939 lines
38 KiB
C++
939 lines
38 KiB
C++
#include "WorkpieceHolePresenter.h"
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#include "VrError.h"
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#include "VrLog.h"
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#include <QtCore/QCoreApplication>
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#include <QtCore/QFileInfo>
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#include <QtCore/QDir>
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#include <QtCore/QString>
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#include <QtCore/QStandardPaths>
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#include <QtCore/QFile>
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#include <QtCore/QDateTime>
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#include <cmath>
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#include <algorithm>
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#include <QImage>
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#include <QThread>
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#include <atomic>
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#include <QJsonObject>
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#include <QJsonArray>
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#include "Version.h"
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#include "VrTimeUtils.h"
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#include "VrDateUtils.h"
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#include "SG_baseDataType.h"
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#include "VrConvert.h"
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#include "TCPServerProtocol.h"
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#include "DetectPresenter.h"
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#include "PathManager.h"
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#include "workpieceHolePositioning_Export.h" // 调平算法接口
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// 配置变化监听器代理实现
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void ConfigChangeListenerProxy::OnSystemConfigChanged(const SystemConfig& config)
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{
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if (m_presenter) {
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LOG_INFO("ConfigChangeListenerProxy: config changed, reloading algorithm parameters\n");
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m_presenter->InitAlgoParams();
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}
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}
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WorkpieceHolePresenter::WorkpieceHolePresenter(QObject *parent)
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: BasePresenter(parent)
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, m_pConfigManager(nullptr)
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, m_pDetectPresenter(nullptr)
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, m_pTCPServer(nullptr)
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, m_bTCPConnected(false)
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, m_pPLCModbusClient(nullptr)
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, m_bPLCConnected(false)
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, m_bRobotConnected(false)
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{
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// 基类已经创建了相机重连定时器和检测数据缓存
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}
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WorkpieceHolePresenter::~WorkpieceHolePresenter()
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{
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// 基类会自动处理：相机重连定时器、算法检测线程、检测数据缓存、相机设备资源
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// 释放 PLC Modbus 客户端
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if (m_pPLCModbusClient) {
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m_pPLCModbusClient->Shutdown();
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delete m_pPLCModbusClient;
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m_pPLCModbusClient = nullptr;
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}
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// 释放ConfigManager
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if (m_pConfigManager) {
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m_pConfigManager->Shutdown();
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delete m_pConfigManager;
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m_pConfigManager = nullptr;
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}
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// 释放TCP服务器
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if (m_pTCPServer) {
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m_pTCPServer->Deinitialize();
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delete m_pTCPServer;
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m_pTCPServer = nullptr;
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}
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// 释放检测处理器
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if(m_pDetectPresenter)
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{
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delete m_pDetectPresenter;
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m_pDetectPresenter = nullptr;
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}
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}
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int WorkpieceHolePresenter::InitApp()
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{
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LOG_DEBUG("Start APP Version: %s\n", WORKPIECEHOLE_FULL_VERSION_STRING);
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// 初始化连接状态
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SetWorkStatus(WorkStatus::InitIng);
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m_pDetectPresenter = new DetectPresenter();
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int nRet = SUCCESS;
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// 创建 ConfigManager 实例
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m_pConfigManager = new ConfigManager();
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if (!m_pConfigManager) {
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LOG_ERROR("Failed to create ConfigManager instance\n");
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("配置管理器创建失败");
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return ERR_CODE(DEV_CONFIG_ERR);
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}
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// 初始化 ConfigManager
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if (!m_pConfigManager->Initialize()) {
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LOG_ERROR("Failed to initialize ConfigManager\n");
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("配置管理器初始化失败");
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return ERR_CODE(DEV_CONFIG_ERR);
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}
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// 注册配置变化监听器
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m_pConfigListener = std::make_shared<ConfigChangeListenerProxy>(this);
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m_pConfigManager->AddConfigChangeListener(m_pConfigListener);
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LOG_INFO("Configuration loaded successfully\n");
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// 获取配置结果
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ConfigResult configResult = m_pConfigManager->GetConfigResult();
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// 调用基类InitCamera进行相机初始化（bRGB=false, bSwing=true）
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InitCamera(configResult.cameraList, false, true);
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LOG_INFO("Camera initialization completed. Connected cameras: %zu, default camera index: %d\n",
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m_vrEyeDeviceList.size(), m_currentCameraIndex);
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// 初始化TCP服务器
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nRet = InitTCPServer();
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if (nRet != 0) {
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("TCP服务器初始化失败");
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m_bTCPConnected = false;
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} else {
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("TCP服务器初始化成功");
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}
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// 初始化 PLC Modbus 客户端
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nRet = InitPLCModbus();
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if (nRet != 0) {
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LOG_WARNING("PLC Modbus initialization failed, continuing without PLC communication\n");
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("PLC通信初始化失败");
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} else {
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("PLC通信初始化成功");
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}
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("设备初始化完成");
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CheckAndUpdateWorkStatus();
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("配置初始化成功");
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return SUCCESS;
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}
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// 初始化算法参数（实现BasePresenter纯虚函数）
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int WorkpieceHolePresenter::InitAlgoParams()
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{
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LOG_DEBUG("initializing algorithm parameters\n");
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QString exePath = QCoreApplication::applicationFilePath();
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// 清空现有的手眼标定矩阵列表
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m_clibMatrixList.clear();
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// 从 ConfigManager 获取配置结果（包含手眼标定矩阵）
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ConfigResult configResult = m_pConfigManager->GetConfigResult();
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// 从 config.xml 加载手眼标定矩阵
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CalibMatrix calibMatrix;
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memcpy(calibMatrix.clibMatrix, configResult.handEyeCalibMatrix.matrix, sizeof(double) * 16);
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m_clibMatrixList.push_back(calibMatrix);
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LOG_INFO("Loaded hand-eye calibration matrix from config.xml:\n");
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QString clibMatrixStr;
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for (int i = 0; i < 4; ++i) {
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clibMatrixStr.clear();
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for (int j = 0; j < 4; ++j) {
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clibMatrixStr += QString::asprintf("%8.4f ", calibMatrix.clibMatrix[i * 4 + j]);
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}
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LOG_INFO(" %s\n", clibMatrixStr.toStdString().c_str());
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}
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LOG_INFO("Total loaded %zu hand-eye calibration matrices\n", m_clibMatrixList.size());
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const VrAlgorithmParams& xmlParams = configResult.algorithmParams;
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LOG_INFO("Loaded XML params - WorkpieceHole: type=%d, holeDiameter=%.1f, holeDist_L=%.1f, holeDist_W=%.1f\n",
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xmlParams.workpieceHoleParam.workpieceType,
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xmlParams.workpieceHoleParam.holeDiameter,
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xmlParams.workpieceHoleParam.holeDist_L,
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xmlParams.workpieceHoleParam.holeDist_W);
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LOG_INFO("Loaded XML params - Filter: continuityTh=%.1f, outlierTh=%.1f\n",
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xmlParams.filterParam.continuityTh, xmlParams.filterParam.outlierTh);
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LOG_INFO("Loaded XML params - LineSeg: distScale=%.1f, segGapTh_y=%.1f, segGapTh_z=%.1f\n",
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xmlParams.lineSegParam.distScale, xmlParams.lineSegParam.segGapTh_y, xmlParams.lineSegParam.segGapTh_z);
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LOG_INFO("Algorithm parameters initialized successfully\n");
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// 循环打印所有相机的调平参数（添加安全检查）
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LOG_INFO("Loading plane calibration parameters for all cameras:\n");
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if (!xmlParams.planeCalibParam.cameraCalibParams.empty()) {
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for (const auto& cameraParam : xmlParams.planeCalibParam.cameraCalibParams) {
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try {
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LOG_INFO("Camera %d (%s) calibration parameters:\n",
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cameraParam.cameraIndex, cameraParam.cameraName.c_str());
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LOG_INFO(" Is calibrated: %s\n", cameraParam.isCalibrated ? "YES" : "NO");
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LOG_INFO(" Plane height: %.3f\n", cameraParam.planeHeight);
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LOG_INFO(" Plane calibration matrix:\n");
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[0], cameraParam.planeCalib[1], cameraParam.planeCalib[2]);
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[3], cameraParam.planeCalib[4], cameraParam.planeCalib[5]);
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[6], cameraParam.planeCalib[7], cameraParam.planeCalib[8]);
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LOG_INFO(" Inverse rotation matrix:\n");
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[0], cameraParam.invRMatrix[1], cameraParam.invRMatrix[2]);
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[3], cameraParam.invRMatrix[4], cameraParam.invRMatrix[5]);
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[6], cameraParam.invRMatrix[7], cameraParam.invRMatrix[8]);
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LOG_INFO(" --------------------------------\n");
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} catch (const std::exception& e) {
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LOG_ERROR("Exception while printing camera calibration parameters: %s\n", e.what());
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} catch (...) {
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LOG_ERROR("Unknown exception while printing camera calibration parameters\n");
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}
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}
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} else {
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LOG_WARNING("No plane calibration parameters found in configuration\n");
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}
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return SUCCESS;
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}
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// 手眼标定矩阵管理方法实现
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CalibMatrix WorkpieceHolePresenter::GetClibMatrix(int index) const
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{
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CalibMatrix clibMatrix;
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double initClibMatrix[16] = {
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1.0, 0.0, 0.0, 0.0, // 第一行
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0.0, 1.0, 0.0, 0.0, // 第二行
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0.0, 0.0, 1.0, 0.0, // 第三行
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0.0, 0.0, 0.0, 1.0 // 第四行
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};
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memcpy(clibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));
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if (index >= 0 && index < static_cast<int>(m_clibMatrixList.size())) {
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clibMatrix = m_clibMatrixList[index];
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memcpy(clibMatrix.clibMatrix, m_clibMatrixList[index].clibMatrix, sizeof(initClibMatrix));
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} else {
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LOG_WARNING("Invalid hand-eye calibration matrix\n");
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}
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return clibMatrix;
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}
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// ============ 坐标转换实现 ============
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void WorkpieceHolePresenter::ConvertWorkpieceToRobotPose(const WD_workpieceInfo& workpieceInfo,
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const CTRobotPose& robotPose,
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const CTSixAxisCalibResult& handEye,
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CTRobotPose& targetPose)
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{
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// 1. 从方向向量构建旋转矩阵
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CTRotationMatrix rotMatrix;
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rotMatrix.at(0, 0) = workpieceInfo.x_dir.x;
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rotMatrix.at(1, 0) = workpieceInfo.x_dir.y;
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rotMatrix.at(2, 0) = workpieceInfo.x_dir.z;
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rotMatrix.at(0, 1) = workpieceInfo.y_dir.x;
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rotMatrix.at(1, 1) = workpieceInfo.y_dir.y;
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rotMatrix.at(2, 1) = workpieceInfo.y_dir.z;
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rotMatrix.at(0, 2) = workpieceInfo.z_dir.x;
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rotMatrix.at(1, 2) = workpieceInfo.z_dir.y;
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rotMatrix.at(2, 2) = workpieceInfo.z_dir.z;
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// 2. 将旋转矩阵转换为欧拉角
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CTEulerAngles eulerAngles = CCoordinateTransform::rotationMatrixToEuler(rotMatrix, CTEulerOrder::sZYX);
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// 3. 构造相机坐标系下的目标位姿
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CTCameraPose cameraPose(
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workpieceInfo.center.x,
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workpieceInfo.center.y,
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workpieceInfo.center.z,
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eulerAngles.roll,
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eulerAngles.pitch,
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eulerAngles.yaw
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);
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// 4. 使用六轴手眼转换（Eye-in-Hand模式）计算机器人目标位姿
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CCoordinateTransform::sixAxisEyeInHandCalcGraspPose(cameraPose, robotPose, handEye, targetPose);
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LOG_DEBUG("ConvertWorkpieceToRobotPose: Camera(%f, %f, %f, %f, %f, %f) -> Robot(%f, %f, %f, %f, %f, %f)\n",
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cameraPose.x, cameraPose.y, cameraPose.z,
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cameraPose.rx, cameraPose.ry, cameraPose.rz,
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targetPose.x, targetPose.y, targetPose.z,
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targetPose.rx, targetPose.ry, targetPose.rz);
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}
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void WorkpieceHolePresenter::ConvertWorkpieceToRobotPoseEyeToHand(const WD_workpieceInfo& workpieceInfo,
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const CTSixAxisCalibResult& cameraToBase,
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CTRobotPose& targetPose)
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{
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// 1. 从方向向量构建旋转矩阵
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CTRotationMatrix rotMatrix;
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rotMatrix.at(0, 0) = workpieceInfo.x_dir.x;
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rotMatrix.at(1, 0) = workpieceInfo.x_dir.y;
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rotMatrix.at(2, 0) = workpieceInfo.x_dir.z;
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rotMatrix.at(0, 1) = workpieceInfo.y_dir.x;
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rotMatrix.at(1, 1) = workpieceInfo.y_dir.y;
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rotMatrix.at(2, 1) = workpieceInfo.y_dir.z;
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rotMatrix.at(0, 2) = workpieceInfo.z_dir.x;
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rotMatrix.at(1, 2) = workpieceInfo.z_dir.y;
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rotMatrix.at(2, 2) = workpieceInfo.z_dir.z;
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// 2. 将旋转矩阵转换为欧拉角
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CTEulerAngles eulerAngles = CCoordinateTransform::rotationMatrixToEuler(rotMatrix, CTEulerOrder::sZYX);
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// 3. 构造相机坐标系下的目标位姿
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CTCameraPose cameraPose(
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workpieceInfo.center.x,
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workpieceInfo.center.y,
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workpieceInfo.center.z,
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eulerAngles.roll,
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eulerAngles.pitch,
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eulerAngles.yaw
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);
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// 4. 使用六轴手眼转换（Eye-to-Hand模式）计算机器人目标位姿
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CCoordinateTransform::sixAxisEyeToHandCalcGraspPose(cameraPose, cameraToBase, targetPose);
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LOG_DEBUG("ConvertWorkpieceToRobotPoseEyeToHand: Camera(%f, %f, %f, %f, %f, %f) -> Robot(%f, %f, %f, %f, %f, %f)\n",
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cameraPose.x, cameraPose.y, cameraPose.z,
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cameraPose.rx, cameraPose.ry, cameraPose.rz,
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targetPose.x, targetPose.y, targetPose.z,
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targetPose.rx, targetPose.ry, targetPose.rz);
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}
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void WorkpieceHolePresenter::CheckAndUpdateWorkStatus()
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{
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if (m_bCameraConnected) {
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SetWorkStatus(WorkStatus::Ready);
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} else {
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SetWorkStatus(WorkStatus::Error);
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}
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}
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// 实现BasePresenter纯虚函数：执行算法检测
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int WorkpieceHolePresenter::ProcessAlgoDetection(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& detectionDataCache)
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{
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LOG_INFO("[Algo Thread] Start real detection task using algorithm\n");
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// 1. 获取缓存的点云数据（已由基类验证非空）
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unsigned int lineNum = detectionDataCache.size();
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if(GetStatusCallback<IYWorkpieceHoleStatus>()){
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("扫描线数:" + std::to_string(lineNum) + "，正在算法检测...");
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}
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// 检查检测处理器是否已初始化
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if (!m_pDetectPresenter) {
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LOG_ERROR("DetectPresenter is null, cannot proceed with detection\n");
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if (GetStatusCallback<IYWorkpieceHoleStatus>()) {
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("检测处理器未初始化");
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}
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return ERR_CODE(DEV_NOT_FIND);
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}
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CVrTimeUtils oTimeUtils;
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// 获取当前使用的手眼标定矩阵
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const CalibMatrix currentClibMatrix = GetClibMatrix(m_currentCameraIndex - 1);
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// 打印手眼标定矩阵
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LOG_INFO("[Algo Thread] Hand-Eye Calibration Matrix (Camera %d):\n", m_currentCameraIndex);
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LOG_INFO(" [%.4f, %.4f, %.4f, %.4f]\n", currentClibMatrix.clibMatrix[0], currentClibMatrix.clibMatrix[1], currentClibMatrix.clibMatrix[2], currentClibMatrix.clibMatrix[3]);
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LOG_INFO(" [%.4f, %.4f, %.4f, %.4f]\n", currentClibMatrix.clibMatrix[4], currentClibMatrix.clibMatrix[5], currentClibMatrix.clibMatrix[6], currentClibMatrix.clibMatrix[7]);
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LOG_INFO(" [%.4f, %.4f, %.4f, %.4f]\n", currentClibMatrix.clibMatrix[8], currentClibMatrix.clibMatrix[9], currentClibMatrix.clibMatrix[10], currentClibMatrix.clibMatrix[11]);
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LOG_INFO(" [%.4f, %.4f, %.4f, %.4f]\n", currentClibMatrix.clibMatrix[12], currentClibMatrix.clibMatrix[13], currentClibMatrix.clibMatrix[14], currentClibMatrix.clibMatrix[15]);
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// 从 ConfigManager 获取算法参数和调试参数
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VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
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ConfigResult configResult = m_pConfigManager->GetConfigResult();
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VrDebugParam debugParam = configResult.debugParam;
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// 获取旋转顺序配置
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int eulerOrder = configResult.handEyeCalibMatrix.eulerOrder;
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LOG_INFO("[Algo Thread] Using euler order: %d\n", eulerOrder);
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// 获取方向向量反向配置
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int dirVectorInvert = configResult.plcRobotServerConfig.dirVectorInvert;
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LOG_INFO("[Algo Thread] Using dir vector invert: %d\n", dirVectorInvert);
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WorkpieceHoleDetectionResult detectionResult;
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int nRet = m_pDetectPresenter->DetectWorkpieceHole(m_currentCameraIndex, detectionDataCache,
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algorithmParams, debugParam, m_dataLoader,
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currentClibMatrix.clibMatrix, eulerOrder, dirVectorInvert, detectionResult);
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// 根据项目类型选择处理方式
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if (GetStatusCallback<IYWorkpieceHoleStatus>()) {
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QString err = QString("错误:%1").arg(nRet);
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if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate(QString("检测%1").arg(SUCCESS == nRet ? "成功": err).toStdString());
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}
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|
||
LOG_INFO("[Algo Thread] wd_workpieceHolePositioning detected %zu workpieces time : %.2f ms\n", detectionResult.positions.size(), oTimeUtils.GetElapsedTimeInMilliSec());
|
||
ERR_CODE_RETURN(nRet);
|
||
|
||
// 8. 通知UI检测结果
|
||
detectionResult.cameraIndex = m_currentCameraIndex;
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
pStatus->OnDetectionResult(detectionResult);
|
||
}
|
||
|
||
// 更新状态
|
||
QString statusMsg = QString("检测完成，发现%1个工件").arg(detectionResult.positions.size());
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate(statusMsg.toStdString());
|
||
|
||
// 发送检测结果给TCP客户端
|
||
_SendDetectionResultToTCP(detectionResult, m_currentCameraIndex);
|
||
|
||
// 发送坐标数据到 PLC/机械臂
|
||
SendCoordinateDataToPLC(detectionResult);
|
||
|
||
// 9. 检测完成后，将工作状态更新为"完成"
|
||
SetWorkStatus(WorkStatus::Completed);
|
||
|
||
// 恢复到就绪状态
|
||
SetWorkStatus(WorkStatus::Ready);
|
||
|
||
return SUCCESS;
|
||
}
|
||
|
||
|
||
// 实现配置改变通知接口
|
||
void WorkpieceHolePresenter::OnConfigChanged(const ConfigResult& configResult)
|
||
{
|
||
LOG_INFO("Configuration changed notification received, reloading algorithm parameters\n");
|
||
|
||
// 重新初始化算法参数
|
||
int result = InitAlgoParams();
|
||
if (result == SUCCESS) {
|
||
LOG_INFO("Algorithm parameters reloaded successfully after config change\n");
|
||
if (GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("配置已更新，算法参数重新加载成功");
|
||
}
|
||
} else {
|
||
LOG_ERROR("Failed to reload algorithm parameters after config change, error: %d\n", result);
|
||
if (GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate("配置更新后算法参数重新加载失败");
|
||
}
|
||
}
|
||
}
|
||
|
||
// 根据相机索引获取调平参数
|
||
SSG_planeCalibPara WorkpieceHolePresenter::_GetCameraCalibParam(int cameraIndex)
|
||
{
|
||
// 查找指定相机索引的调平参数
|
||
SSG_planeCalibPara calibParam;
|
||
|
||
// 使用单位矩阵（未校准状态）
|
||
double identityMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
|
||
for (int i = 0; i < 9; i++) {
|
||
calibParam.planeCalib[i] = identityMatrix[i];
|
||
calibParam.invRMatrix[i] = identityMatrix[i];
|
||
}
|
||
calibParam.planeHeight = -1.0; // 使用默认高度
|
||
|
||
// 从 ConfigManager 获取算法参数
|
||
VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
|
||
|
||
for (const auto& cameraParam : algorithmParams.planeCalibParam.cameraCalibParams) {
|
||
if (cameraParam.cameraIndex == cameraIndex) {
|
||
|
||
// 根据isCalibrated标志决定使用标定矩阵还是单位矩阵
|
||
if (cameraParam.isCalibrated) {
|
||
// 使用实际的标定矩阵
|
||
for (int i = 0; i < 9; i++) {
|
||
calibParam.planeCalib[i] = cameraParam.planeCalib[i];
|
||
calibParam.invRMatrix[i] = cameraParam.invRMatrix[i];
|
||
}
|
||
calibParam.planeHeight = cameraParam.planeHeight;
|
||
}
|
||
}
|
||
}
|
||
return calibParam;
|
||
}
|
||
|
||
// 实现BasePresenter纯虚函数：相机状态变化通知
|
||
void WorkpieceHolePresenter::OnCameraStatusChanged(int cameraIndex, bool isConnected)
|
||
{
|
||
LOG_INFO("Camera %d status changed: %s\n", cameraIndex, isConnected ? "connected" : "disconnected");
|
||
|
||
// 通知UI更新相机状态
|
||
if (GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
if (cameraIndex == 1) {
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnCamera1StatusChanged(isConnected);
|
||
} else if (cameraIndex == 2) {
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnCamera2StatusChanged(isConnected);
|
||
}
|
||
|
||
// 获取相机名称用于状态消息
|
||
QString cameraName;
|
||
int arrayIndex = cameraIndex - 1;
|
||
if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
|
||
cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
|
||
} else {
|
||
cameraName = QString("相机%1").arg(cameraIndex);
|
||
}
|
||
|
||
QString statusMsg = QString("%1%2").arg(cameraName).arg(isConnected ? "已连接" : "已断开");
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate(statusMsg.toStdString());
|
||
}
|
||
|
||
// 检查并更新工作状态
|
||
CheckAndUpdateWorkStatus();
|
||
}
|
||
|
||
// 实现BasePresenter虚函数：工作状态变化通知
|
||
void WorkpieceHolePresenter::OnWorkStatusChanged(WorkStatus status)
|
||
{
|
||
auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>();
|
||
if (pStatus) {
|
||
pStatus->OnWorkStatusChanged(status);
|
||
}
|
||
}
|
||
|
||
|
||
// 实现BasePresenter虚函数：相机数量变化通知
|
||
void WorkpieceHolePresenter::OnCameraCountChanged(int count)
|
||
{
|
||
auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>();
|
||
if (pStatus) {
|
||
pStatus->OnCameraCountChanged(count);
|
||
}
|
||
}
|
||
|
||
// 实现BasePresenter虚函数：状态文字更新通知
|
||
void WorkpieceHolePresenter::OnStatusUpdate(const std::string& statusMessage)
|
||
{
|
||
auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>();
|
||
if (pStatus) {
|
||
pStatus->OnStatusUpdate(statusMessage);
|
||
}
|
||
}
|
||
|
||
// ============ 实现 ICameraLevelCalculator 接口 ============
|
||
|
||
bool WorkpieceHolePresenter::CalculatePlaneCalibration(
|
||
const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& scanData,
|
||
double planeCalib[9],
|
||
double& planeHeight,
|
||
double invRMatrix[9])
|
||
{
|
||
try {
|
||
// 检查是否有足够的扫描数据
|
||
if (scanData.empty()) {
|
||
LOG_ERROR("No scan data available for plane calibration\n");
|
||
return false;
|
||
}
|
||
|
||
LOG_INFO("Calculating plane calibration from %zu scan lines\n", scanData.size());
|
||
|
||
// 转换为算法需要的XYZ格式
|
||
LaserDataLoader dataLoader;
|
||
std::vector<std::vector<SVzNL3DPosition>> xyzData;
|
||
int convertResult = dataLoader.ConvertToSVzNL3DPosition(scanData, xyzData);
|
||
if (convertResult != SUCCESS || xyzData.empty()) {
|
||
LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
|
||
return false;
|
||
}
|
||
|
||
// 调用工件孔定位项目的调平算法
|
||
SSG_planeCalibPara calibResult = wd_getGroundCalibPara(xyzData);
|
||
|
||
// 打印算法返回结果
|
||
LOG_INFO("=== wd_getGroundCalibPara 算法结果 ===\n");
|
||
LOG_INFO("planeHeight: %.6f\n", calibResult.planeHeight);
|
||
LOG_INFO("planeCalib (调平旋转矩阵):\n");
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", calibResult.planeCalib[0], calibResult.planeCalib[1], calibResult.planeCalib[2]);
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", calibResult.planeCalib[3], calibResult.planeCalib[4], calibResult.planeCalib[5]);
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", calibResult.planeCalib[6], calibResult.planeCalib[7], calibResult.planeCalib[8]);
|
||
LOG_INFO("invRMatrix (逆旋转矩阵):\n");
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", calibResult.invRMatrix[0], calibResult.invRMatrix[1], calibResult.invRMatrix[2]);
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", calibResult.invRMatrix[3], calibResult.invRMatrix[4], calibResult.invRMatrix[5]);
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", calibResult.invRMatrix[6], calibResult.invRMatrix[7], calibResult.invRMatrix[8]);
|
||
LOG_INFO("========================================\n");
|
||
|
||
// 将结构体中的数据复制到输出参数
|
||
for (int i = 0; i < 9; i++) {
|
||
planeCalib[i] = calibResult.planeCalib[i];
|
||
invRMatrix[i] = calibResult.invRMatrix[i];
|
||
}
|
||
planeHeight = calibResult.planeHeight;
|
||
|
||
LOG_INFO("Plane calibration calculated successfully: height=%.3f\n", planeHeight);
|
||
return true;
|
||
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in CalculatePlaneCalibration: %s\n", e.what());
|
||
return false;
|
||
} catch (...) {
|
||
LOG_ERROR("Unknown exception in CalculatePlaneCalibration\n");
|
||
return false;
|
||
}
|
||
}
|
||
|
||
// ============ 实现 ICameraLevelResultSaver 接口 ============
|
||
|
||
bool WorkpieceHolePresenter::SaveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
|
||
int cameraIndex, const QString& cameraName)
|
||
{
|
||
try {
|
||
if (!m_pConfigManager) {
|
||
LOG_ERROR("ConfigManager is null, cannot save leveling results\n");
|
||
return false;
|
||
}
|
||
|
||
// 验证传入的相机参数
|
||
if (cameraIndex <= 0) {
|
||
LOG_ERROR("Invalid camera index: %d\n", cameraIndex);
|
||
return false;
|
||
}
|
||
|
||
if (cameraName.isEmpty()) {
|
||
LOG_ERROR("Camera name is empty\n");
|
||
return false;
|
||
}
|
||
|
||
// 获取当前配置
|
||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
LOG_INFO("Config path: %s\n", configPath.toUtf8().constData());
|
||
|
||
SystemConfig systemConfig = m_pConfigManager->GetConfig();
|
||
|
||
// 创建或更新指定相机的调平参数
|
||
VrCameraPlaneCalibParam cameraParam;
|
||
cameraParam.cameraIndex = cameraIndex;
|
||
cameraParam.cameraName = cameraName.toStdString();
|
||
cameraParam.planeHeight = planeHeight;
|
||
cameraParam.isCalibrated = true;
|
||
|
||
// 复制校准矩阵
|
||
for (int i = 0; i < 9; i++) {
|
||
cameraParam.planeCalib[i] = planeCalib[i];
|
||
cameraParam.invRMatrix[i] = invRMatrix[i];
|
||
}
|
||
|
||
// 更新配置中的相机校准参数
|
||
systemConfig.configResult.algorithmParams.planeCalibParam.SetCameraCalibParam(cameraParam);
|
||
|
||
// 更新并保存配置
|
||
if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
|
||
LOG_ERROR("Failed to update config with leveling results\n");
|
||
return false;
|
||
}
|
||
|
||
if (!m_pConfigManager->SaveConfigToFile(configPath.toStdString())) {
|
||
LOG_ERROR("Failed to save config file with leveling results\n");
|
||
return false;
|
||
}
|
||
|
||
LOG_INFO("Leveling results saved successfully for camera %d (%s)\n", cameraIndex, cameraName.toUtf8().constData());
|
||
LOG_INFO("Plane height: %.3f\n", planeHeight);
|
||
LOG_INFO("Calibration marked as completed\n");
|
||
|
||
return true;
|
||
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in SaveLevelingResults: %s\n", e.what());
|
||
return false;
|
||
}
|
||
}
|
||
|
||
bool WorkpieceHolePresenter::LoadLevelingResults(int cameraIndex, const QString& cameraName,
|
||
double planeCalib[9], double& planeHeight, double invRMatrix[9])
|
||
{
|
||
try {
|
||
if (!m_pConfigManager) {
|
||
LOG_ERROR("ConfigManager is null, cannot load calibration data\n");
|
||
return false;
|
||
}
|
||
|
||
// 从ConfigManager获取配置结果
|
||
ConfigResult configResult = m_pConfigManager->GetConfigResult();
|
||
|
||
// 获取指定相机的标定参数
|
||
VrCameraPlaneCalibParam cameraParamValue;
|
||
if (!configResult.algorithmParams.planeCalibParam.GetCameraCalibParam(cameraIndex, cameraParamValue) || !cameraParamValue.isCalibrated) {
|
||
LOG_INFO("No calibration data found for camera %d (%s)\n", cameraIndex, cameraName.toUtf8().constData());
|
||
return false;
|
||
}
|
||
|
||
// 复制标定数据
|
||
for (int i = 0; i < 9; i++) {
|
||
planeCalib[i] = cameraParamValue.planeCalib[i];
|
||
invRMatrix[i] = cameraParamValue.invRMatrix[i];
|
||
}
|
||
planeHeight = cameraParamValue.planeHeight;
|
||
|
||
LOG_INFO("Calibration data loaded successfully for camera %d (%s)\n", cameraIndex, cameraName.toUtf8().constData());
|
||
LOG_INFO("Plane height: %.3f\n", planeHeight);
|
||
|
||
return true;
|
||
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in LoadLevelingResults: %s\n", e.what());
|
||
return false;
|
||
}
|
||
}
|
||
|
||
// ============ PLC Modbus 相关实现 ============
|
||
|
||
int WorkpieceHolePresenter::InitPLCModbus()
|
||
{
|
||
LOG_INFO("Initializing PLC Modbus client\n");
|
||
|
||
// 从配置获取 PLC 和机械臂的 IP 地址
|
||
ConfigResult configResult = m_pConfigManager->GetConfigResult();
|
||
|
||
// 从配置文件获取 PLC 配置
|
||
std::string plcIP = configResult.plcRobotServerConfig.plcServerIp;
|
||
int plcPort = configResult.plcRobotServerConfig.plcServerPort;
|
||
|
||
// 检查是否配置了 PLC 通信（如果为空则跳过初始化）
|
||
if (plcIP.empty()) {
|
||
LOG_INFO("PLC IP not configured, skipping PLC Modbus initialization\n");
|
||
return SUCCESS;
|
||
}
|
||
|
||
// 创建 PLCModbusClient 实例
|
||
m_pPLCModbusClient = new PLCModbusClient();
|
||
|
||
// 设置回调函数
|
||
m_pPLCModbusClient->SetPhotoTriggerCallback([this](int cameraIndex) {
|
||
OnPLCPhotoRequested(cameraIndex);
|
||
});
|
||
|
||
m_pPLCModbusClient->SetConnectionStateCallback([this](bool plcConnected) {
|
||
m_bPLCConnected = plcConnected;
|
||
LOG_INFO("PLC connection state changed: PLC=%s\n",
|
||
plcConnected ? "connected" : "disconnected");
|
||
|
||
// 通知 UI 更新连接状态（PLC连接状态关联到机械臂状态指示器）
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
pStatus->OnRobotConnectionChanged(plcConnected);
|
||
std::string statusMsg = std::string("PLC:") + (plcConnected ? "已连接" : "断开");
|
||
pStatus->OnStatusUpdate(statusMsg);
|
||
}
|
||
});
|
||
|
||
m_pPLCModbusClient->SetErrorCallback([this](const std::string& errorMsg) {
|
||
LOG_ERROR("PLC Modbus error: %s\n", errorMsg.c_str());
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
pStatus->OnStatusUpdate(std::string("PLC错误: ") + errorMsg);
|
||
}
|
||
});
|
||
|
||
// 设置重连回调，通知用户正在尝试重连
|
||
m_pPLCModbusClient->SetReconnectingCallback([this](const std::string& device, int attempt) {
|
||
LOG_INFO("Attempting to reconnect %s (attempt %d)\n", device.c_str(), attempt);
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
std::string statusMsg = device + "正在重连(第" + std::to_string(attempt) + "次)...";
|
||
pStatus->OnStatusUpdate(statusMsg);
|
||
}
|
||
});
|
||
|
||
// 构建寄存器地址配置
|
||
PLCModbusClient::RegisterConfig regConfig;
|
||
regConfig.addrPhotoRequest = configResult.plcRobotServerConfig.registerConfig.addrPhotoRequest;
|
||
regConfig.addrDataComplete = configResult.plcRobotServerConfig.registerConfig.addrDataComplete;
|
||
regConfig.addrCoordDataStart = configResult.plcRobotServerConfig.registerConfig.addrCoordDataStart;
|
||
|
||
// 初始化连接
|
||
bool initResult = m_pPLCModbusClient->Initialize(plcIP, plcPort, regConfig);
|
||
|
||
if (!initResult) {
|
||
LOG_ERROR("Failed to initialize PLC Modbus client\n");
|
||
return ERR_CODE(DEV_OPEN_ERR);
|
||
}
|
||
|
||
// 启动轮询（100ms 间隔）
|
||
m_pPLCModbusClient->StartPolling(100);
|
||
|
||
LOG_INFO("PLC Modbus client initialized successfully\n");
|
||
return SUCCESS;
|
||
}
|
||
|
||
void WorkpieceHolePresenter::OnPLCPhotoRequested(int cameraIndex)
|
||
{
|
||
LOG_INFO("PLC photo request received for camera %d\n", cameraIndex);
|
||
|
||
// 暂停拍照请求轮询（检测期间不再读取 D1000）
|
||
if (m_pPLCModbusClient) {
|
||
m_pPLCModbusClient->PausePhotoRequestPolling();
|
||
}
|
||
|
||
// 清除 PLC 的拍照请求标志（D1000 = 0）
|
||
if (m_pPLCModbusClient) {
|
||
m_pPLCModbusClient->ClearPhotoRequest();
|
||
}
|
||
|
||
// 设置当前相机索引
|
||
SetDefaultCameraIndex(cameraIndex);
|
||
|
||
// 触发检测（使用基类的 StartDetection 方法）
|
||
int nRet = StartDetection(cameraIndex, false); // 非自动模式
|
||
if (nRet != SUCCESS) {
|
||
LOG_ERROR("Failed to trigger detection from PLC request, error: %d\n", nRet);
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
pStatus->OnStatusUpdate("PLC触发检测失败");
|
||
}
|
||
// 检测失败时也要恢复轮询
|
||
if (m_pPLCModbusClient) {
|
||
m_pPLCModbusClient->ResumePhotoRequestPolling();
|
||
}
|
||
}
|
||
}
|
||
|
||
void WorkpieceHolePresenter::SendCoordinateDataToPLC(const WorkpieceHoleDetectionResult& result)
|
||
{
|
||
if (!m_pPLCModbusClient) {
|
||
LOG_WARNING("PLC Modbus client not initialized, cannot send coordinate data\n");
|
||
return;
|
||
}
|
||
|
||
if (!m_pPLCModbusClient->IsPLCConnected()) {
|
||
LOG_WARNING("PLC not connected, cannot send coordinate data\n");
|
||
// 恢复轮询
|
||
m_pPLCModbusClient->ResumePhotoRequestPolling();
|
||
return;
|
||
}
|
||
|
||
// 检查检测结果（errorCode == 0 表示成功）
|
||
if (result.errorCode != 0) {
|
||
LOG_WARNING("Invalid detection result, skipping coordinate send\n");
|
||
// 恢复轮询
|
||
m_pPLCModbusClient->ResumePhotoRequestPolling();
|
||
return;
|
||
}
|
||
|
||
// 检查是否有工件位置数据
|
||
if (result.positions.empty()) {
|
||
LOG_WARNING("No workpiece positions found, skipping coordinate send\n");
|
||
// 恢复轮询
|
||
m_pPLCModbusClient->ResumePhotoRequestPolling();
|
||
return;
|
||
}
|
||
|
||
// 获取姿态输出顺序配置
|
||
ConfigResult configResult = m_pConfigManager->GetConfigResult();
|
||
int poseOutputOrder = configResult.plcRobotServerConfig.poseOutputOrder;
|
||
LOG_INFO("Using pose output order: %d\n", poseOutputOrder);
|
||
|
||
// 构建坐标数据列表（每个工件的中心点+姿态，最多10个）
|
||
std::vector<PLCModbusClient::CoordinateData> coords;
|
||
int pointCount = std::min(static_cast<int>(result.positions.size()), PLCModbusClient::MAX_POINTS);
|
||
|
||
for (int i = 0; i < pointCount; i++) {
|
||
const auto& pos = result.positions[i];
|
||
PLCModbusClient::CoordinateData coord;
|
||
|
||
// 使用 float 类型存储坐标数据
|
||
coord.x = static_cast<float>(pos.x);
|
||
coord.y = static_cast<float>(pos.y);
|
||
coord.z = static_cast<float>(pos.z);
|
||
|
||
// 根据姿态输出顺序配置调整输出
|
||
switch (poseOutputOrder) {
|
||
case POSE_ORDER_RPY: // Roll, Pitch, Yaw（默认）
|
||
coord.roll = static_cast<float>(pos.roll);
|
||
coord.pitch = static_cast<float>(pos.pitch);
|
||
coord.yaw = static_cast<float>(pos.yaw);
|
||
break;
|
||
case POSE_ORDER_RYP: // Roll, Yaw, Pitch
|
||
coord.roll = static_cast<float>(pos.roll);
|
||
coord.pitch = static_cast<float>(pos.yaw);
|
||
coord.yaw = static_cast<float>(pos.pitch);
|
||
break;
|
||
case POSE_ORDER_PRY: // Pitch, Roll, Yaw
|
||
coord.roll = static_cast<float>(pos.pitch);
|
||
coord.pitch = static_cast<float>(pos.roll);
|
||
coord.yaw = static_cast<float>(pos.yaw);
|
||
break;
|
||
case POSE_ORDER_PYR: // Pitch, Yaw, Roll
|
||
coord.roll = static_cast<float>(pos.pitch);
|
||
coord.pitch = static_cast<float>(pos.yaw);
|
||
coord.yaw = static_cast<float>(pos.roll);
|
||
break;
|
||
case POSE_ORDER_YRP: // Yaw, Roll, Pitch
|
||
coord.roll = static_cast<float>(pos.yaw);
|
||
coord.pitch = static_cast<float>(pos.roll);
|
||
coord.yaw = static_cast<float>(pos.pitch);
|
||
break;
|
||
case POSE_ORDER_YPR: // Yaw, Pitch, Roll
|
||
coord.roll = static_cast<float>(pos.yaw);
|
||
coord.pitch = static_cast<float>(pos.pitch);
|
||
coord.yaw = static_cast<float>(pos.roll);
|
||
break;
|
||
default: // 默认 RPY
|
||
coord.roll = static_cast<float>(pos.roll);
|
||
coord.pitch = static_cast<float>(pos.pitch);
|
||
coord.yaw = static_cast<float>(pos.yaw);
|
||
break;
|
||
}
|
||
|
||
coords.push_back(coord);
|
||
|
||
LOG_INFO("Workpiece[%d]: X=%.2f, Y=%.2f, Z=%.2f, R1=%.2f, R2=%.2f, R3=%.2f (order=%d)\n",
|
||
i, coord.x, coord.y, coord.z, coord.roll, coord.pitch, coord.yaw, poseOutputOrder);
|
||
}
|
||
|
||
LOG_INFO("Sending %d workpiece positions to PLC\n", pointCount);
|
||
|
||
// 发送坐标数据到 PLC
|
||
bool sendResult = m_pPLCModbusClient->SendCoordinatesToPLC(coords);
|
||
if (!sendResult) {
|
||
LOG_ERROR("Failed to send coordinate data to PLC\n");
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
pStatus->OnStatusUpdate("坐标数据发送失败");
|
||
}
|
||
// 恢复轮询
|
||
m_pPLCModbusClient->ResumePhotoRequestPolling();
|
||
return;
|
||
}
|
||
|
||
// 通知 PLC 数据输出完成
|
||
bool notifyResult = m_pPLCModbusClient->NotifyDataComplete();
|
||
if (!notifyResult) {
|
||
LOG_ERROR("Failed to notify PLC data complete\n");
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
pStatus->OnStatusUpdate("数据完成通知失败");
|
||
}
|
||
// 恢复轮询
|
||
m_pPLCModbusClient->ResumePhotoRequestPolling();
|
||
return;
|
||
}
|
||
|
||
LOG_INFO("Workpiece positions sent successfully and PLC notified (%d workpieces)\n", pointCount);
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
|
||
pStatus->OnStatusUpdate(QString("已发送%1个工件坐标到PLC").arg(pointCount).toStdString());
|
||
}
|
||
|
||
// 发送完成，恢复拍照请求轮询
|
||
m_pPLCModbusClient->ResumePhotoRequestPolling();
|
||
}
|