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#include "SyncWorkThread.h"
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#include "alg_jd.h"
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#include "common.h"
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#include "balluffcamera.h"
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#include "baslercamera.h"
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#include "threadSend.h"
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#include <PLCDevice.h>
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#include "exportData.h"
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#include <QMap>
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extern AlgJd alg_jd[NumberOfSupportedCameras]; //检测胶点的AI算法
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extern ConfPath g_conf_path;
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extern SysConf g_sys_conf; //系统配置参数
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extern DisplayLabelConf g_display_label_conf[NumberOfSupportedCameras];
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extern int rotationAngle[NumberOfSupportedCameras]; //图片旋转角度
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extern bool isNeedRotate[NumberOfSupportedCameras];
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extern int work_camera_nums;
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extern SingleCamInfoStruct SingleCamInfo[NumberOfSupportedCameras];
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extern SyncQueue<std::pair<std::string, cv::Mat> >* g_save_queue; //图片保存队列
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extern SyncQueue<std::pair<int, cv::Mat>>* g_image_queue[NumberOfSupportedCameras]; //int表示一个目标拍了几张
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#ifdef __UDPSend
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extern SyncQueue<_UDPSendInfo>* UDP_Info_queue;
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#endif
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#ifdef __TCPSend
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extern SyncQueue<_TCPSendInfo>* TCP_Info_queue;
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#endif
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#ifdef __ExportData
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extern ExportDataThread exportDataThread;
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#endif
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extern PLCDevice* m_PLCDevice;
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extern bool g_debug_mode;
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SyncWorkThread::~SyncWorkThread()
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{
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stop();
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std::vector<std::pair<int, cv::Mat>> queue;
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local_g_image_sync_queue->put(queue);
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quit();
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wait();
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}
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void SyncWorkThread::init(SyncQueue<std::vector<std::pair<int, cv::Mat>>>* image_ptr, ASyncQueue<bool>* result_ptr)
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{
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local_g_image_sync_queue = image_ptr;
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local_g_result_queue = result_ptr;
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b_quit = false;
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for (int i = 0; i < NumberOfSupportedCameras; i++) {
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frame_total[i] = 0;
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}
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}
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void SyncWorkThread::start_work()
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{
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start(HighestPriority);
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}
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void SyncWorkThread::stop()
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{
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b_quit = true;
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}
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void SyncWorkThread::run()
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{
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try {
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uint32_t result_index[NumberOfSupportedCameras] = { 0 };
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while (!b_quit) {
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QDateTime now_ts = QDateTime::currentDateTime();
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std::vector<std::pair<int, cv::Mat>> element_vec;
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local_g_image_sync_queue->take(element_vec);
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bool IsNGForAll = false;
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int merge_index;
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cv::Mat merge_image = cv::Mat::zeros(512 * work_camera_nums, 640 * g_sys_conf.shoot[0], CV_8UC3);
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cv::Rect roi;
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int j = 0; // 实际工作的相机标识，element_vec中可能有相机没在工作
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for (int i = 0; i < element_vec.size(); i++)//每个相机的图轮流遍历
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{
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if (!SingleCamInfo[i].Detect || !SingleCamInfo[i].IsOpen || SingleCamInfo[i].OffLine)
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continue;
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local_camera_number = i;
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std::pair<int, cv::Mat> element;
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element = element_vec[i];
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int unit_count = element.first;
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cv::Mat image = element.second;
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{//不要删掉这个括号，用来定义锁的作用域
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std::lock_guard<std::mutex> locker(g_sys_conf.lock);
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local_SysConf.save = g_sys_conf.save;
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local_SysConf.shoot[local_camera_number] = g_sys_conf.shoot[local_camera_number];
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local_SysConf.MisMatchAct = g_sys_conf.MisMatchAct;
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local_SysConf.ConfThreshold = g_sys_conf.ConfThreshold;//
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for (int i = 0; i < 3; i++)local_SysConf.no[local_camera_number][i] = g_sys_conf.no[local_camera_number][i];
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#ifdef DRAW_RECT
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std::lock_guard<std::mutex> locker2(g_display_label_conf[local_camera_number].lock);
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local_DisplayLabelConf.leftButtonDownFlag = g_display_label_conf[local_camera_number].leftButtonDownFlag;
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local_DisplayLabelConf.Flag[0] = g_display_label_conf[local_camera_number].Flag[0];
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local_DisplayLabelConf.Flag[1] = g_display_label_conf[local_camera_number].Flag[1];
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local_DisplayLabelConf.originalPoint = g_display_label_conf[local_camera_number].originalPoint;
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local_DisplayLabelConf.processPoint = g_display_label_conf[local_camera_number].processPoint;
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local_DisplayLabelConf.RectVet[0] = g_display_label_conf[local_camera_number].RectVet[0];
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local_DisplayLabelConf.RectVet[1] = g_display_label_conf[local_camera_number].RectVet[1];
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#endif
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}
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#ifdef __UDPSend
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_UDPSendInfo UDPSendInfo;
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UDPSendInfo.FrameID = info_frame;
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UDPSendInfo.index = local_camera_number;
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#endif
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#ifdef __TCPSend
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_TCPSendInfo TCPSendInfo;
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#endif
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if (!image.data)
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{
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continue; //图像为空，跳过
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}
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if (image.channels() == 1)
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{
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cv::cvtColor(image, image, CV_BGR2RGB); //灰度图像转为彩色图像
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}
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cv::resize(image, image, cv::Size(640, 512 * unit_count));
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if (local_SysConf.shoot[local_camera_number] == unit_count)
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{
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std::vector<cv::Mat> vec_in;
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int w = image.cols;
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int h = image.rows / unit_count;
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for (int index = 0; index < unit_count; index++) {
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cv::Rect temp_Rect(0, h * index, w, h);
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cv::Mat temp_image = image(temp_Rect).clone();
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if (isNeedRotate[local_camera_number]) {
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if (rotationAngle[local_camera_number] != (cv::ROTATE_90_COUNTERCLOCKWISE + 1))
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{
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cv::rotate(temp_image, temp_image, rotationAngle[local_camera_number]);
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}
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}
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vec_in.push_back(temp_image.clone());
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}
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std::vector<cv::Mat> vec_out;
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std::vector<std::vector<std::pair<int, cv::Rect>>> vec_results;
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QDateTime ts_start = QDateTime::currentDateTime();
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if (unit_count == 1) {
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std::vector<std::pair<int, cv::Rect>> results;
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cv::Mat imagein, imageout;
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imagein = vec_in[0];
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alg_jd[local_camera_number].detect(imagein, imageout, results);
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vec_out.push_back(imageout.clone());
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vec_results.push_back(results);
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}
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else {
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alg_jd[local_camera_number].detect_batch(vec_in, vec_out, vec_results);
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}
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QDateTime ts_jd = QDateTime::currentDateTime();
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int time_process = ts_start.msecsTo(ts_jd);
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#ifdef SYNC_CAMERA
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emit display_timecost(local_camera_number, time_process);
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#endif
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#ifdef __UDPSend
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UDPSendInfo.timecost = QString::number(time_process);
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#endif
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cv::Mat image1;
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cv::Mat image2;
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QString jd_no;
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for (int index = 0; index < unit_count; index++) {
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jd_no += QString::number(vec_results[index].size()) + ",";
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}
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jd_no.chop(1);
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#ifdef SYNC_CAMERA
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emit display_jd_no(local_camera_number, jd_no);
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#endif
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#ifdef __UDPSend
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UDPSendInfo.JD = jd_no;
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#endif
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bool IsNG = false;
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int ngReason = 0;
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QMap<int, QString> ng_reason_maps;
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ng_reason_maps[0] = "unknow";
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ng_reason_maps[1] = "less_than_setting";
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ng_reason_maps[2] = "too_diff_from_model";
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ng_reason_maps[3] = "out_of_setting_range";
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for (int index = 0; index < unit_count; index++) {
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if (vec_results[index].size() < local_SysConf.no[local_camera_number][index])
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{
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IsNG |= true;
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ngReason = 1;
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}
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//if (vec_results[index].size() != 1)IsNG |= true;//反向训练
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if (local_SysConf.ConfThreshold == 0)
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{
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IsNG = false;
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ngReason = 0;
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}
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if (local_SysConf.save == 2)//三张照片分别存储
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{
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/// 合成work_camera_nums * unit_count 宫格图像
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cv::Mat m = vec_in[index].clone();
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QString file_name;
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merge_index = j * unit_count + index + 1;
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roi = cv::Rect(index * m.cols, j * m.rows, m.cols, m.rows);
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m.copyTo(merge_image(roi));
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if (merge_index == work_camera_nums * unit_count) {
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file_name = g_conf_path.save_pics_path + "/"
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+ now_ts.toString("yyyy-MM-dd") + "/"
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+ now_ts.toString("yyyy-MM-dd_HH-mm-ss_zzz_") + ".jpg";
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g_save_queue->put(std::make_pair(file_name.toLocal8Bit().constData(), merge_image));
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#ifdef __TCPSend
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QString sendName = now_ts.toString("yyyy-MM-dd_HH-mm-ss_zzz_") + ".jpg";
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TCPSendInfo.pics_name = sendName.toLocal8Bit().constData();
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TCP_Info_queue->put(TCPSendInfo);
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#endif
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}
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}
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}
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if (unit_count >= 2) {
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image1 = vec_out[(result_index[i]) % 2].clone();
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#ifdef DRAW_RECT
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IsNG |= CheckSelectRects(image1, vec_results, (result_index[i]) % 2, local_DisplayLabelConf, 0);
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if (IsNG) {
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ngReason = 2;
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}
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#endif
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}
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else {
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image1 = vec_out[0].clone();
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#ifdef DRAW_RECT
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IsNG |= CheckSelectRects(image1, vec_results, 0, local_DisplayLabelConf, 0);
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if (IsNG) {
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ngReason = 2;
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}
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#endif
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}
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#ifdef DRAW_RECT
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DrawSelectRects(image1, local_DisplayLabelConf, 0);
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#endif
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if (unit_count >= 3) {
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image2 = vec_out[2].clone();
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#ifdef DRAW_RECT
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DrawSelectRects(image2, local_DisplayLabelConf, 1);
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IsNG |= CheckSelectRects(image1, vec_results, 2, local_DisplayLabelConf, 1);
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if (IsNG) {
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ngReason = 3;
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}
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#endif
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}
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result_index[i]++;
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if (!IsNG)
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{
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if (!g_debug_mode)
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{
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#ifdef SYNC_CAMERA
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emit event_ok(local_camera_number);
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#endif
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local_g_result_queue->put(true);
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}
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}
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else
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{
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if (!g_debug_mode)
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{
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#ifdef SYNC_CAMERA
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emit event_ng(local_camera_number);
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#endif
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local_g_result_queue->put(false);
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IsNGForAll = TRUE;
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}
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if ((local_SysConf.save == 2) || (local_SysConf.save == 1))
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{
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for (int index = 0; index < unit_count; index++)
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{
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cv::Mat m = vec_in[index].clone();
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QString file_name = g_conf_path.save_pics_path + "/ng/" +
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now_ts.toString("yyyy-MM-dd") + "/"
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+ QString::number(local_camera_number + 1) + "/" + QString::number(index + 1) + "/" +
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now_ts.toString("yyyy-MM-dd_HH-mm-ss_zzz_") + QString::number(local_camera_number + 1) +
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"#" + "_" + QString::number(index + 1) + "_" + ng_reason_maps[ngReason] +
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".jpg";
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QString remotePath = "/image/ng/" +
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now_ts.toString("yyyy-MM-dd_HH-mm-ss_zzz_") + QString::number(local_camera_number + 1) +
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"#" + "_" + QString::number(index + 1) + "_" + ng_reason_maps[ngReason] +
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".jpg";
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g_save_queue->put(std::make_pair(file_name.toLocal8Bit().constData(), m));
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m = vec_out[index].clone();
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file_name = g_conf_path.save_pics_path + "/ng_result/" +
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now_ts.toString("yyyy-MM-dd") + "/"
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+ QString::number(local_camera_number + 1) + "/" + QString::number(index + 1) + "/" +
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now_ts.toString("yyyy-MM-dd_HH-mm-ss_zzz_") + QString::number(local_camera_number + 1) +
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"#" + "_" + QString::number(index + 1) + "_" + ng_reason_maps[ngReason] +
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".jpg";
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remotePath = "/image/ng_result/" +
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now_ts.toString("yyyy-MM-dd_HH-mm-ss_zzz_") + QString::number(local_camera_number + 1) +
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"#" + "_" + QString::number(index + 1) + "_" + ng_reason_maps[ngReason] +
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".jpg";
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//g_save_queue->put(std::make_pair(file_name.toStdString(), m));
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g_save_queue->put(std::make_pair(file_name.toLocal8Bit().constData(), m));
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}
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}
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}
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#ifdef SYNC_CAMERA
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if (!g_debug_mode)
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{
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emit display_check_total(local_camera_number, ++frame_total[local_camera_number]);
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//exportDataInfo.cameraTotal = frame_total;
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emit notify(local_camera_number, 0, image1);
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if (unit_count >= 3)
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emit notify(local_camera_number, 1, image2);
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}
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#endif
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}
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else
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{
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#ifdef SYNC_CAMERA
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//保证不错位
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if (!g_debug_mode)
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{
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if (local_SysConf.MisMatchAct == 1)//as ng
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emit event_ng(local_camera_number);
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else if (local_SysConf.MisMatchAct == 0)//as ok
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emit event_ok(local_camera_number);
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emit display_check_total(local_camera_number, ++(frame_total[local_camera_number]));
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qDebug() << local_camera_number << "#camera# " << now_ts.toString("yyyy-MM-dd_HH-mm-ss_zzz_") << "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx " << unit_count;
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}
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#endif
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}
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#ifdef __UDPSend
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UDP_Info_queue->put(UDPSendInfo);
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#endif
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j++;
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}
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if (IsNGForAll)
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{
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/*to do something*/
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}
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}
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}
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catch (cv::Exception& e)
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{
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const char* err_msg = e.what();
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std::cout << "exception caught: " << err_msg << std::endl;
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}
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}
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