通讯支持算法处理多条信号同步发送

runner17/Release/config/camera.json

@@ -29,7 +29,7 @@
       "rotation_angle": 0,
       "calib_file": ".\\config\\1.calib",
       "save": 1,
-      "save_img_suffix": ".BMP",
+      "save_img_suffix": ".PNG",
       "savefile_rgb_swapped": false,
       "showname": "相机一",
       "trigger_source": "Line0",
@@ -66,7 +66,7 @@
       "rotation_angle": 0,
       "calib_file": ".\\config\\1.calib",
       "save": 1,
-      "save_img_suffix": ".BMP",
+      "save_img_suffix": ".PNG",
       "savefile_rgb_swapped": false,
       "showname": "相机一",
       "trigger_source": "Line0",
@@ -78,7 +78,7 @@
       "id": 3,
       "exposure": 10000,
       "location": 1,
-      "save_img_suffix": ".BMP",
+      "save_img_suffix": ".PNG",
       "height": 3072,
       "width": 2048,
       "type": 210
@@ -88,7 +88,7 @@
       "id": 4,
       "exposure": 10000,
       "location": 2,
-      "save_img_suffix": ".BMP",
+      "save_img_suffix": ".PNG",
       "height": 3072,
       "width": 2048,
       "type": 210

src/HeightCalculate.cpp

@@ -7,12 +7,12 @@ HeightCalculate::HeightCalculate(QObject *parent)
 HeightCalculate::~HeightCalculate()
 {}
 
-void HeightCalculate::LoadBasicFile()
+void HeightCalculate::LoadBasicFile(QString path)
 {
 
 }
 
-void HeightCalculate::LoadPointCould()
+void HeightCalculate::LoadPointCould(QString path)
 {
 
 }

src/HeightCalculate.h

@@ -10,8 +10,8 @@ public:
 	HeightCalculate(QObject *parent = nullptr);
 	~HeightCalculate();
 
-	void LoadBasicFile();
+	void LoadBasicFile(QString path);
-	void LoadPointCould();
+	void LoadPointCould(QString path);
 	int SmokeHeight();
 
 };

src/SmokeBoxIdentification.cpp

@@ -298,109 +298,135 @@ Q_SLOT void SmokeBoxIdentification::onDecodeMsg(const QString& msg)
 		msgContent.chop(1);
 	}
 	qDebug() << "msg: " << msg << " content: " << msgContent;
-	QStringList strList = msgContent.split(SPLIT_RULE);
+
-	qDebug() << "strlist length: " << strList.length() << " head: " << strList.at(0);
+	switch (m_moduleParam.COMMRules)
-	if (strList[0] == EMPTY_CHECK_HEAD)
+	{
+	case eCommunicationRules::emNJ:
 	{
-		if (strList.length() == 4)
+		QStringList strList = msgContent.split(SPLIT_RULE);
+		qDebug() << "strlist length: " << strList.length() << " head: " << strList.at(0);
+
+		if (strList[0] == EMPTY_CHECK_HEAD)
 		{
-			EmptyCheckInfo emptyCheckInfo;
+			if (strList.length() == 4)
-			emptyCheckInfo.streetName = strList[1];
-			emptyCheckInfo.taskNum = strList[2];
-			m_currtEmptyCheckInfo = emptyCheckInfo;
-			if (strList[3] == "START")
-			{
-				m_workMode = WorkMode::EmptyCheck;
-				emit sgStartEmptyPlaceCheck(m_currtEmptyCheckInfo.streetName);
-			}
-			else if (strList[3] == "END")
 			{
-				if (m_workMode == WorkMode::EmptyCheck)
+				EmptyCheckInfo emptyCheckInfo;
+				emptyCheckInfo.streetName = strList[1];
+				emptyCheckInfo.taskNum = strList[2];
+				m_currtEmptyCheckInfo = emptyCheckInfo;
+				if (strList[3] == "START")
 				{
-					emit sgStopEmptyPlaceCheck();
+					m_workMode = WorkMode::EmptyCheck;
-					m_workMode = WorkMode::Idle;
+					emit sgStartEmptyPlaceCheck(m_currtEmptyCheckInfo.streetName);
+				}
+				else if (strList[3] == "END")
+				{
+					if (m_workMode == WorkMode::EmptyCheck)
+					{
+						emit sgStopEmptyPlaceCheck();
+						m_workMode = WorkMode::Idle;
+					}
 				}
 			}
 		}
-	}
+		if (strList.at(0) == STOCK_CHECK_HEAD)
-	if (strList.at(0) == STOCK_CHECK_HEAD)
-	{
-		if (strList.length() == 7)
 		{
-			qDebug() << "开始货位盘点";
+			if (strList.length() == 7)
-			m_workMode = WorkMode::StockCheck;
+			{
-			StockCheckInfo stockCheckInfo;
+				qDebug() << "开始货位盘点";
-			stockCheckInfo.streetName = strList.at(1);
+				m_workMode = WorkMode::StockCheck;
-			stockCheckInfo.stockNum = strList.at(2);
+				StockCheckInfo stockCheckInfo;
-			stockCheckInfo.taskNum = strList.at(3);
+				stockCheckInfo.streetName = strList.at(1);
-			stockCheckInfo.smokeTypeNum = strList.at(4);
+				stockCheckInfo.stockNum = strList.at(2);
-			stockCheckInfo.smokeQuantity = strList.at(5);
+				stockCheckInfo.taskNum = strList.at(3);
-			m_currtStockCheckInfo = stockCheckInfo;
+				stockCheckInfo.smokeTypeNum = strList.at(4);
+				stockCheckInfo.smokeQuantity = strList.at(5);
+				m_currtStockCheckInfo = stockCheckInfo;
+			}
+			else if (strList.length() == 3)
+			{
+				qDebug() << "取货到位";
+				QString taskNum = strList.at(2);
+				QString currentTaskNum = m_currtStockCheckInfo.taskNum;
+				if (m_workMode == WorkMode::StockCheck)
+				{
+					captureSide(1);
+					captureTop(1);
+				}
+			}
 		}
-		else if (strList.length() == 3)
+		else if (strList.at(0) == INTO_STOCK_HEAD)
 		{
-			qDebug() << "取货到位";
+			if (strList.length() == 4)
-			QString taskNum = strList.at(2);
-			QString currentTaskNum = m_currtStockCheckInfo.taskNum;
-			if (m_workMode == WorkMode::StockCheck)
 			{
-				captureSide(1);
+				qDebug() << "入库顶部拍照";
+				m_workMode = WorkMode::IntoStock;
+				IntoStockInfo intoStockInfo;
+				intoStockInfo.streetName = strList.at(1);
+				intoStockInfo.taskNum = strList.at(2);
+				intoStockInfo.stockNum = strList.at(3);
+				m_currtIntoStockInfo = intoStockInfo;
 				captureTop(1);
 			}
 		}
-	}
+		else if (strList.at(0) == LIGHT_CONTROL_HEAD)
-	else if (strList.at(0) == INTO_STOCK_HEAD)
-	{
-		if (strList.length() == 4)
 		{
-			qDebug() << "入库顶部拍照";
+			if (strList.length() == 3)
-			m_workMode = WorkMode::IntoStock;
+			{
-			IntoStockInfo intoStockInfo;
+				qDebug() << "开关灯";
-			intoStockInfo.streetName = strList.at(1);
+				if (strList.at(2) == "0")
-			intoStockInfo.taskNum = strList.at(2);
+				{
-			intoStockInfo.stockNum = strList.at(3);
+					emit sgControlSideLight(lightCtrl::emTurnOffLight);
-			m_currtIntoStockInfo = intoStockInfo;
+				}
-			captureTop(1);
+				else if (strList.at(2) == "1")
+				{
+					emit sgControlSideLight(lightCtrl::emTurnOnLight);
+				}
+			}
 		}
 	}
-	else if (strList.at(0) == LIGHT_CONTROL_HEAD)
+		break;
+	case eCommunicationRules::emSJZ:
 	{
-		if (strList.length() == 3)
+		QStringList msgList = msgContent.split(END_SYMBOL);
+		for (int i = 0; i < msgList.length(); i++)
 		{
-			qDebug() << "开关灯";
+			QStringList strList = msgList[i].split(SPLIT_RULE);
-			if (strList.at(2) == "0")
+			qDebug() << "strlist length: " << strList.length() << " head: " << strList.at(0);
+			if (strList.at(0) == START_CAPTURE && strList.length() == 7)
 			{
-				emit sgControlSideLight(lightCtrl::emTurnOffLight);
+				qDebug() << "到位取图开始";
+				//m_workMode = WorkMode::Capture;
+				m_currtIntoStockInfo.streetName = strList.at(1);
+				m_currtIntoStockInfo.id = strList.at(2);
+				m_currtIntoStockInfo.taskNum = strList.at(3);
+				m_currtIntoStockInfo.stockLocation = strList.at(4);
+				m_currtIntoStockInfo.smokeTypeNum = strList.at(5);
+				m_currtIntoStockInfo.smokeQuantity = strList.at(6);
+				captureSide(m_currtIntoStockInfo.stockLocation.toInt());
 			}
-			else if (strList.at(2) == "1")
+			else if (strList.at(0) == START_CALCULATE && strList.length() == 7)
 			{
-				emit sgControlSideLight(lightCtrl::emTurnOnLight);
+				qDebug() << "品规计数开始";
+				//m_workMode = WorkMode::StockCheck;
+				m_currtStockCheckInfo.streetName = strList.at(1);
+				m_currtStockCheckInfo.id = strList.at(2);
+				m_currtStockCheckInfo.taskNum = strList.at(3);
+				m_currtStockCheckInfo.stockLocation = strList.at(4);
+				m_currtStockCheckInfo.smokeTypeNum = strList.at(5);
+				m_currtStockCheckInfo.smokeQuantity = strList.at(6);
+				m_stocketList.insert(m_currtStockCheckInfo.id.toInt(), m_currtStockCheckInfo);
+				calculate(m_currtStockCheckInfo.id.toInt());
 			}
 		}
 	}
-	else if (strList.at(0) == START_CAPTURE)
+		break;
-	{
+	default:
-		qDebug() << "到位取图开始";
+		break;
-		//m_workMode = WorkMode::Capture;
-		m_currtIntoStockInfo.streetName = strList.at(1);
-		m_currtIntoStockInfo.id = strList.at(2);
-		m_currtIntoStockInfo.taskNum = strList.at(3);
-		m_currtIntoStockInfo.stockLocation = strList.at(4);
-		captureSide(m_currtIntoStockInfo.stockLocation.toInt());
-	}
-	else if (strList.at(0) == START_CALCULATE)
-	{
-		qDebug() << "品规计数开始";
-		//m_workMode = WorkMode::StockCheck;
-		m_currtStockCheckInfo.streetName = strList.at(1);
-		m_currtStockCheckInfo.id = strList.at(2);
-		m_currtStockCheckInfo.taskNum = strList.at(3);
-		m_currtStockCheckInfo.stockLocation = strList.at(4);
-		m_currtStockCheckInfo.smokeTypeNum = strList.at(5);
-		m_currtStockCheckInfo.smokeQuantity = strList.at(6);
-		m_stocketList.insert(m_currtStockCheckInfo.id.toInt(),m_currtStockCheckInfo);
-		calculate(m_currtStockCheckInfo.id.toInt());
 	}
+
+
+
 }
 
 void SmokeBoxIdentification::calculate(int stocketID)
@@ -444,6 +470,8 @@ void SmokeBoxIdentification::calculate(int stocketID)
 					m_pCategoryMatcher->saveResultsImage(filePath);
 
 
+					m_stocketList[stocketID].imagesPathList.append(filePath.right(filePath.length()-1));
+
 
 					//根据相机编号，对应找到3D基准文件去计算层高
 					QString pclPath = dataSaveFolder;
@@ -454,7 +482,16 @@ void SmokeBoxIdentification::calculate(int stocketID)
 
 					if (fileList.length() > 0)
 					{
-						m_pHeightCalculate->LoadPointCould();
+						pclPath = fileList[0].absolutePath();
+						m_pHeightCalculate->LoadPointCould(fileList[0].absolutePath());
+						str = QString("[%1]:Camera %2 -- PointCould = %3").arg(stocket.id)
+							.arg(imgInfo.cameraSn).arg(pclPath);
+						qInfo() << str;
+
+						int lastPos = pclPath.lastIndexOf('.');
+						QString depthImagePath = pclPath.left(lastPos);
+						depthImagePath.append(".PNG");
+						m_stocketList[stocketID].imagesPathList.append(depthImagePath.right(depthImagePath.length() - 1));
 					}
 					else
 					{
@@ -470,9 +507,13 @@ void SmokeBoxIdentification::calculate(int stocketID)
 							.arg(imgInfo.cameraSn).arg(basicFile);
 						qWarning() << str;
 					}
-					m_pHeightCalculate->LoadBasicFile();
+					m_pHeightCalculate->LoadBasicFile(QString{});
+
+					//数量计算
 					m_stocketList[stocketID].smokeQuantityRlt = QString::number(m_pHeightCalculate->SmokeHeight());
 
+					//QFile::copy("C:\\Users\\LENOVO\\Downloads\\30t.pcd",pclPath);
+					QFile::rename(".\\Cache\\1.pcd", pclPath);
 
 					break;
 				}
@@ -483,6 +524,7 @@ void SmokeBoxIdentification::calculate(int stocketID)
 					QString filePath = dataSaveFolder + QString("\\%1_error.PNG")
 						.arg(stocket.smokeTypeNum);
 					m_pCategoryMatcher->saveResultsImage(filePath);
+					m_stocketList[stocketID].imagesPathList.append(filePath);
 				}
 			}
 			else
@@ -619,7 +661,8 @@ void SmokeBoxIdentification::sendResults(int mode, int id)
 				.append(m_stocketList.value(id).stockLocation).append(SPLIT_RULE)
 				.append(m_stocketList.value(id).smokeTypeNumRlt).append(SPLIT_RULE)
 				.append(m_stocketList.value(id).smokeQuantityRlt).append(SPLIT_RULE)
-				.append(QString::number(m_stocketList.value(id).correctness)).append(END_SYMBOL);
+				.append(QString::number(m_stocketList.value(id).correctness)).append(SPLIT_RULE)
+				.append(m_stocketList.value(id).imagesPathList.join(";")).append(END_SYMBOL);
 			m_stocketList.remove(id);
 			qInfo() << "m_stocketList.remove(id) = " << id <<"; Next ="<<m_stocketList.size();
 
@@ -652,7 +695,9 @@ void SmokeBoxIdentification::sendResults(int mode, int id)
 				.append(m_currtIntoStockInfo.streetName).append(SPLIT_RULE)
 				.append(m_currtIntoStockInfo.id).append(SPLIT_RULE)
 				.append(m_currtIntoStockInfo.taskNum).append(SPLIT_RULE)
-				.append(m_currtIntoStockInfo.stockLocation).append(END_SYMBOL);
+				.append(m_currtIntoStockInfo.stockLocation).append(SPLIT_RULE)
+				.append(m_currtIntoStockInfo.smokeTypeNum).append(SPLIT_RULE)
+				.append(m_currtIntoStockInfo.smokeQuantity).append(END_SYMBOL);
 			break;
 		}
 		default:

src/common/commonDefine.h

@@ -150,6 +150,8 @@ struct IntoStockInfo
 	QString stockNum;  //货架位置UL062015020111 6号堆垛机，2：右边；
 	QString id = 0;
 	QString stockLocation = 0; // 方向：1左，2右；0保留为之前规则
+	QString smokeTypeNum; //上位机发送的品规号37010106
+	QString smokeQuantity; //上位机发送的数量30
 	QStringList imagesPathList;
 };
 
@@ -179,6 +181,7 @@ struct StockCheckInfo
 	QString smokeTypeNumRlt; //盘点识别的品规号
 	QString smokeQuantityRlt; //盘点识别的数量
 	bool correctness; //盘点结果是否与上位机一致
+	QStringList imagesPathList;
 	//void clear()
 	//{
 	//	streetName.clear();