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add，计划采集20，上海农科院3D植物表型：

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1、新增任务类型AutoFocus：执行自动调焦过程；
This commit is contained in:
tangchao0503
2026-08-12 17:06:17 +08:00
parent 33e34aa125
commit 0866b9cd56
11 changed files with 300 additions and 128 deletions
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10
HPPA/HPPA.cpp
View File

@ -682,6 +682,9 @@ void HPPA::initTimedDataCollection()
connect(m_omc_LiftingPlatform, &OneMotorControl_LiftingPlatform::sequenceComplete, m_tdc, &TimedDataCollection::subTaskCompleted);
connect(m_omc_LiftingPlatform, &OneMotorControl_LiftingPlatform::back2OriginSignal_TimedDataCollection, m_tdc, &TimedDataCollection::onBack2Origin);
//自动调焦
connect(m_tdc, &TimedDataCollection::AutoFocusSignals, this, &HPPA::onAutoFocus_TimedDataCollection);
m_tdc->show();
}
@ -790,6 +793,13 @@ void HPPA::onLiftingPlatform(SubTask subTaskParams)
m_omc_LiftingPlatform->run();
}
void HPPA::onAutoFocus_TimedDataCollection(SubTask subTaskParams)
{
m_tmc->setImager(m_Imager);
//先使用subTaskParams.autoFocusMotorConfigFilePath替换文件oneMotorConfigFile_focus.cfg
m_tmc->run5_AutoFocus(subTaskParams.autoFocusX, subTaskParams.autoFocusY);
}
void HPPA::onTimedDataCollection()
{
QAction* checkedScenario = m_ScenarioActionGroup->checkedAction();

1
HPPA/HPPA.h
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@ -452,6 +452,7 @@ public Q_SLOTS:
void onStartTimedDataCollection(int camType);
void onObtainTargetDepthInformation(SubTask subTaskParams);
void onLiftingPlatform(SubTask subTaskParams);
void onAutoFocus_TimedDataCollection(SubTask subTaskParams);
void onStretchedImageReady(int fileNumber, const QString& filePath, QPixmap& pixmap);
void onStretchProcessingError(int fileNumber, const QString& filePath, const QString& error);

114
HPPA/TaskTreeModel.cpp
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@ -131,70 +131,70 @@ QVariant TaskTreeModel::data(const QModelIndex& index, int role) const
if (node->nodeType == TreeNodeType::Task && node->taskData) {
const TimedTask& task = *node->taskData;
switch (index.column()) {
case ColName:
return QString::fromLocal8Bit("定时任务 %1").arg(task.id);
case ColScheduledTime:
return task.scheduledTime.toString("yyyy-MM-dd HH:mm:ss");
case ColCountdown: {
if (task.status == TaskStatus::Finished || task.status == TaskStatus::Running)
{
return QString::fromLocal8Bit("0");
case ColName:
return QString::fromLocal8Bit("定时任务 %1").arg(task.id);
case ColScheduledTime:
return task.scheduledTime.toString("yyyy-MM-dd HH:mm:ss");
case ColCountdown: {
if (task.status == TaskStatus::Finished || task.status == TaskStatus::Running)
{
return QString::fromLocal8Bit("0");
}
qint64 seconds = QDateTime::currentDateTime().secsTo(task.scheduledTime);
if (seconds < 0)
{
return QString::fromLocal8Bit("已超时");
}
return formatCountdown(seconds);
}
qint64 seconds = QDateTime::currentDateTime().secsTo(task.scheduledTime);
if (seconds < 0)
{
return QString::fromLocal8Bit("已超时");
case ColStartTime:
return task.startTime.isValid() ?
task.startTime.toString("HH:mm:ss") : "-";
case ColEndTime:
return task.endTime.isValid() ?
task.endTime.toString("HH:mm:ss") : "-";
case ColDuration:
return formatDuration(task.durationMinutes);
case ColEstimatedDuration:
return formatDuration(task.estimatedDurationMinutes);
case ColStatus:
return statusToString(task.status);
case ColProgress: {
int finished = 0;
for (const auto& sub : task.subTasks) {
if (sub.status == TaskStatus::Finished) finished++;
}
return QString("%1/%2").arg(finished).arg(task.subTasks.size());
}
return formatCountdown(seconds);
}
case ColStartTime:
return task.startTime.isValid() ?
task.startTime.toString("HH:mm:ss") : "-";
case ColEndTime:
return task.endTime.isValid() ?
task.endTime.toString("HH:mm:ss") : "-";
case ColDuration:
return formatDuration(task.durationMinutes);
case ColEstimatedDuration:
return formatDuration(task.estimatedDurationMinutes);
case ColStatus:
return statusToString(task.status);
case ColProgress: {
int finished = 0;
for (const auto& sub : task.subTasks) {
if (sub.status == TaskStatus::Finished) finished++;
}
return QString("%1/%2").arg(finished).arg(task.subTasks.size());
}
case ColPath:
return task.savePath;
case ColPath:
return task.savePath;
}
}
else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
const SubTask& subTask = *node->subTaskData;
switch (index.column()) {
case ColName:
return subTaskTypeToString(subTask.type);
case ColScheduledTime:
return "-";
case ColCountdown:
return "-";
case ColStartTime:
return subTask.startTime.isValid() ?
subTask.startTime.toString("HH:mm:ss") : "-";
case ColEndTime:
return subTask.endTime.isValid() ?
subTask.endTime.toString("HH:mm:ss") : "-";
case ColDuration:
return formatDuration(subTask.durationMinutes);
case ColEstimatedDuration:
return formatDuration(subTask.estimatedDurationMinutes);
case ColStatus:
return statusToString(subTask.status);
case ColProgress:
return "-";
case ColPath:
return "-";
case ColName:
return subTaskTypeToString(subTask.type);
case ColScheduledTime:
return "-";
case ColCountdown:
return "-";
case ColStartTime:
return subTask.startTime.isValid() ?
subTask.startTime.toString("HH:mm:ss") : "-";
case ColEndTime:
return subTask.endTime.isValid() ?
subTask.endTime.toString("HH:mm:ss") : "-";
case ColDuration:
return formatDuration(subTask.durationMinutes);
case ColEstimatedDuration:
return formatDuration(subTask.estimatedDurationMinutes);
case ColStatus:
return statusToString(subTask.status);
case ColProgress:
return "-";
case ColPath:
return "-";
}
}
}

3
HPPA/TimedDataCollection.cpp
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@ -114,6 +114,7 @@ void TimedDataCollection::setupConnections()
connect(m_scheduler, &TaskScheduler::ObtainingDepthInformationSignals, this, &TimedDataCollection::ObtainingDepthInformationSignals);
connect(m_scheduler, &TaskScheduler::LiftingPlatformSignals, this, &TimedDataCollection::LiftingPlatformSignals);
connect(m_scheduler, &TaskScheduler::AutoFocusSignals, this, &TimedDataCollection::AutoFocusSignals);
connect(m_scheduler, &TaskScheduler::switchHalogenLampSignal,
this, &TimedDataCollection::switchHalogenLampSignal);
@ -419,6 +420,7 @@ void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
double totalEstimatedMinutes = 0.0;
for (int j = 0; j < loadedTasks[i].subTasks.size(); ++j)
{
loadedTasks[i].subTasks[j].durationMinutes = 0.0; // 初始化实际耗时为0
QString pathLineFilePath = loadedTasks[i].subTasks[j].pathLineFilePath;
if (!pathLineFilePath.isEmpty())
{
@ -429,6 +431,7 @@ void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
}
double slrTimeMinute = 135 / 60;
loadedTasks[i].estimatedDurationMinutes = totalEstimatedMinutes + loadedTasks[i].HalogenLampPreheatingTime_Minute + slrTimeMinute;
loadedTasks[i].durationMinutes = 0.0; // 初始化实际耗时为0
}
m_taskModel->setTasks(loadedTasks);

1
HPPA/TimedDataCollection.h
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@ -54,6 +54,7 @@ Q_SIGNALS:
void ObtainingDepthInformationSignals(SubTask info);
void LiftingPlatformSignals(SubTask info);
void AutoFocusSignals(SubTask info);
void switchHalogenLampSignal(int state);
void switchD65LampSignal(int state);

168
HPPA/TimedDataCollectionDataStructures.cpp
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@ -121,6 +121,23 @@ SubTaskType TimedDataCollectionDataStructuresReaderWriter::stringToSubTaskType(c
return SubTaskType::SingleLensReflex;
}
QString TimedDataCollectionDataStructuresReaderWriter::hyperImagerTypeToString(HyperImagerType type)
{
switch (type) {
case HyperImagerType::Pika_L: return "Pika_L";
case HyperImagerType::Pika_NIR: return "Pika_NIR";
default: return "Unknown";
}
}
HyperImagerType TimedDataCollectionDataStructuresReaderWriter::stringToHyperImagerType(const QString& str)
{
if (str == "Pika_L") return HyperImagerType::Pika_L;
if (str == "Pika_NIR") return HyperImagerType::Pika_NIR;
return HyperImagerType::Pika_L;
}
// ==================== SubTask序列化 ====================
QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const SubTask& subTask)
@ -138,6 +155,7 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const S
obj["defaultRenderBand"] = subTask.defaultRenderBand;
obj["captureIntervalSeconds"] = subTask.captureIntervalSeconds;
obj["autoFocusHyperImagerType"] = hyperImagerTypeToString(subTask.autoFocusHyperImagerType);
obj["autoFocusMotorConfigFilePath"] = subTask.autoFocusMotorConfigFilePath;
obj["autoFocusX"] = subTask.autoFocusX;
obj["autoFocusY"] = subTask.autoFocusY;
@ -164,6 +182,7 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObj
subTask.defaultRenderBand = json["defaultRenderBand"].toInt();
subTask.captureIntervalSeconds = json["captureIntervalSeconds"].toDouble();
subTask.autoFocusHyperImagerType = stringToHyperImagerType(json["autoFocusHyperImagerType"].toString());
subTask.autoFocusMotorConfigFilePath = json["autoFocusMotorConfigFilePath"].toString();
subTask.autoFocusX = json["autoFocusX"].toDouble();
subTask.autoFocusY = json["autoFocusY"].toDouble();
@ -466,84 +485,102 @@ void TaskExecutor::executeNextSubTask()
switch (subTask.type)
{
case SubTaskType::ObtainingDepthInformation:
{
//（1）移动到指定位置并通过深度相机获取深度信息（2）调整升降板高度（白板+调焦板）（3）回到零位(0,0)
emit switchD65LampSignal(1);
emit ObtainingDepthInformationSignals(subTask);
break;
}
case SubTaskType::AutoFocus:
{
//先判断高光谱相机类型，然后发送相机参数hyperCamParm连接相机
case SubTaskType::ObtainingDepthInformation:
{
//（1）移动到指定位置并通过深度相机获取深度信息（2）调整升降板高度（白板+调焦板）（3）回到零位(0,0)
emit switchD65LampSignal(1);
emit ObtainingDepthInformationSignals(subTask);
break;
}
case SubTaskType::AutoFocus:
{
switch (subTask.autoFocusHyperImagerType)
{
case HyperImagerType::Pika_L:
m_camType = 0;
m_currentFolder = makeSubTaskDataFolder("L");
emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
//执行自动调焦任务
break;
}
case SubTaskType::LiftingPlatform:
{
//执行升降平台任务
emit LiftingPlatformSignals(subTask);
break;
}
case SubTaskType::HyperSpectual400_1000nm:
{
m_camType = 0;
m_currentFolder = makeSubTaskDataFolder("L");
emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
break;
case HyperImagerType::Pika_NIR:
m_camType = 1;
m_currentFolder = makeSubTaskDataFolder("NIR");
emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
emit motorParm(subTask.pathLineFilePath);
break;
default:
break;
}
emit switchHalogenLampSignal(1);
// 打开卤素灯预热
emit switchHalogenLampSignal(1);
printMsgAndTime("open HalogenLamp");
double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::emitRecordSignal);
//执行自动调焦任务
QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitAutoFocusSignal);
break;
}
case SubTaskType::LiftingPlatform:
{
//执行升降平台任务
emit LiftingPlatformSignals(subTask);
break;
}
case SubTaskType::HyperSpectual400_1000nm:
{
m_camType = 0;
m_currentFolder = makeSubTaskDataFolder("L");
emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
break;
}
case SubTaskType::HyperSpectual1000_1700nm:
{
m_camType = 1;
m_currentFolder = makeSubTaskDataFolder("NIR");
emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
emit motorParm(subTask.pathLineFilePath);
emit motorParm(subTask.pathLineFilePath);
// 打开卤素灯预热
emit switchHalogenLampSignal(1);
printMsgAndTime("open HalogenLamp");
double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::emitRecordSignal);
QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
break;
}
case SubTaskType::HyperSpectual1000_1700nm:
{
m_camType = 1;
m_currentFolder = makeSubTaskDataFolder("NIR");
emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
break;
}
case SubTaskType::SingleLensReflex:
{
m_camType = 2;
m_currentFolder = makeSubTaskDataFolder("SLR");
emit camParm(m_camType, 3, m_currentFolder);
emit motorParm(subTask.pathLineFilePath);
emit motorParm(subTask.pathLineFilePath);
QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
emit switchD65LampSignal(1);
break;
}
case SubTaskType::SingleLensReflex:
{
m_camType = 2;
m_currentFolder = makeSubTaskDataFolder("SLR");
emit camParm(m_camType, 3, m_currentFolder);
emit switchSlrSignal(1);
emit motorParm(subTask.pathLineFilePath);
QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
emit switchD65LampSignal(1);
break;
}
case SubTaskType::DepthCamera:
{
m_camType = 3;
m_currentFolder = makeSubTaskDataFolder("DepthCamera");
emit camParm(m_camType, 3, m_currentFolder);
emit switchSlrSignal(1);
emit motorParm(subTask.pathLineFilePath);
QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
emit switchD65LampSignal(1);
break;
}
case SubTaskType::DepthCamera:
{
m_camType = 3;
m_currentFolder = makeSubTaskDataFolder("DepthCamera");
emit camParm(m_camType, 3, m_currentFolder);
QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
emit motorParm(subTask.pathLineFilePath);
break;
}
emit switchD65LampSignal(1);
QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
break;
}
}
ensurePreTaskLighting();
}
@ -553,6 +590,12 @@ void TaskExecutor::emitRecordSignal()
emit startRecordSignal(m_camType);
}
void TaskExecutor::emitAutoFocusSignal()
{
SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
emit AutoFocusSignals(subTask);
}
// ==================== TaskScheduler 实现 ====================
TaskScheduler::TaskScheduler(QObject* parent)
@ -729,6 +772,7 @@ void TaskScheduler::executeTask(TimedTask& task)
connect(m_currentExecutor, &TaskExecutor::ObtainingDepthInformationSignals, this, &TaskScheduler::ObtainingDepthInformationSignals);
connect(m_currentExecutor, &TaskExecutor::LiftingPlatformSignals, this, &TaskScheduler::LiftingPlatformSignals);
connect(m_currentExecutor, &TaskExecutor::AutoFocusSignals, this, &TaskScheduler::AutoFocusSignals);
connect(m_currentExecutor, &TaskExecutor::switchHalogenLampSignal, this, &TaskScheduler::switchHalogenLampSignal);
connect(m_currentExecutor, &TaskExecutor::switchD65LampSignal, this, &TaskScheduler::switchD65LampSignal);

11
HPPA/TimedDataCollectionDataStructures.h
View File

@ -30,6 +30,10 @@ enum class SubTaskType {
AutoFocus, // 自动对焦
LiftingPlatform // 升降平台
};
enum class HyperImagerType {
Pika_L,
Pika_NIR
};
// ==================== 统一子任务封装 ====================
@ -58,6 +62,7 @@ struct SubTask {
double percentageOfEffectiveArea = 50.0; //深度图像的有效范围百分比
//高光谱自动调焦
HyperImagerType autoFocusHyperImagerType;//取值范围：L、NIR
QString autoFocusMotorConfigFilePath;//马达配置文件
double autoFocusX = 0.0;
double autoFocusY = 0.0;
@ -124,6 +129,9 @@ private:
static QString subTaskTypeToString(SubTaskType type);
static SubTaskType stringToSubTaskType(const QString& str);
static QString hyperImagerTypeToString(HyperImagerType type);
static HyperImagerType stringToHyperImagerType(const QString& str);
};
// ==================== 任务执行器 ====================
@ -168,6 +176,7 @@ signals:
void ObtainingDepthInformationSignals(SubTask info);
void LiftingPlatformSignals(SubTask info);
void AutoFocusSignals(SubTask info);
void switchHalogenLampSignal(int state);
void switchD65LampSignal(int state);
@ -179,6 +188,7 @@ public slots:
void onError(const QString& error);
void emitRecordSignal();
void emitAutoFocusSignal();
private:
QString m_currentFolder;
@ -240,6 +250,7 @@ signals:
void ObtainingDepthInformationSignals(SubTask info);
void LiftingPlatformSignals(SubTask info);
void AutoFocusSignals(SubTask info);
void switchHalogenLampSignal(int state);
void switchD65LampSignal(int state);

29
HPPA/TwoMotorControl.cpp
View File

@ -232,6 +232,25 @@ void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, int
m_ObtainTargetDepthInfoCoordinator->moveToTarget(depthInfoX, depthInfoY, xmotor_move_speed, ymotor_move_speed);
}
void TwoMotorControl::run5_AutoFocus(double autoFocusX, double autoFocusY)
{
m_focusWindow = new focusWindow(this, m_Imager);
m_focusWindow->onConnectMotor();
m_focusWindow->show();
//自动调焦的协调器添加功能：先归零
m_autoFocusCoordinator = new TwoMotor1PosCoordinator(m_multiAxisController);
connect(m_autoFocusCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, m_focusWindow, &focusWindow::onAutoFocus);
connect(m_focusWindow, &focusWindow::AutoFocusFinishedSignal, m_autoFocusCoordinator, &TwoMotor1PosCoordinator::back2origin);
connect(m_focusWindow, &focusWindow::AutoFocusFinishedSignal, this, &TwoMotorControl::sequenceComplete, Qt::UniqueConnection);
connect(m_autoFocusCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin4);
double xmotor_move_speed = ui.xmotor_move_speed_lineEdit->text().toDouble();
double ymotor_move_speed = ui.ymotor_move_speed_lineEdit->text().toDouble();
m_autoFocusCoordinator->moveToTarget(autoFocusX, autoFocusY, xmotor_move_speed, ymotor_move_speed);
}
void TwoMotorControl::saveDepthValue(double depthValue)
{
if (m_depthType == 0)//0表示植被深度，1表示白板/调焦版深度
@ -251,6 +270,16 @@ void TwoMotorControl::onBack2Origin3()
emit back2OriginSignal_TimedDataCollection();
}
void TwoMotorControl::onBack2Origin4()
{
m_focusWindow->deleteLater();
m_focusWindow = nullptr;
m_autoFocusCoordinator->deleteLater();
m_autoFocusCoordinator = nullptr;
emit back2OriginSignal_TimedDataCollection();
}
void TwoMotorControl::run()
{
if (getState())

7
HPPA/TwoMotorControl.h
View File

@ -17,6 +17,8 @@
#include "DepthValueLogger.h"
#include "focusWindow.h"
#define PI 3.1415926
class TwoMotorControl : public QDialog, public MotorWindowBase
@ -85,9 +87,11 @@ public Q_SLOTS:
void run2(SingleLensReflexCameraWindow* w);
void run3(DepthCameraWindow* window);
void run4_ObtainTargetDepthInfo(DepthCameraWindow* window, int depthType, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea);
void run5_AutoFocus(double autoFocusX, double autoFocusY);
void onBack2Origin2();
void saveDepthValue(double depthValue);
void onBack2Origin3();
void onBack2Origin4();
void stop_record();
@ -117,6 +121,7 @@ private:
TwoMotionCaptureCoordinator* m_coordinator = nullptr;
TwoMotionCaptureCoordinator* m_coordinator_TimedDataCollection = nullptr;
TwoMotor1PosCoordinator* m_ObtainTargetDepthInfoCoordinator = nullptr;
TwoMotor1PosCoordinator* m_autoFocusCoordinator = nullptr;
DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
@ -125,4 +130,6 @@ private:
IrisMultiMotorController* m_multiAxisController = nullptr;
int m_depthType;
focusWindow* m_focusWindow = nullptr;
};

71
HPPA/focusWindow.cpp
View File

@ -299,7 +299,7 @@ void focusWindow::connectMotor(bool isNotification)//需要修改这个函数
if (m_coordinator)
{
disconnect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
disconnect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
disconnect(this, SIGNAL(startStepMotionSignal(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
disconnect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
disconnect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
@ -343,7 +343,7 @@ void focusWindow::connectMotor(bool isNotification)//需要修改这个函数
m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
connect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
connect(this, SIGNAL(startStepMotionSignal(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
m_MotionCaptureCoordinatorThread.start();
@ -475,7 +475,7 @@ void focusWindow::onAutoFocus()
//获取马达最大位置
std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
double maxPos = maxRangeLocations[0];
emit startStepMotion(m_dSpeed, m_iStepSize, 0, maxPos);
emit startStepMotionSignal(m_dSpeed, m_iStepSize, 0, maxPos);
}
else
{
@ -649,26 +649,48 @@ void focusWindow::moveAfterAutoFocus(int motorID, double location)
std::cout << "\n已经到达位置：" << location << std::endl;
double tmp = abs(location - m_goodPos) / m_goodPos * 100;
if (tmp < 5 || m_goodPos == 0)
double errorRate = getErrorRate(m_goodPos, location);
if (errorRate < 5|| m_moveRetryCount > MAX_MOVE_RETRY)
{
m_isMoveAfterAutoFocus = false;
m_moveRetryCount = 0;
if (!m_isAutoFocusSuccess)
{
showMessageBox(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
qDebug() << "纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！";
//showMessageBox(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
}
else
{
showMessageBox(QString::fromLocal8Bit("自动调焦成功！"));
qDebug() << "自动调焦成功！";
//showMessageBox(QString::fromLocal8Bit("自动调焦成功！"));
}
emit AutoFocusFinishedSignal(0);
}
else
{
m_moveRetryCount++;
qDebug() << "自动调焦后目标马达位置，重试次数：" << m_moveRetryCount;
//移动马达到最佳位置
emit move2LocSignal(0, (double)m_goodPos, m_dSpeed, 1000);
}
}
double focusWindow::getErrorRate(double targetLoc, double actualLoc)
{
double targetLocTmp;
if (targetLoc == 0)
{
targetLocTmp = 0.001;
}
else
{
targetLocTmp = targetLoc;
}
double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
return errorRate;
}
void focusWindow::getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init)
{
auto minmax_element = std::minmax_element(index.begin(), index.end());
@ -819,11 +841,15 @@ MotionCaptureCoordinator::MotionCaptureCoordinator(
, m_currentPos(0)
, m_endPos(0)
, m_isRunning(false)
, m_isZeroing(false)
{
//这些信号槽是按照逻辑顺序的
connect(this, SIGNAL(moveTo(int, double, double, int)),
m_motorCtrl, SLOT(moveTo(int, double, double, int)));
connect(this, &MotionCaptureCoordinator::zeroStart,
m_motorCtrl, &IrisMultiMotorController::zeroStart);
connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
this, &MotionCaptureCoordinator::handlePositionReached);
//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
@ -860,15 +886,37 @@ void MotionCaptureCoordinator::startStepMotion(double speed, int stepInterval, d
m_speed = speed;
m_iStepInterval = stepInterval;
m_iStepIntervalRealTime = 1;
m_currentPos = startPos;
m_startPos = startPos;
m_endPos = endPos;
m_posInternal = (endPos - startPos) / stepInterval;
m_isRunning = true;
m_isZeroing = true;
// 先执行归零操作
emit zeroStart(0);
qDebug() << "MotionCaptureCoordinator::startStepMotion: Zeroing started.";
}
void MotionCaptureCoordinator::startMotionSequence()
{
QMutexLocker locker(&m_dataMutex);
m_currentPos = m_startPos;
m_isZeroing = false;
qDebug() << "MotionCaptureCoordinator::startMotionSequence: Zeroing complete. Starting motion sequence.";
processNextPosition();
}
void MotionCaptureCoordinator::handleZeroComplete(int motorID, double pos)
{
if (!m_isRunning || !m_isZeroing) return;
// 归零完成，开始分步运动
startMotionSequence();
}
void MotionCaptureCoordinator::stopStepMotion()
{
QMutexLocker locker(&m_dataMutex);
@ -911,6 +959,13 @@ void MotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
{
if (!m_isRunning) return;
// 如果正在等待归零完成，调用归零完成处理
if (m_isZeroing)
{
handleZeroComplete(motorID, pos);
return;
}
QMutexLocker locker(&m_dataMutex);
//验证马达运动位置是否到达指定位置

13
HPPA/focusWindow.h
View File

@ -70,14 +70,17 @@ signals:
void errorOccurred(const QString& error);
void moveTo(int, double, double, int);
void getFocusIndexSobel();
void zeroStart(int motorID);
private slots:
void handlePositionReached(int motorID, double pos);
void handleCaptureComplete(double index);
void handleError(const QString& error);
void handleZeroComplete(int motorID, double pos);
private:
void processNextPosition();
void startMotionSequence();
IrisMultiMotorController* m_motorCtrl;
ImagerOperationBase* m_cameraCtrl;
@ -86,6 +89,7 @@ private:
double m_posInternal;
double m_currentPos;
double m_startPos;
double m_endPos;
bool m_isRunning;
double m_speed;
@ -93,6 +97,7 @@ private:
int m_iStepInterval;
int m_iStepIntervalRealTime;
int m_counter;
bool m_isZeroing;
};
class focusWindow:public QDialog
@ -134,6 +139,8 @@ private:
double m_goodPos;
bool m_isAutoFocusSuccess;
bool m_isMoveAfterAutoFocus = false;
int m_moveRetryCount = 0;
static constexpr int MAX_MOVE_RETRY = 3;
void getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init);
void gaussian_fit(const std::vector<double>& x_data, const std::vector<double>& y_data, double& a, double& mu, double& sigma, double& c);
@ -143,6 +150,8 @@ private:
void showMessageBox(QString msg, QString title = QString::fromLocal8Bit("提示"));
double getErrorRate(double targetLoc, double actualLoc);
public Q_SLOTS:
void onConnectMotor();
void onMove2MotorLogicZero();
@ -176,8 +185,10 @@ signals:
void zeroStartSignal(int);
void testConnectivitySignal(int, int);
void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);
void startStepMotionSignal(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);
void closeSignal();
void AutoFocusFinishedSignal(int status);
};
class WorkerThread2 : public QThread