803 lines
30 KiB
C++
803 lines
30 KiB
C++
#include "WorkpiecePresenter.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 "BQ_workpieceCornerExtraction_Export.h" // 调平算法接口
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WorkpiecePresenter::WorkpiecePresenter(QObject *parent)
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: BasePresenter(parent)
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, m_vrConfig(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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{
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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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// 设置配置命令处理器
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m_configMonitor.SetCommandHandler(this);
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}
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WorkpiecePresenter::~WorkpiecePresenter()
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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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// 停止配置监控器
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m_configMonitor.Stop();
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// 释放配置实例
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if (m_vrConfig) {
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delete m_vrConfig;
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m_vrConfig = 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 WorkpiecePresenter::InitApp()
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{
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LOG_DEBUG("Start APP Version: %s\n", WORKPIECE_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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// 获取配置文件路径
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QString configPath = PathManager::GetInstance().GetConfigFilePath();
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int nRet = SUCCESS;
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// 创建 IVrConfig 实例
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if (!IVrConfig::CreateInstance(&m_vrConfig) || !m_vrConfig) {
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LOG_ERROR("Failed to create VrConfig instance\n");
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) pStatus->OnStatusUpdate("配置实例创建失败");
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return ERR_CODE(DEV_CONFIG_ERR);
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}
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// 加载配置文件
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ConfigResult configResult;
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int ret = m_vrConfig->LoadConfig(configPath.toStdString(), configResult);
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if (ret != LOAD_CONFIG_SUCCESS) {
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LOG_ERROR("Failed to load config file, error code: %d\n", ret);
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) pStatus->OnStatusUpdate("配置文件加载失败");
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return ERR_CODE(DEV_CONFIG_ERR);
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}
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LOG_INFO("Configuration loaded successfully\n");
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// 保存配置结果
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m_configResult = configResult;
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// 设置配置改变通知回调
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m_vrConfig->SetConfigChangeNotify(this);
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// 启动共享内存监控（可选，根据需要）
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if (!m_configMonitor.Start()) {
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LOG_WARNING("Failed to start config monitor, runtime config updates will not work\n");
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// 不返回错误，允许应用继续运行
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} else {
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LOG_INFO("Config monitor started successfully\n");
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}
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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<IYWorkpieceStatus>()) 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<IYWorkpieceStatus>()) pStatus->OnStatusUpdate("TCP服务器初始化成功");
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}
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) pStatus->OnStatusUpdate("设备初始化完成");
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CheckAndUpdateWorkStatus();
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) 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 WorkpiecePresenter::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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// 获取手眼标定文件路径并确保文件存在
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QString clibPath = PathManager::GetInstance().GetCalibrationFilePath();
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LOG_INFO("Loading hand-eye matrices from: %s\n", clibPath.toStdString().c_str());
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// 读取存在的矩阵数量
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int nExistMatrixNum = CVrConvert::GetClibMatrixCount(clibPath.toStdString().c_str());
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LOG_INFO("Found %d hand-eye calibration matrices\n", nExistMatrixNum);
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// 循环加载每个矩阵
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for(int matrixIndex = 0; matrixIndex < nExistMatrixNum; matrixIndex++)
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{
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// 构造矩阵标识符
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char matrixIdent[64];
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#ifdef _WIN32
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sprintf_s(matrixIdent, "CalibMatrixInfo_%d", matrixIndex);
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#else
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sprintf(matrixIdent, "CalibMatrixInfo_%d", matrixIndex);
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#endif
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// 创建新的标定矩阵结构
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CalibMatrix calibMatrix;
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// 初始化为单位矩阵
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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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// 加载矩阵数据
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bool loadSuccess = CVrConvert::LoadClibMatrix(clibPath.toStdString().c_str(), matrixIdent, "dCalibMatrix", calibMatrix.clibMatrix);
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if(loadSuccess)
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{
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m_clibMatrixList.push_back(calibMatrix);
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LOG_INFO("Successfully loaded matrix %d\n", matrixIndex);
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// 输出矩阵内容
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QString clibMatrixStr;
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LOG_INFO("Matrix %d content:\n", matrixIndex);
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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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}
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else
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{
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LOG_WARNING("Failed to load matrix %d, using identity matrix\n", matrixIndex);
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// 如果加载失败，使用单位矩阵
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memcpy(calibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));
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m_clibMatrixList.push_back(calibMatrix);
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}
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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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// 使用已加载的配置结果（在 InitApp 中已经加载）
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const VrAlgorithmParams& xmlParams = m_configResult.algorithmParams;
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// 保存调试参数
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m_debugParam = m_configResult.debugParam;
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LOG_INFO("Loaded XML params - Workpiece: lineLen=%.1f\n", xmlParams.workpieceParam.lineLen);
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LOG_INFO("Loaded XML params - Filter: continuityTh=%.1f, outlierTh=%.1f\n", xmlParams.filterParam.continuityTh, xmlParams.filterParam.outlierTh);
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// 直接使用配置结构
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m_algorithmParams = xmlParams;
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LOG_INFO("Algorithm parameters initialized successfully:\n");
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LOG_INFO(" Workpiece: lineLen=%.1f\n",
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m_algorithmParams.workpieceParam.lineLen);
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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 (!m_algorithmParams.planeCalibParam.cameraCalibParams.empty()) {
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for (const auto& cameraParam : m_algorithmParams.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 WorkpiecePresenter::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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void WorkpiecePresenter::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 WorkpiecePresenter::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<IYWorkpieceStatus>()){
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) 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<IYWorkpieceStatus>()) {
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) 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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DetectionResult detectionResult;
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int nRet = m_pDetectPresenter->DetectWorkpiece(m_currentCameraIndex, detectionDataCache,
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m_algorithmParams, m_debugParam, m_dataLoader,
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currentClibMatrix.clibMatrix, detectionResult);
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// 根据项目类型选择处理方式
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if (GetStatusCallback<IYWorkpieceStatus>()) {
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QString err = QString("错误:%1").arg(nRet);
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) 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] sx_getWorkpiecePostion detected %zu objects time : %.2f ms\n", detectionResult.positions.size(), oTimeUtils.GetElapsedTimeInMilliSec());
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ERR_CODE_RETURN(nRet);
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// 8. 通知UI检测结果
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detectionResult.cameraIndex = m_currentCameraIndex;
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
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pStatus->OnDetectionResult(detectionResult);
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}
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// 更新状态
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QString statusMsg = QString("检测完成，发现%1个目标").arg(detectionResult.positions.size());
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) pStatus->OnStatusUpdate(statusMsg.toStdString());
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// 发送检测结果给TCP客户端
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_SendDetectionResultToTCP(detectionResult, m_currentCameraIndex);
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// 9. 检测完成后，将工作状态更新为"完成"
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SetWorkStatus(WorkStatus::Completed);
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// 恢复到就绪状态
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SetWorkStatus(WorkStatus::Ready);
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return SUCCESS;
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}
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// 实现配置改变通知接口
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void WorkpiecePresenter::OnConfigChanged(const ConfigResult& configResult)
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{
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LOG_INFO("Configuration changed notification received, reloading algorithm parameters\n");
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// 更新调试参数
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m_debugParam = configResult.debugParam;
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// 重新初始化算法参数
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int result = InitAlgoParams();
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if (result == SUCCESS) {
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LOG_INFO("Algorithm parameters reloaded successfully after config change\n");
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if (GetStatusCallback<IYWorkpieceStatus>()) {
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) pStatus->OnStatusUpdate("配置已更新，算法参数重新加载成功");
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}
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} else {
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LOG_ERROR("Failed to reload algorithm parameters after config change, error: %d\n", result);
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if (GetStatusCallback<IYWorkpieceStatus>()) {
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) pStatus->OnStatusUpdate("配置更新后算法参数重新加载失败");
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}
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}
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}
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// 根据相机索引获取调平参数
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SSG_planeCalibPara WorkpiecePresenter::_GetCameraCalibParam(int cameraIndex)
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{
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// 查找指定相机索引的调平参数
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SSG_planeCalibPara calibParam;
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// 使用单位矩阵（未校准状态）
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double identityMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
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for (int i = 0; i < 9; i++) {
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calibParam.planeCalib[i] = identityMatrix[i];
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calibParam.invRMatrix[i] = identityMatrix[i];
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}
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calibParam.planeHeight = -1.0; // 使用默认高度
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for (const auto& cameraParam : m_algorithmParams.planeCalibParam.cameraCalibParams) {
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if (cameraParam.cameraIndex == cameraIndex) {
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// 根据isCalibrated标志决定使用标定矩阵还是单位矩阵
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if (cameraParam.isCalibrated) {
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// 使用实际的标定矩阵
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for (int i = 0; i < 9; i++) {
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calibParam.planeCalib[i] = cameraParam.planeCalib[i];
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calibParam.invRMatrix[i] = cameraParam.invRMatrix[i];
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}
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calibParam.planeHeight = cameraParam.planeHeight;
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}
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}
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}
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return calibParam;
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}
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// 实现BasePresenter纯虚函数：相机状态变化通知
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void WorkpiecePresenter::OnCameraStatusChanged(int cameraIndex, bool isConnected)
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{
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LOG_INFO("Camera %d status changed: %s\n", cameraIndex, isConnected ? "connected" : "disconnected");
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// 通知UI更新相机状态
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if (GetStatusCallback<IYWorkpieceStatus>()) {
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if (cameraIndex == 1) {
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) pStatus->OnCamera1StatusChanged(isConnected);
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} else if (cameraIndex == 2) {
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) pStatus->OnCamera2StatusChanged(isConnected);
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}
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// 获取相机名称用于状态消息
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QString cameraName;
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int arrayIndex = cameraIndex - 1;
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if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
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cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
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} else {
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cameraName = QString("相机%1").arg(cameraIndex);
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}
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QString statusMsg = QString("%1%2").arg(cameraName).arg(isConnected ? "已连接" : "已断开");
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if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) pStatus->OnStatusUpdate(statusMsg.toStdString());
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}
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// 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 WorkpiecePresenter::OnWorkStatusChanged(WorkStatus status)
|
||
{
|
||
auto pStatus = GetStatusCallback<IYWorkpieceStatus>();
|
||
if (pStatus) {
|
||
pStatus->OnWorkStatusChanged(status);
|
||
}
|
||
}
|
||
|
||
|
||
// 实现BasePresenter虚函数：相机数量变化通知
|
||
void WorkpiecePresenter::OnCameraCountChanged(int count)
|
||
{
|
||
auto pStatus = GetStatusCallback<IYWorkpieceStatus>();
|
||
if (pStatus) {
|
||
pStatus->OnCameraCountChanged(count);
|
||
}
|
||
}
|
||
|
||
// 实现BasePresenter虚函数：状态文字更新通知
|
||
void WorkpiecePresenter::OnStatusUpdate(const std::string& statusMessage)
|
||
{
|
||
auto pStatus = GetStatusCallback<IYWorkpieceStatus>();
|
||
if (pStatus) {
|
||
pStatus->OnStatusUpdate(statusMessage);
|
||
}
|
||
}
|
||
|
||
// ============ 实现 ICameraLevelCalculator 接口 ============
|
||
|
||
bool WorkpiecePresenter::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;
|
||
}
|
||
|
||
// 调用工件项目的调平算法
|
||
SSG_planeCalibPara calibResult = sx_BQ_getBaseCalibPara(xyzData);
|
||
|
||
// 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 WorkpiecePresenter::SaveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
|
||
int cameraIndex, const QString& cameraName)
|
||
{
|
||
try {
|
||
if (!m_vrConfig) {
|
||
LOG_ERROR("Config 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;
|
||
}
|
||
|
||
// 加载当前配置
|
||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
LOG_INFO("Config path: %s\n", configPath.toUtf8().constData());
|
||
ConfigResult configResult;
|
||
int ret = m_vrConfig->LoadConfig(configPath.toStdString(), configResult);
|
||
if (ret != LOAD_CONFIG_SUCCESS) {
|
||
LOG_ERROR("Failed to load config file, error code: %d\n", ret);
|
||
return false;
|
||
}
|
||
|
||
// 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
|
||
configResult.algorithmParams.planeCalibParam.SetCameraCalibParam(cameraParam);
|
||
|
||
// 保存配置
|
||
bool saveResult = m_vrConfig->SaveConfig(configPath.toStdString(), configResult);
|
||
if (!saveResult) {
|
||
LOG_ERROR("Failed to save config 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 WorkpiecePresenter::LoadLevelingResults(int cameraIndex, const QString& cameraName,
|
||
double planeCalib[9], double& planeHeight, double invRMatrix[9])
|
||
{
|
||
try {
|
||
if (!m_vrConfig) {
|
||
LOG_ERROR("Config is null, cannot load calibration data\n");
|
||
return false;
|
||
}
|
||
|
||
// 加载配置文件
|
||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
ConfigResult configResult;
|
||
int ret = m_vrConfig->LoadConfig(configPath.toStdString(), configResult);
|
||
if (ret != LOAD_CONFIG_SUCCESS) {
|
||
LOG_ERROR("Failed to load config file, error code: %d\n", ret);
|
||
return false;
|
||
}
|
||
|
||
// 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;
|
||
}
|
||
}
|
||
|
||
// ============ 实现 IConfigCommandHandler 接口 ============
|
||
|
||
bool WorkpiecePresenter::OnCameraExposeCommand(const CameraConfigParam& param)
|
||
{
|
||
LOG_INFO("Applying camera expose setting: camera %d, expose time: %.2f\n",
|
||
param.cameraIndex, param.exposeTime);
|
||
|
||
if (param.cameraIndex == -1) {
|
||
// 应用到所有相机
|
||
for (size_t i = 0; i < m_vrEyeDeviceList.size(); i++) {
|
||
IVrEyeDevice* device = m_vrEyeDeviceList[i].second;
|
||
if (device && param.exposeTime > 0) {
|
||
unsigned int exposeTime = static_cast<unsigned int>(param.exposeTime);
|
||
device->SetEyeExpose(exposeTime);
|
||
}
|
||
}
|
||
} else {
|
||
// 应用到指定相机
|
||
int arrayIndex = param.cameraIndex - 1;
|
||
if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
|
||
IVrEyeDevice* device = m_vrEyeDeviceList[arrayIndex].second;
|
||
if (device && param.exposeTime > 0) {
|
||
unsigned int exposeTime = static_cast<unsigned int>(param.exposeTime);
|
||
device->SetEyeExpose(exposeTime);
|
||
}
|
||
}
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
bool WorkpiecePresenter::OnCameraGainCommand(const CameraConfigParam& param)
|
||
{
|
||
LOG_INFO("Applying camera gain setting: camera %d, gain: %.2f\n",
|
||
param.cameraIndex, param.gain);
|
||
|
||
if (param.cameraIndex == -1) {
|
||
// 应用到所有相机
|
||
for (size_t i = 0; i < m_vrEyeDeviceList.size(); i++) {
|
||
IVrEyeDevice* device = m_vrEyeDeviceList[i].second;
|
||
if (device && param.gain > 0) {
|
||
unsigned int gain = static_cast<unsigned int>(param.gain);
|
||
device->SetEyeGain(gain);
|
||
}
|
||
}
|
||
} else {
|
||
// 应用到指定相机
|
||
int arrayIndex = param.cameraIndex - 1;
|
||
if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
|
||
IVrEyeDevice* device = m_vrEyeDeviceList[arrayIndex].second;
|
||
if (device && param.gain > 0) {
|
||
unsigned int gain = static_cast<unsigned int>(param.gain);
|
||
device->SetEyeGain(gain);
|
||
}
|
||
}
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
bool WorkpiecePresenter::OnCameraFrameRateCommand(const CameraConfigParam& param)
|
||
{
|
||
LOG_INFO("Applying camera frame rate setting: camera %d, frame rate: %.2f\n",
|
||
param.cameraIndex, param.frameRate);
|
||
|
||
if (param.cameraIndex == -1) {
|
||
// 应用到所有相机
|
||
for (size_t i = 0; i < m_vrEyeDeviceList.size(); i++) {
|
||
IVrEyeDevice* device = m_vrEyeDeviceList[i].second;
|
||
if (device && param.frameRate > 0) {
|
||
int frameRate = static_cast<int>(param.frameRate);
|
||
device->SetFrame(frameRate);
|
||
}
|
||
}
|
||
} else {
|
||
// 应用到指定相机
|
||
int arrayIndex = param.cameraIndex - 1;
|
||
if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
|
||
IVrEyeDevice* device = m_vrEyeDeviceList[arrayIndex].second;
|
||
if (device && param.frameRate > 0) {
|
||
int frameRate = static_cast<int>(param.frameRate);
|
||
device->SetFrame(frameRate);
|
||
}
|
||
}
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
bool WorkpiecePresenter::OnCameraSwingCommand(const SwingConfigParam& param)
|
||
{
|
||
LOG_INFO("Applying camera swing setting: camera %d, speed: %.2f, angles: %.2f-%.2f\n",
|
||
param.cameraIndex, param.swingSpeed, param.startAngle, param.stopAngle);
|
||
|
||
if (param.cameraIndex == -1) {
|
||
// 应用到所有相机
|
||
for (size_t i = 0; i < m_vrEyeDeviceList.size(); i++) {
|
||
IVrEyeDevice* device = m_vrEyeDeviceList[i].second;
|
||
if (device) {
|
||
if (param.swingSpeed > 0) {
|
||
float swingSpeed = static_cast<float>(param.swingSpeed);
|
||
device->SetSwingSpeed(swingSpeed);
|
||
}
|
||
if (param.startAngle != param.stopAngle) {
|
||
float startAngle = static_cast<float>(param.startAngle);
|
||
float stopAngle = static_cast<float>(param.stopAngle);
|
||
device->SetSwingAngle(startAngle, stopAngle);
|
||
}
|
||
}
|
||
}
|
||
} else {
|
||
// 应用到指定相机
|
||
int arrayIndex = param.cameraIndex - 1;
|
||
if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
|
||
IVrEyeDevice* device = m_vrEyeDeviceList[arrayIndex].second;
|
||
if (device) {
|
||
if (param.swingSpeed > 0) {
|
||
float swingSpeed = static_cast<float>(param.swingSpeed);
|
||
device->SetSwingSpeed(swingSpeed);
|
||
}
|
||
if (param.startAngle != param.stopAngle) {
|
||
float startAngle = static_cast<float>(param.startAngle);
|
||
float stopAngle = static_cast<float>(param.stopAngle);
|
||
device->SetSwingAngle(startAngle, stopAngle);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
bool WorkpiecePresenter::OnAlgoParamCommand(const AlgoConfigParam& param)
|
||
{
|
||
LOG_INFO("Applying algorithm parameter: %s = %.3f\n", param.paramName, param.paramValue);
|
||
|
||
// 更新算法参数（具体实现取决于算法库接口）
|
||
// 这里只是示例，实际需要根据 paramName 更新对应的参数
|
||
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
|
||
pStatus->OnStatusUpdate("算法参数已更新");
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
bool WorkpiecePresenter::OnCalibParamCommand(const CalibConfigParam& param)
|
||
{
|
||
LOG_INFO("Applying calibration parameter for camera %d\n", param.cameraIndex);
|
||
|
||
// 更新标定参数（具体实现取决于标定数据结构）
|
||
// 这里只是示例
|
||
|
||
return true;
|
||
}
|
||
|
||
bool WorkpiecePresenter::OnFullConfigCommand(const FullConfigParam& param)
|
||
{
|
||
LOG_INFO("Applying full configuration update\n");
|
||
|
||
// 重新加载完整配置
|
||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
if (m_vrConfig) {
|
||
int ret = m_vrConfig->LoadConfig(configPath.toStdString(), m_configResult);
|
||
if (ret == LOAD_CONFIG_SUCCESS) {
|
||
// 重新初始化算法参数
|
||
InitAlgoParams();
|
||
|
||
if (auto pStatus = GetStatusCallback<IYWorkpieceStatus>()) {
|
||
pStatus->OnStatusUpdate("配置已重新加载");
|
||
}
|
||
return true;
|
||
}
|
||
}
|
||
|
||
return false;
|
||
}
|