconds(20)) // 设置连接超时时间，单位毫秒
-                .setReadTimeout(Duration.ofSeconds(10))    // 设置读取超时时间，单位毫秒
+                .setReadTimeout(Duration.ofSeconds(20))    // 设置读取超时时间，单位毫秒
                 .build();
     }
 }

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

@@ -13,9 +13,12 @@ import com.zhehekeji.web.service.IndustrialCamera.LxPointCloudSaveImage;
 import com.zhehekeji.web.service.StreetService;
 import com.zhehekeji.web.service.algorithm.FeatureMatchingExample;
 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 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.*;
@@ -24,10 +27,13 @@ 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.format.DateTimeFormatter;
 import java.util.UUID;
 
 import static com.zhehekeji.web.service.algorithm.FeatureMatchingExample.base642Mat;
 
+@Slf4j
 @Api(tags = "工业相机")
 @RequestMapping("/industrialCamera")
 @RestController
@@ -76,7 +82,48 @@ public class IndustrialCameraController {
     @ApiOperation("识别3D")
     @PostMapping("Macth3D")
     public Result<String> Macth3D(@RequestBody IndustrialCameraVO industrialCameraVo){
-        return null;
+        Street street = streetService.getStreetByPlcId(industrialCameraVo.getStreetId());
+
+        LocalDate currentDate = LocalDate.now();
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
+        //盘点地址
+        String pcdPath1 =configProperties.getSavePath().getMediaPath() + street.getLeft3D()+ "/"+currentDate.format(formatter)+"/"+industrialCameraVo.getPcdPath()+".pcd";
+        String pcdPath2 =configProperties.getSavePath().getMediaPath() + street.getRight3D()+ "/"+ currentDate.format(formatter)+"/"+industrialCameraVo.getPcdPath()+".pcd";
+        //随行地址
+        String pcdPath3 =configProperties.getSavePath().getMediaPath() + street.getLeft3D()+"/000/"
+                +"/"+industrialCameraVo.getPcdPath()+"-L"+".pcd";
+
+        String pcdPath4 =configProperties.getSavePath().getMediaPath() + street.getRight3D()+"/000/"
+                +"/"+industrialCameraVo.getPcdPath()+"-R"+".pcd";
+        //拍照
+        log.info("3D拍照    左侧pcd：     "+street.getLeft3D()+"  右侧pcd：: "+pcdPath1);
+
+        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");
+
+        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");
+
+        double rightScore =  PointCloudProcessor.similarity( pojo,10);
+
+        log.info("3D rightScore："+rightScore);
+        if(leftScore<0.9||rightScore<0.9){
+
+        }
+
+        return Result.success(leftScore +"     "+ rightScore);
+
     }
 
     @Resource
@@ -106,7 +153,6 @@ public class IndustrialCameraController {
                +transmissionPojo.getRow()+"-"+transmissionPojo.getColumn()+"-"+transmissionPojo.getDirection()+"-R"+".pcd";
         //拍照
         System.out.println(street.getLeft3D()+"        111211    "+ pcdPath1);
-        System.out.println((System.getProperty("user.dir"))+"\\libs\\plc\\cameraapi");
         LxPointCloudSaveImage lxPointCloudSaveImage = new LxPointCloudSaveImage();
         lxPointCloudSaveImage.saveImage(street.getLeft3D(), pcdPath1,1);
 

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

@@ -1,9 +1,11 @@
 package com.zhehekeji.web.lib;
 
+import com.zhehekeji.web.entity.Camera;
 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 +16,14 @@ public class CameraConnMap {
      * key :cameraId
      * value: loginId
      */
-    public static Map<Integer, NetSDKLib.LLong> cameraMap = new HashMap<>();
+    public static Map<Integer, NetSDKLib.LLong> cameraMap = new ConcurrentHashMap<>();
+    public static Map<Integer, Camera> cameraInfoMap = new ConcurrentHashMap<>();
 
     /**
      * key:loginId
      * value: cameraId
      */
-    public static Map<NetSDKLib.LLong,Integer> loginMap = new HashMap<>();
+    public static Map<NetSDKLib.LLong,Integer> loginMap = new ConcurrentHashMap<>();
 
     public static void conn(Integer cameraId,NetSDKLib.LLong handlerId){
         synchronized (cameraId.toString().intern()){

web/src/main/java/com/zhehekeji/web/lib/hik/HikCameraControlModuleImpl.java

@@ -20,6 +20,7 @@ import java.util.ArrayList;
 import java.util.List;
 import java.util.Timer;
 
+import static com.zhehekeji.web.lib.CameraConnMap.cameraInfoMap;
 import static com.zhehekeji.web.lib.hik.HCNetSDK.NET_DVR_GET_PTZPOS;
 
 /**
@@ -42,6 +43,7 @@ public class HikCameraControlModuleImpl implements CameraControlModule {
     public  boolean ptzControlUpStart(Integer cameraId, int nChannelID, int dwPTZCommand,int dwStop)
     {
         int lUserId = CameraConnMap.getConnId(cameraId).intValue();
+
         return HikLoginModuleImpl.hcNetsdk.NET_DVR_PTZControl_Other(lUserId, 1, HCNetSDK.TILT_UP, 0);
     }
 

web/src/main/java/com/zhehekeji/web/pojo/IndustrialCameraVO.java

@@ -10,6 +10,8 @@ public class IndustrialCameraVO {
     private String picImg;
     private String typeMacth;
     private List<ImgFile> fileList;
+    private String pcdPath;
+
 
     private String streetId;
 }

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

@@ -28,6 +28,8 @@ import javax.annotation.Resource;
 import java.util.HashMap;
 import java.util.List;
 
+import static com.zhehekeji.web.lib.CameraConnMap.cameraInfoMap;
+
 /**
  * 服务初始化
  * 上位机、 plc、球机 连接
@@ -139,6 +141,7 @@ public class InitService implements ApplicationRunner {
         @Override
         public void run() {
             cameraService.cameraLogin(camera);
+            cameraInfoMap.put(camera.getId(),camera);
         }
     }
 

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

@@ -36,7 +36,9 @@ import javax.annotation.PostConstruct;
 import javax.annotation.Resource;
 import java.io.IOException;
 import java.time.Duration;
+import java.time.LocalDate;
 import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
 import java.util.HashSet;
 import java.util.List;
 import java.util.Set;
@@ -342,11 +344,14 @@ public class PlcService {
         } catch (Exception e) {
             log.error("cameraId error:{}", cameraId);
         }
+        Boolean delay = true;
+        Integer row = 0;
+        Integer column = 0;
+        Integer sep = 0;
+
+        long delayTime = 0;
         if (needCapture) {
-            Boolean delay = true;
+
-            Integer row = 0;
-            Integer column = 0;
-            Integer sep = 0;
             if (times <= 2) {
                 row = plcCmdInfo.getRow1();
                 column = plcCmdInfo.getColumn1();
@@ -356,7 +361,6 @@ public class PlcService {
                 column = plcCmdInfo.getColumn2();
                 sep = plcCmdInfo.getSeparation2();
             }
-            long delayTime = 0;
 
             if (code.startsWith("C1")) {
 
@@ -367,26 +371,7 @@ public class PlcService {
                 } else {
                     delayTime = configProperties.getCameraConfig().getC2OutDelayCaptureTime();
                 }
-                try {
+
-                    HttpHeaders headers = new HttpHeaders();
-                    headers.set("Content-Type", "application/json");
-                    headers.set("User-Agent", "Mozilla/5.0");
-
-
-                    TransmissionPojo scTransmission = new TransmissionPojo(street, plcCmdInfo.getRow2(), plcCmdInfo.getColumn2(), plcCmdInfo.getLeftRight2(), plcCmdInfo.getTaskId());
-                    // 创建 HttpEntity 对象
-                    HttpEntity<TransmissionPojo> entity = new HttpEntity<>(scTransmission, headers);
-
-                    // 发送 POST 请求
-                    ResponseEntity<Boolean> response = restTemplate.exchange(
-                            "http://" + street.getPlcIp() + ":8099" + "/api/industrialCamera/actionType",
-                            HttpMethod.POST,
-                            entity,
-                            Boolean.class
-                    );
-                } catch (Exception e) {
-                    log.error("3D get pcd error", e);
-                }
 
             } else if (code.startsWith("C3")) {
                 delayTime = configProperties.getCameraConfig().getC3DelayCaptureTime();
@@ -415,6 +400,32 @@ public class PlcService {
                 gyrateCameraByCodeTimeLater(street.getCamera1Id(), "C5", configProperties.getCameraConfig().getC2OutDelayCaptureTime() + 500);
             }
         }
+        if (code.startsWith("C2")) {
+           //延迟后拍照
+
+            try {
+                Thread.sleep(delayTime);
+                HttpHeaders headers = new HttpHeaders();
+                headers.set("Content-Type", "application/json");
+                headers.set("User-Agent", "Mozilla/5.0");
+
+
+                TransmissionPojo scTransmission = new TransmissionPojo(street, plcCmdInfo.getRow2(), plcCmdInfo.getColumn2(), plcCmdInfo.getLeftRight2(), plcCmdInfo.getTaskId());
+                // 创建 HttpEntity 对象
+                HttpEntity<TransmissionPojo> entity = new HttpEntity<>(scTransmission, headers);
+
+                // 发送 POST 请求
+                ResponseEntity<Boolean> response = restTemplate.exchange(
+                        "http://" + street.getPlcIp() + ":8099" + "/api/industrialCamera/actionType",
+                        HttpMethod.POST,
+                        entity,
+                        Boolean.class
+                );
+            } catch (Exception e) {
+                log.error("3D get pcd error", e);
+            }
+
+        }
     }
 
     public void gyrateCamera(PlcCmdInfo plcCmdInfo, String code) {
@@ -773,19 +784,19 @@ public class PlcService {
         } catch (ExecutionException e) {
             throw new RuntimeException(e);
         }
-        String path2D = "http://" + street.getPlcIp() + ":8099/api/"
+
+        LocalDate currentDate = LocalDate.now();
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
+        String path2D = "http://" + street.getPlcIp() + ":9007/api/pic/"
                 + "industrialCamera/"
                 + street.getPlcId() + "/"
-                + checkLog.getLotnum() + "/"
+                + currentDate.format(formatter) + "/"
-                + checkLog.getId() + "/"
+                + checkLog.getRow() + "-"
-                + checkLog.getRow() + "/"
+                + checkLog.getColumn() + "-"
-                + checkLog.getColumn() + "/"
                 + checkLog.getDirection().toString() + "/";
         //结果
         String filePath = path2D + street.getIndustrialCamera() + ".jpeg";
         OrderInfo orderInfo = new OrderInfo(street, plcCmdInfo, 1, cmdCode);
-
-        Stock stock = stockMapper.getByStreetAndDirectionAndSideAndRowColumn(orderInfo.getStreetId(), plcCmdInfo.getLeftRight1(), orderInfo.getSeparation(), orderInfo.getRow(), orderInfo.getColumn());
         String scanCode = null;
 
         //货物使用球机扫码
@@ -799,6 +810,8 @@ public class PlcService {
         }
         checkLog.setStatus(status);
 
+        Stock stock = stockMapper.getByStreetAndDirectionAndSideAndRowColumn(orderInfo.getStreetId(), plcCmdInfo.getLeftRight1(), orderInfo.getSeparation(), orderInfo.getRow(), orderInfo.getColumn());
+
         checkLogMapper.updateById(checkLog);
         if (stock == null) {
             stock = Stock.builder()
@@ -816,9 +829,7 @@ public class PlcService {
                     .status(status)
                     .checkPic(path)
                     .preoperationPic(filePath)
-                    .statusVision(checkLog.getStatusVision())
+
-                    .count(checkLog.getCount())
-                    .category(checkLog.getCategory())
                     .exportTime(LocalDateTime.now()).build();
             stockMapper.insert(stock);
         } else {
@@ -827,9 +838,6 @@ public class PlcService {
             stock.setExportTime(LocalDateTime.now());
             stock.setCheckPic(path);
 
-            stock.setStatusVision(checkLog.getStatusVision());
-            stock.setCount(checkLog.getCount());
-            stock.setCategory(checkLog.getCategory());
             stock.setCheckNum(plcCmdInfo.getOrderNum());
             stock.setTrayCode(checkLog.getTrayCode());
             stock.setWmsTrayCode(wmsTrayCode);
@@ -927,27 +935,8 @@ public class PlcService {
             }
         } else if (type == 4) {
             TransmissionPojo transmissionPojo = new TransmissionPojo(checkLog, street);
-            if (ClientChanel.get(plcCmdInfo.getPlcId()) != null) {
-                ClientChanel.get(plcCmdInfo.getPlcId()).writeAndFlush(transmissionPojo.toString(TransmissionType.ST));
-            } else {
-                log.error("未找到对应plc" + transmissionPojo.toString());
-            }
             //取货完成进行拍照
-            try {
+            getPhotoDelayExecutor.communicationFactory(street.getPlcId(), transmissionPojo.toString(TransmissionType.GPS), configProperties.getQueueSpanTime(), transmissionPojo, checkLog);
-                Thread.sleep(50L);
-                //不为其他状态进入队列
-                if (lock.tryLock()) {
-
-                    //
-                    getPhotoDelayExecutor.communicationFactory(street.getPlcId(), transmissionPojo.toString(TransmissionType.GPS), configProperties.getQueueSpanTime(), transmissionPojo, checkLog);
-                }
-
-            } catch (InterruptedException e) {
-                log.error("取图命令 error", e);
-            } finally {
-                lock.unlock();
-                log.info("盘点完成");
-            }
         }
         if (checkLog.getTrayCode() != null && !"".equals(checkLog.getTrayCode())) {
 

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

@@ -26,7 +26,9 @@ import org.springframework.util.StringUtils;
 import org.springframework.web.multipart.MultipartFile;
 
 import javax.annotation.Resource;
+import java.time.LocalDate;
 import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
 import java.util.*;
 import java.util.stream.Collectors;
 
@@ -408,21 +410,30 @@ public class StockService {
             Street street = streetMapper.selectById(stock.getStreetId());
             stock.setStreetName(street.getName());
 
-            List<StockLog> stockLogs = stockLogMapper.selectList(new QueryWrapper<StockLog>().eq("`row`", stockCheck.getRow()).eq("`column`", stockCheck.getColumn()).eq("street_id", stockCheck.getStreetId()).eq("direction", stockCheck.getDirection()).eq("side", stockCheck.getSide()).orderByDesc("create_time").last(" limit 2"));
+            LocalDate currentDate = LocalDate.now();
+
+            DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
+            List<StockLog> stockLogs = stockLogMapper.selectList(new QueryWrapper<StockLog>()
+                    .eq("`row`", stockCheck.getRow())
+                    .eq("`column`", stockCheck.getColumn())
+                    .eq("street_id", stockCheck.getStreetId())
+                    .eq("direction", stockCheck.getDirection())
+                    .eq("side", stockCheck.getSide())
+                    .orderByDesc("create_time")
+                    .last(" limit 1"));
             if (stockLogs.size() == 1) {
                 stock.setOveroperationPic(stockLogs.get(0).getPic());
-            } else if (stockLogs.size() == 2) {
-                stock.setOveroperationPic(stockLogs.get(0).getPic());
 
             }
-            String path2D = "http://" + street.getPlcIp() + ":8099/api/"
+
+            currentDate =stock.getExportTime().toLocalDate();
+            String path2D = "http://" + street.getPlcIp() + ":9007/api/pic/"
                     + "industrialCamera/"
                     + street.getPlcId() + "/"
-                    + stock.getLotnum() + "/"
+                    + currentDate.format(formatter) + "/"
-                    + stock.getId() + "/"
+                    + stock.getRow() + "-"
-                    + stock.getRow() + "/"
+                    + stock.getColumn() + "-"
-                    + stock.getColumn() + "/"
+                    + stock.getDirection().toString() + "-";
-                    + stock.getDirection().toString() + "/";
             //结果
             String filePath = path2D + street.getIndustrialCamera() + ".jpeg";
             stock.setPreoperationPic(filePath);
@@ -437,6 +448,18 @@ public class StockService {
         return stock;
     }
 
+    public static void main(String[] args) {
+       ;
+
+        String currentDate =  "2024-09-11 12:38:53";
+
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+        DateTimeFormatter formatter1 = DateTimeFormatter.ofPattern("yyyy-MM-dd");
+        // 解析字符串为 LocalDateTime
+        LocalDateTime dateTime = LocalDateTime.parse(currentDate, formatter);
+        System.out.println( dateTime.format(formatter1));
+    }
+
     public Stock nextOne(Long id) {
         QueryWrapper<Stock> stockQueryWrapper = new QueryWrapper<>();
 

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

@@ -16,8 +16,8 @@ public class PointCloudProcessor {
 
     public static void main(String[] args) {
         PcdPojo pojo = new PcdPojo();
-        pojo.setPcd1("E:\\127.pcd");
+        pojo.setPcd1("D:\\WeChet\\WeChat Files\\wxid_ttkf0xgmyihv22\\FileStorage\\File\\2024-09\\8-6-2-L.pcd");
-        pojo.setPcd2("E:\\1-8-2-R.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);

web/src/main/java/com/zhehekeji/web/service/client/GetPhotoDelayExecutor.java

@@ -41,8 +41,9 @@ public class GetPhotoDelayExecutor {
         //GetPhotoDelayExecutor.addCameraDelayTask( plcId,  getPhotoCommand,  time, transmissionPojo);
         //视觉
         //保存数据
+        log.info("视觉请求："+transmissionPojo.toString());
         transmissionPojo = plcService.visualInventoryHttp(transmissionPojo);
-        plcService.visualCalculationResults(transmissionPojo,checkLog);
+        //plcService.visualCalculationResults(transmissionPojo,checkLog);
         //发送给上位机
         KsecInfo ksecInfo = plcService.getKsecDataInfo(transmissionPojo,"E");
         ksecInfo.getData().setTypeNum(transmissionPojo.getCategory());

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

@@ -42,6 +42,8 @@ public class KsecDataInfo {
 
     private String typeNum;
 
+    private String matid;
+
     private Integer quantity;
 
     private Integer checkRlt;

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

@@ -100,6 +100,9 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
                 if(dataInfo.getToDirection()!=null){
                     dataInfo.setToDirection(dataInfo.getToDirection()==1?2:1);
                 }
+                if(dataInfo.getMatid() != null){
+                    dataInfo.setTypeNum(dataInfo.getMatid());
+                }
                 LotnumConvert lotnumConvert = new LotnumConvert(dataInfo.getLotnum());
                 String lotnum = lotnumConvert.getLotnum();
                 dataInfo.setLotnum(lotnum);