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新的一轴采集逻辑控制器

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tangchao0503
2025-09-15 11:18:38 +08:00
parent 496f61c0e1
commit 1e0cf1aa12
6 changed files with 269 additions and 40 deletions
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160
HPPA/CaptureCoordinator.cpp
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@ -441,3 +441,163 @@ void TwoMotionCaptureCoordinator::processNextPathLine()
m_isMoving2XMin = true;
emit moveTo(loc, speed, 1000);
}
OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
IrisMultiMotorController* motorCtrl,
ImagerOperationBase* cameraCtrl,
QObject* parent)
: QObject(parent)
, m_motorCtrl(motorCtrl)
, m_cameraCtrl(cameraCtrl)
, m_isRunning(false)
{
connect(this, SIGNAL(moveTo(int, double, double, int)),
m_motorCtrl, SLOT(moveTo(int, double, double, int)));
connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_motorCtrl, SLOT(move(int, bool, double, int)));
connect(this, &OneMotionCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
this, &OneMotionCaptureCoordinator::handleMotorStoped);
//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
// this, &OneMotionCaptureCoordinator::handleError);
connect(this, &OneMotionCaptureCoordinator::startRecordHSISignal,
m_cameraCtrl, &ImagerOperationBase::start_record);
connect(this, &OneMotionCaptureCoordinator::stopRecordHSISignal,
m_cameraCtrl, &ImagerOperationBase::stop_record);
connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet,
this, &OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
}
OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
{
}
void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
{
QMutexLocker locker(&m_dataMutex);
if (m_isRunning)
{
emit errorOccurred("Sequence already running");
return;
}
m_isRunning = true;
m_pathLine = pathLine;
getLocBeforeStart();
m_pathLine.startPosition = m_locBeforeStart[0];
m_pathLine.timestamp1 = QDateTime::currentDateTime();
//移动马达并开始采集高光谱
emit moveSignal(0, false, m_pathLine.speedRecord, 1000);
emit startRecordHSISignal();
}
void OneMotionCaptureCoordinator::stopStepMotion()
{
QMutexLocker locker(&m_dataMutex);
if (m_cameraCtrl != nullptr)
{
m_cameraCtrl->stop_record();
}
emit stopMotorSignal(0);
}
void OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
{
emit stopMotorSignal(0);
}
void OneMotionCaptureCoordinator::getLocBeforeStart()
{
QEventLoop loop;
bool received = false;
QTimer timer;
timer.setSingleShot(true);
connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
[&](std::vector<double> pos) {
m_locBeforeStart = pos;
received = true;
loop.quit();
});
QMetaObject::invokeMethod(m_motorCtrl, "getLoc", Qt::QueuedConnection);
timer.start(3000);
loop.exec();
disconnect(conn);
}
void OneMotionCaptureCoordinator::move2LocBeforeStart()
{
std::cout << "\nmove2LocBeforeStart." << std::endl;
emit moveTo(0, m_locBeforeStart[0], m_pathLine.speedBack, 1000);
m_isRunning = false;
}
bool OneMotionCaptureCoordinator::saveToCsv(const QString& filename)
{
//QMutexLocker locker(&m_dataMutex);
QFile file(filename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
{
return false;
}
QTextStream out(&file);
out << "startTime,stopTime,startPosition,stopPosition\n";
out << m_pathLine.timestamp1.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
<< m_pathLine.timestamp2.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
<< QString::number(m_pathLine.startPosition, 'f', 4) << ","
<< QString::number(m_pathLine.stopPosition, 'f', 4) << "\n";
file.close();
return true;
}
void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
{
if (!m_isRunning) return;
QMutexLocker locker(&m_dataMutex);
// 记录位置信息
m_pathLine.stopPosition = pos;
m_pathLine.timestamp2 = QDateTime::currentDateTime();
//光谱仪停止采集，马达回到初始位置
emit stopRecordHSISignal();
if (m_cameraCtrl != nullptr)
{
m_cameraCtrl->stop_record();
}
move2LocBeforeStart();
}
void OneMotionCaptureCoordinator::handleCaptureComplete(double index)
{
if (!m_isRunning) return;
QMutexLocker locker(&m_dataMutex);
}
void OneMotionCaptureCoordinator::handleError(const QString& error)
{
QMutexLocker locker(&m_dataMutex);
m_isRunning = false;
emit errorOccurred(error);
}

62
HPPA/CaptureCoordinator.h
View File

@ -105,3 +105,65 @@ private:
int m_numCurrentPathLine;
};
struct OneMotionCapturePathLine
{
double startPosition;
double stopPosition;
double speedRecord;
double speedBack;
QDateTime timestamp1;//开始
QDateTime timestamp2;//结束
OneMotionCapturePathLine()
: startPosition(0), stopPosition(0), speedRecord(0), speedBack(0),
timestamp1(QDateTime::currentDateTime()), timestamp2(QDateTime::currentDateTime()) {}
};
Q_DECLARE_METATYPE(OneMotionCapturePathLine);
class OneMotionCaptureCoordinator : public QObject
{
Q_OBJECT
public:
OneMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
ImagerOperationBase* cameraCtrl,
QObject* parent = nullptr);
~OneMotionCaptureCoordinator();
bool saveToCsv(const QString& filename);
public slots:
void startStepMotion(OneMotionCapturePathLine pathLine);
void stopStepMotion();
void handleCaptureCompleteWhenFrameNumberMeet();
signals:
void sequenceComplete(int);
void errorOccurred(const QString& error);
void moveTo(int, double, double, int);
void moveSignal(int, bool, double, int);
void stopMotorSignal(int axis);
void startRecordHSISignal();
void stopRecordHSISignal();
private slots:
void handleMotorStoped(int motorID, double pos);
void handleCaptureComplete(double index);
void handleError(const QString& error);
private:
IrisMultiMotorController* m_motorCtrl;
ImagerOperationBase* m_cameraCtrl;
OneMotionCapturePathLine m_pathLine;
mutable QMutex m_dataMutex;
bool m_isRunning;
std::vector<double> m_locBeforeStart;
void getLocBeforeStart();
void move2LocBeforeStart();
};

29
HPPA/HPPA.cpp
View File

@ -302,7 +302,6 @@ HPPA::HPPA(QWidget *parent)
//һ<><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
omc = new OneMotorControl();
connect(omc, SIGNAL(startRecordLineSignal(int)), this, SLOT(recordHyperSpecImg(int)));
dock_omc = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
dock_omc->setObjectName("mDockOneMotorControl");
@ -341,19 +340,6 @@ HPPA::HPPA(QWidget *parent)
}
}
void HPPA::recordHyperSpecImg(int status)
{
if (status == 1)
{
emit StartRecordSignal();//<2F><><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>ź<EFBFBD>
}
else if (status == 0)
{
m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
}
}
void HPPA::recordFromRobotArm(int fileCounter)
{
//qDebug() << "recordFromRobotArm" << fileCounter;
@ -585,7 +571,7 @@ void HPPA::onStartRecordStep1()
{
m_RecordState -= 1;
string tmp = imgPath + "_" + std::to_string(1) + ".bil";
string tmp = imgPath + "_" + std::to_string(0) + ".bil";
int x = _access(tmp.c_str(), 0);
if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD>
{
@ -650,11 +636,12 @@ void HPPA::onStartRecordStep1()
//Ӧ<><D3A6><EFBFBD>ȿ<EFBFBD><C8BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>Dzɼ<C7B2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>źţ<C5BA>
m_Imager->setFileName2Save(imgPath);
m_Imager->setFrameNumber(this->frame_number->text().toInt());
omc->moveMotorAndRecordHyperSpecImg(500);
omc->setImager(m_Imager);
omc->run();
}
else
{
omc->moveMotor2StartPosAndStopRecord();
omc->stop();
m_RecordState -= 1;
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
@ -963,7 +950,7 @@ void HPPA::onLeftMouseButtonPressed(int x, int y)
FileOperation * fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryFromString();
string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(m_TabWidgetCurrentIndex + 1) + ".bil";
string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(m_TabWidgetCurrentIndex) + ".bil";
ImageReaderWriter *ImageReader = new ImageReaderWriter(imgPath.c_str());
@ -2361,12 +2348,6 @@ void HPPA::onRecordFinishedSignal_WhenFrameNumberMeet()
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
m_RecordState++;//<2F><><EFBFBD>Զ<EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
if (checkedName == "mAction_1AxisMotor")
{
omc->moveMotor2StartPosAndStopRecord();
}
}
void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet()

1
HPPA/HPPA.h
View File

@ -350,7 +350,6 @@ public Q_SLOTS:
void requestFinished(QNetworkReply* reply);
void recordFromRobotArm(int fileCounter);
void recordHyperSpecImg(int status);
void createOneMotorScenario();
signals:

39
HPPA/OneMotorControl.cpp
View File

@ -53,10 +53,6 @@ void OneMotorControl::onConnectMotor()
connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
connect(this, SIGNAL(recordHyperSpecImgOneMotorSignal(int, double, double)), m_multiAxisController, SLOT(recordHyperSpecImgOneMotor(int, double, double)));
connect(m_multiAxisController, SIGNAL(startRecordLineSignal(int)), this, SIGNAL(startRecordLineSignal(int)));
connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
@ -121,15 +117,36 @@ void OneMotorControl::onxMotorStop()
emit stopSignal(0);
}
void OneMotorControl::moveMotorAndRecordHyperSpecImg(int updateIntervalMs)
void OneMotorControl::setImager(ImagerOperationBase* imager)
{
double runSpeed = ui.speed_lineEdit->text().toDouble();
double returnSpeed = ui.return_speed_lineEdit->text().toDouble();
emit recordHyperSpecImgOneMotorSignal(updateIntervalMs, runSpeed, returnSpeed);
m_Imager = imager;
}
void OneMotorControl::moveMotor2StartPosAndStopRecord()
void OneMotorControl::run()
{
m_multiAxisController->cancelRecord();
if (m_coordinator == nullptr)
{
qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
}
OneMotionCapturePathLine tmp;
tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
tmp.speedBack = ui.return_speed_lineEdit->text().toDouble();
emit start(tmp);
}
void OneMotorControl::stop()
{
emit stopStepMotionSignal();
}
void OneMotorControl::onSequenceComplete()
{
emit sequenceComplete();
}

18
HPPA/OneMotorControl.h
View File

@ -6,6 +6,7 @@
#include "IrisMultiMotorController.h"
#include "fileOperation.h"
#include "CaptureCoordinator.h"
class OneMotorControl : public QDialog
{
@ -15,8 +16,10 @@ public:
OneMotorControl(QWidget* parent = nullptr);
~OneMotorControl();
void moveMotorAndRecordHyperSpecImg(int updateIntervalMs);
void moveMotor2StartPosAndStopRecord();
void setImager(ImagerOperationBase* imager);
void run();
void stop();
public Q_SLOTS:
@ -32,6 +35,8 @@ public Q_SLOTS:
void onxMotorLeft();
void onxMotorStop();
void onSequenceComplete();
signals:
void moveSignal(int, bool, double, int);
void move2LocSignal(int, double, double, int);
@ -42,12 +47,17 @@ signals:
void zeroStartSignal(int);
void testConnectivitySignal(int, int);
void recordHyperSpecImgOneMotorSignal(int updateIntervalMs, double runSpeed, double returnSpeed);
void start(OneMotionCapturePathLine);
void stopStepMotionSignal();
void sequenceComplete();
void startRecordLineSignal(int);
private:
Ui::OneMotorControl_UI ui;
QThread m_motorThread;
IrisMultiMotorController* m_multiAxisController;
OneMotionCaptureCoordinator* m_coordinator = nullptr;
ImagerOperationBase* m_Imager;
};