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add，计划采集17，上海农科院3D植物表型：

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添加任务类型：获取目标区域的平均深度信息
This commit is contained in:
tangchao0503
2026-08-06 13:42:51 +08:00
parent f00fc6fdea
commit 64cdc7591d
14 changed files with 665 additions and 190 deletions
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155
HPPA/CaptureCoordinator.cpp
View File

@ -724,3 +724,158 @@ void DarkAndWhiteCaptureCoordinator::handleCaptureComplete(double index)
{
QMutexLocker locker(&m_dataMutex);
}
TwoMotor1PosCoordinator::TwoMotor1PosCoordinator(
IrisMultiMotorController* motorCtrl,
QObject* parent)
: QObject(parent)
, m_motorCtrl(motorCtrl)
, m_isMoving2Target(false)
, m_isMoving2Origin(false)
, m_targetX(0)
, m_targetY(0)
, m_speedX(0)
, m_speedY(0)
, m_actualX(0)
, m_actualY(0)
, m_retryTimesX(0)
, m_retryTimesY(0)
, m_xReached(false)
, m_yReached(false)
{
//因为IrisMultiMotorController::moveTo有多个重载版本，所以使用信号槽连接时需要使用SIGNAL和SLOT宏来指定参数类型，避免编译器无法推断出正确的函数签名。
//connect(this, &TwoMotor1PosCoordinator::moveTo, m_motorCtrl, &IrisMultiMotorController::moveTo);//这行代码会报错，因为moveTo有多个重载版本，编译器无法推断出正确的函数签名。
connect(this, SIGNAL(moveTo(int, double, double, int)), m_motorCtrl, SLOT(moveTo(int, double, double, int)));
connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)), m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
connect(this, &TwoMotor1PosCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &TwoMotor1PosCoordinator::handlePositionReached);
}
TwoMotor1PosCoordinator::~TwoMotor1PosCoordinator()
{
}
void TwoMotor1PosCoordinator::moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed)
{
m_isMoving2Target = true;
m_isMoving2Origin = false;
moveToTargetPrivate(xTarget, yTarget, xSpeed, ySpeed);
}
void TwoMotor1PosCoordinator::back2origin()
{
m_isMoving2Target = false;
m_isMoving2Origin = true;
moveToTargetPrivate(0, 0, m_speedX, m_speedY);
}
void TwoMotor1PosCoordinator::moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed)
{
m_targetX = xTarget;
m_targetY = yTarget;
m_speedX = xSpeed;
m_speedY = ySpeed;
m_xReached = false;
m_yReached = false;
m_retryTimesX = 0;
m_retryTimesY = 0;
std::vector<double> loc = { m_targetX, m_targetY };
std::vector<double> speed = { m_speedX, m_speedY };
std::cout << "TwoMotor1PosCoordinator: moving to (" << m_targetX << ", " << m_targetY << ")" << std::endl;
emit moveTo(loc, speed, 1000);
}
void TwoMotor1PosCoordinator::handlePositionReached(int motorID, double pos)
{
if (!m_isMoving2Target && !m_isMoving2Origin)
{
return;
}
double errorRateThreshold = 5;
if (motorID == 0)
{
m_actualX = pos;
double errorRate = getErrorRate(m_targetX, m_actualX);
if (errorRate > errorRateThreshold && m_retryTimesX < m_retryLimit)
{
m_retryTimesX++;
std::cout << "X motor retry " << m_retryTimesX << ", target: " << m_targetX << ", actual: " << m_actualX << std::endl;
emit moveTo(0, m_targetX, m_speedX, 1000);
return;
}
m_retryTimesX = 0;
m_xReached = true;
std::cout << "X motor reached: " << m_actualX << std::endl;
}
else if (motorID == 1)
{
m_actualY = pos;
double errorRate = getErrorRate(m_targetY, m_actualY);
if (errorRate > errorRateThreshold && m_retryTimesY < m_retryLimit)
{
m_retryTimesY++;
std::cout << "Y motor retry " << m_retryTimesY << ", target: " << m_targetY << ", actual: " << m_actualY << std::endl;
emit moveTo(1, m_targetY, m_speedY, 1000);
return;
}
m_retryTimesY = 0;
m_yReached = true;
std::cout << "Y motor reached: " << m_actualY << std::endl;
}
if (checkArrival())
{
std::cout << "TwoMotor1PosCoordinator: Arrived at (" << m_actualX << ", " << m_actualY << ")" << std::endl;
if (m_isMoving2Origin)
{
m_isMoving2Origin = false;
emit back2OriginSignal();
}
if (m_isMoving2Target)
{
m_isMoving2Target = false;
emit ArrivalSignal(m_actualX, m_actualY);
}
}
}
double TwoMotor1PosCoordinator::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;
}
bool TwoMotor1PosCoordinator::checkArrival()
{
return m_xReached && m_yReached;
}

52
HPPA/CaptureCoordinator.h
View File

@ -213,3 +213,55 @@ private:
void getLocBeforeStart();
void move2LocBeforeStart();
};
class TwoMotor1PosCoordinator : public QObject
{
Q_OBJECT
public:
TwoMotor1PosCoordinator(IrisMultiMotorController* motorCtrl,
QObject* parent = nullptr);
~TwoMotor1PosCoordinator();
public slots:
void moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed);
void back2origin();
signals:
void ArrivalSignal(double xPos, double yPos);
void back2OriginSignal();
void errorOccurred(const QString& error);
void moveTo(int, double, double, int);
void moveTo(const std::vector<double>, const std::vector<double>, int);
void stopMotorSignal(int axis);
private slots:
void handlePositionReached(int motorID, double pos);
private:
void moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed);
double getErrorRate(double targetLoc, double actualLoc);
bool checkArrival();
void move2Origin();
IrisMultiMotorController* m_motorCtrl;
mutable QMutex m_dataMutex;
bool m_isMoving2Target;
bool m_isMoving2Origin;
double m_targetX;
double m_targetY;
double m_speedX;
double m_speedY;
double m_actualX;
double m_actualY;
int m_retryLimit = 3;
int m_retryTimesX;
int m_retryTimesY;
bool m_xReached;
bool m_yReached;
};

110
HPPA/DepthCameraWindow.cpp
View File

@ -14,6 +14,7 @@ DepthCameraWindow::DepthCameraWindow(QWidget* parent)
connect(ui.closeDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::closeDepthCamera);
connect(this, &DepthCameraWindow::openDepthCameraSignal, m_DepthCameraOperation, &DepthCameraOperation::OpenDepthCamera);
connect(this, &DepthCameraWindow::OpenDepthCamera_getDepthValueSignal, m_DepthCameraOperation, &DepthCameraOperation::OpenDepthCamera_getDepthValue);
connect(m_DepthCameraOperation, &DepthCameraOperation::CamOpenedSignal, this, &DepthCameraWindow::onCamOpened);
connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::onCamClosed);
@ -66,6 +67,14 @@ void DepthCameraWindow::openDepthCamera()
}
}
void DepthCameraWindow::OpenDepthCamera_getDepthValue()
{
if (!m_DepthCameraOperation->getRecordStatus())
{
emit OpenDepthCamera_getDepthValueSignal();
}
}
void DepthCameraWindow::onCamOpened()
{
ui.openDepthCamera_btn->setEnabled(false);
@ -279,6 +288,107 @@ void DepthCameraOperation::OpenDepthCamera()
m_pipe = nullptr;
}
void DepthCameraOperation::OpenDepthCamera_getDepthValue()
{
if (m_pipe)
{
return;
}
m_pipe = new ob::Pipeline();
std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
// Get device from pipeline.
auto device = m_pipe->getDevice();
auto devInfo = device->getDeviceInfo();
auto pid = devInfo->getPid();
auto vid = devInfo->getVid();
config->enableVideoStream(OB_STREAM_DEPTH, 640, 480, 15, OB_FORMAT_Y16);
config->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
m_pipe->enableFrameSync();
m_pipe->start(config);
// Drop several frames
for (int i = 0; i < 15; ++i) {
auto lost = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
}
auto pointCloud = std::make_shared<ob::PointCloudFilter>();
int frameIndex = 0;
record = true;
QString fileNamePrefix = AppSettings::instance().depthCameraDataFolder() + QDir::separator() + "Gemini336L";
double depthValue_all = 0.0;
for (size_t i = 0; i < m_averageNumberOfTimes; i++)
{
if(frameIndex==0)
{
emit CamOpenedSignal();
std::cout << "Start recording..." << std::endl;
}
auto frameSet = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
if (frameSet == nullptr)
{
std::cout << "No frames received in 100ms..." << std::endl;
continue;
}
std::cout << "DepthCamera frameIndex："<< frameIndex << std::endl;
// 彩色和深度图像
auto depthFrame = frameSet->getFrame(OB_FRAME_DEPTH)->as<ob::DepthFrame>();
//是否需要保存深度图像？？？？？？？？
//saveDepthFrame(depthFrame, frameIndex, fileNamePrefix.toStdString());
cv::Mat depthMat(depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data());
//裁剪边缘区域
int cropRows = static_cast<int>(depthMat.rows * (1 - m_percentageOfEffectiveArea) / 2);
int cropCols = static_cast<int>(depthMat.cols * (1 - m_percentageOfEffectiveArea) / 2);
cv::Rect roi(cropCols, cropRows,
depthMat.cols - 2 * cropCols,
depthMat.rows - 2 * cropRows);
cv::Mat depthRoi = depthMat(roi);
//计算平均深度值并累加
cv::Scalar meanDepth = cv::mean(depthRoi);
double depthValue = meanDepth[0] / 1000.0; // 转换为米
depthValue_all += depthValue;
std::cout << "Depth value: " << depthValue << " m, accumulated: " << depthValue_all << std::endl;
cv::Mat depthMat8U;
depthMat.convertTo(depthMat8U, CV_8UC1, 255.0 / 4096.0);
cv::Mat depthColorMap;
cv::applyColorMap(depthMat8U, depthColorMap, cv::COLORMAP_JET);
cv::Mat depthRgbMat;
cv::cvtColor(depthColorMap, depthRgbMat, cv::COLOR_BGR2RGB);
m_depthImage = QImage(depthRgbMat.data, depthRgbMat.cols, depthRgbMat.rows, static_cast<int>(depthRgbMat.step), QImage::Format_RGB888).copy();
//m_depthImage = QImage(depthMat.data, depthMat.cols, depthMat.rows, static_cast<int>(depthMat.step), QImage::Format_Grayscale16).copy();
emit PlotSignal();
frameIndex++;
}
//计算平均深度值
double depthValue_avg = depthValue_all / m_averageNumberOfTimes;
std::cout << "Average depth value: " << depthValue_avg << " m" << std::endl;
emit DepthValueSignal(depthValue_avg);
m_pipe->stop();
delete m_pipe;
m_pipe = nullptr;
record = false;
}
void DepthCameraOperation::saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
{
std::vector<int> params;

16
HPPA/DepthCameraWindow.h
View File

@ -35,6 +35,9 @@ public:
void setCaptureInterval(int captureIntervalSeconds);
void setAverageNumberOfTimes(double averageNumberOfTimes) { m_averageNumberOfTimes = averageNumberOfTimes; }
void setPercentageOfEffectiveArea(double percentageOfEffectiveArea) { m_percentageOfEffectiveArea = percentageOfEffectiveArea; }
private:
ob::Pipeline* m_pipe;
cv::Mat frame;
@ -50,13 +53,18 @@ private:
int m_captureIntervalMilliseconds;
double m_averageNumberOfTimes;
double m_percentageOfEffectiveArea;
public slots:
void OpenDepthCamera();
void OpenDepthCamera_getDepthValue();
void OpenDepthCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
void CloseDepthCamera();
signals:
void PlotSignal();
void DepthValueSignal(double depthValue);
void CamOpenedSignal();
void CamClosedSignal();
@ -77,6 +85,7 @@ public:
public Q_SLOTS:
void openDepthCamera();
void OpenDepthCamera_getDepthValue();
void onCamOpened();
void closeDepthCamera();
void onCamClosed();
@ -84,9 +93,10 @@ public Q_SLOTS:
void onSelectDataFolder();
signals:
void openDepthCameraSignal();
void PlotDepthImageSignal();
void DepthCamClosedSignal();
void openDepthCameraSignal();
void OpenDepthCamera_getDepthValueSignal();
void PlotDepthImageSignal();
void DepthCamClosedSignal();
private:
Ui::DepthCameraClass ui;

7
HPPA/HPPA.cpp
View File

@ -666,6 +666,8 @@ void HPPA::initTimedDataCollection()
connect(m_tdc, &TimedDataCollection::motorParm, this, &HPPA::setTimedDataCollectionMotorParm);
connect(m_tdc, &TimedDataCollection::startRecordSignal, this, &HPPA::onStartTimedDataCollection);
connect(m_tdc, &TimedDataCollection::ObtainingDepthInformationSignals, this, &HPPA::onObtainTargetDepthInformation);
connect(m_tdc, &TimedDataCollection::switchHalogenLampSignal, m_pc3D, &PowerControl3D::switchHalogenLampPower);
connect(m_tdc, &TimedDataCollection::switchD65LampSignal, m_pc3D, &PowerControl3D::switchD65LampPower);
connect(m_tdc, &TimedDataCollection::switchSlrSignal, m_pc3D, &PowerControl3D::switchSlrPower);
@ -772,6 +774,11 @@ void HPPA::onStartTimedDataCollection(int camType)
}
}
void HPPA::onObtainTargetDepthInformation(SubTask subTaskParams)
{
m_tmc->run4_ObtainTargetDepthInfo(m_depthCameraWindow, subTaskParams.depthInfoX, subTaskParams.depthInfoY, subTaskParams.averageNumberOfTimes, subTaskParams.percentageOfEffectiveArea);
}
void HPPA::onTimedDataCollection()
{
QAction* checkedScenario = m_ScenarioActionGroup->checkedAction();

1
HPPA/HPPA.h
View File

@ -449,6 +449,7 @@ public Q_SLOTS:
void setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder);
void setTimedDataCollectionMotorParm(QString pathLineFilePath);
void onStartTimedDataCollection(int camType);
void onObtainTargetDepthInformation(SubTask subTaskParams);
void onStretchedImageReady(int fileNumber, const QString& filePath, QPixmap& pixmap);
void onStretchProcessingError(int fileNumber, const QString& filePath, const QString& error);

186
HPPA/HPPA.vcxproj.filters
View File

@ -21,6 +21,24 @@
<UniqueIdentifier>{639EADAA-A684-42e4-A9AD-28FC9BCB8F7C}</UniqueIdentifier>
<Extensions>ts</Extensions>
</Filter>
<Filter Include="Header Files\TimedDataCollection">
<UniqueIdentifier>{3777a3c2-8d8a-4414-b6c9-ac20640f7b2e}</UniqueIdentifier>
</Filter>
<Filter Include="Source Files\TimedDataCollection">
<UniqueIdentifier>{ea004f0d-34de-4b29-8ce2-57dd8aa01c03}</UniqueIdentifier>
</Filter>
<Filter Include="Source Files\LayerTree">
<UniqueIdentifier>{25329ee3-f78c-4dd9-9170-e64ccb4ccd9e}</UniqueIdentifier>
</Filter>
<Filter Include="Header Files\LayerTree">
<UniqueIdentifier>{18072152-2a29-4ad8-be97-d097af97eeec}</UniqueIdentifier>
</Filter>
<Filter Include="Header Files\hyperImagerCtl">
<UniqueIdentifier>{b3f08410-c140-42db-bcfd-24efba860cfb}</UniqueIdentifier>
</Filter>
<Filter Include="Source Files\hyperImagerCtl">
<UniqueIdentifier>{205ec088-0286-42ca-862c-2870928a46f5}</UniqueIdentifier>
</Filter>
</ItemGroup>
<ItemGroup>
<QtRcc Include="HPPA.qrc">
@ -70,9 +88,6 @@
<ClCompile Include="QMotorDoubleSlider.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="resononImager.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="RgbCameraOperation.cpp">
<Filter>Source Files</Filter>
</ClCompile>
@ -88,12 +103,6 @@
<ClCompile Include="path_tc.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="ResononNirImager.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="ImagerOperationBase.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="utility_tc.cpp">
<Filter>Source Files</Filter>
</ClCompile>
@ -139,21 +148,6 @@
<ClCompile Include="View3DModelManager.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="LayerTreeNode.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="LayerTreeModel.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="LayerTree.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="LayerTreeGroupNode.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="LayerTreeLayerNode.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MapLayer.cpp">
<Filter>Source Files</Filter>
</ClCompile>
@ -175,12 +169,6 @@
<ClCompile Include="MapLayerStore.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="LayerTreeView.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="LayerTreeViewMenuProvider.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="imageControl.cpp">
<Filter>Source Files</Filter>
</ClCompile>
@ -226,18 +214,9 @@
<ClCompile Include="SingleLensReflexCameraWindow.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="LayerTreeImageNode.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="RasterRendererBase.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="TimedDataCollection.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="TimedDataCollectionDataStructures.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="CommunicationViaTCP.cpp">
<Filter>Source Files</Filter>
</ClCompile>
@ -247,9 +226,6 @@
<ClCompile Include="PowerControl3D.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="TaskTreeModel.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="PathLine.cpp">
<Filter>Source Files</Filter>
</ClCompile>
@ -265,6 +241,48 @@
<ClCompile Include="GonggaShanRecordCtl.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="TaskTreeModel.cpp">
<Filter>Source Files\TimedDataCollection</Filter>
</ClCompile>
<ClCompile Include="TimedDataCollection.cpp">
<Filter>Source Files\TimedDataCollection</Filter>
</ClCompile>
<ClCompile Include="TimedDataCollectionDataStructures.cpp">
<Filter>Source Files\TimedDataCollection</Filter>
</ClCompile>
<ClCompile Include="LayerTree.cpp">
<Filter>Source Files\LayerTree</Filter>
</ClCompile>
<ClCompile Include="LayerTreeGroupNode.cpp">
<Filter>Source Files\LayerTree</Filter>
</ClCompile>
<ClCompile Include="LayerTreeImageNode.cpp">
<Filter>Source Files\LayerTree</Filter>
</ClCompile>
<ClCompile Include="LayerTreeLayerNode.cpp">
<Filter>Source Files\LayerTree</Filter>
</ClCompile>
<ClCompile Include="LayerTreeModel.cpp">
<Filter>Source Files\LayerTree</Filter>
</ClCompile>
<ClCompile Include="LayerTreeNode.cpp">
<Filter>Source Files\LayerTree</Filter>
</ClCompile>
<ClCompile Include="LayerTreeView.cpp">
<Filter>Source Files\LayerTree</Filter>
</ClCompile>
<ClCompile Include="LayerTreeViewMenuProvider.cpp">
<Filter>Source Files\LayerTree</Filter>
</ClCompile>
<ClCompile Include="ImagerOperationBase.cpp">
<Filter>Source Files\hyperImagerCtl</Filter>
</ClCompile>
<ClCompile Include="resononImager.cpp">
<Filter>Source Files\hyperImagerCtl</Filter>
</ClCompile>
<ClCompile Include="ResononNirImager.cpp">
<Filter>Source Files\hyperImagerCtl</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<QtMoc Include="fileOperation.h">
@ -291,18 +309,12 @@
<QtMoc Include="QMotorDoubleSlider.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="resononImager.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="RgbCameraOperation.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="aboutWindow.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="ImagerOperationBase.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="adjustTable.h">
<Filter>Header Files</Filter>
</QtMoc>
@ -339,21 +351,6 @@
<QtMoc Include="View3DModelManager.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="LayerTreeModel.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="LayerTreeNode.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="LayerTree.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="LayerTreeGroupNode.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="LayerTreeLayerNode.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="MapLayer.h">
<Filter>Header Files</Filter>
</QtMoc>
@ -363,9 +360,6 @@
<QtMoc Include="MapLayerStore.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="LayerTreeViewMenuProvider.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="imageControl.h">
<Filter>Header Files</Filter>
</QtMoc>
@ -405,15 +399,6 @@
<QtMoc Include="SingleLensReflexCameraWindow.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="LayerTreeImageNode.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="TimedDataCollection.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="TimedDataCollectionDataStructures.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="CommunicationViaTCP.h">
<Filter>Header Files</Filter>
</QtMoc>
@ -423,9 +408,6 @@
<QtMoc Include="PowerControl3D.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="TaskTreeModel.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="FodisWindow.h">
<Filter>Header Files</Filter>
</QtMoc>
@ -435,6 +417,42 @@
<QtMoc Include="GonggaShanRecordCtl.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="TimedDataCollection.h">
<Filter>Header Files\TimedDataCollection</Filter>
</QtMoc>
<QtMoc Include="TaskTreeModel.h">
<Filter>Header Files\TimedDataCollection</Filter>
</QtMoc>
<QtMoc Include="TimedDataCollectionDataStructures.h">
<Filter>Header Files\TimedDataCollection</Filter>
</QtMoc>
<QtMoc Include="LayerTree.h">
<Filter>Header Files\LayerTree</Filter>
</QtMoc>
<QtMoc Include="LayerTreeGroupNode.h">
<Filter>Header Files\LayerTree</Filter>
</QtMoc>
<QtMoc Include="LayerTreeImageNode.h">
<Filter>Header Files\LayerTree</Filter>
</QtMoc>
<QtMoc Include="LayerTreeLayerNode.h">
<Filter>Header Files\LayerTree</Filter>
</QtMoc>
<QtMoc Include="LayerTreeModel.h">
<Filter>Header Files\LayerTree</Filter>
</QtMoc>
<QtMoc Include="LayerTreeNode.h">
<Filter>Header Files\LayerTree</Filter>
</QtMoc>
<QtMoc Include="LayerTreeViewMenuProvider.h">
<Filter>Header Files\LayerTree</Filter>
</QtMoc>
<QtMoc Include="ImagerOperationBase.h">
<Filter>Header Files\hyperImagerCtl</Filter>
</QtMoc>
<QtMoc Include="resononImager.h">
<Filter>Header Files\hyperImagerCtl</Filter>
</QtMoc>
</ItemGroup>
<ItemGroup>
<ClInclude Include="imageProcessor.h">
@ -455,9 +473,6 @@
<ClInclude Include="path_tc.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="ResononNirImager.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="utility_tc.h">
<Filter>Header Files</Filter>
</ClInclude>
@ -482,9 +497,6 @@
<ClInclude Include="SinglebandRasterRenderer.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="LayerTreeView.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="AppSettings.h">
<Filter>Header Files</Filter>
</ClInclude>
@ -497,6 +509,12 @@
<ClInclude Include="FiberSpectrometerOperationBase.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="LayerTreeView.h">
<Filter>Header Files\LayerTree</Filter>
</ClInclude>
<ClInclude Include="ResononNirImager.h">
<Filter>Header Files\hyperImagerCtl</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<QtUic Include="FocusDialog.ui">

10
HPPA/TaskTreeModel.cpp
View File

@ -588,10 +588,12 @@ QString TaskTreeModel::statusToString(TaskStatus status) const
QString TaskTreeModel::subTaskTypeToString(SubTaskType type) const
{
switch (type) {
case SubTaskType::HyperSpectual400_1000nm: return QString::fromLocal8Bit("高光谱 400-1000nm");
case SubTaskType::HyperSpectual1000_1700nm: return QString::fromLocal8Bit("高光谱 1000-1700nm");
case SubTaskType::SingleLensReflex: return QString::fromLocal8Bit("单反相机");
case SubTaskType::DepthCamera: return QString::fromLocal8Bit("深度相机");
case SubTaskType::HyperSpectual400_1000nm: return QString::fromLocal8Bit("高光谱 400-1000nm");
case SubTaskType::HyperSpectual1000_1700nm: return QString::fromLocal8Bit("高光谱 1000-1700nm");
case SubTaskType::SingleLensReflex: return QString::fromLocal8Bit("单反相机");
case SubTaskType::DepthCamera: return QString::fromLocal8Bit("深度相机");
case SubTaskType::ObtainingDepthInformation: return QString::fromLocal8Bit("探测深度信息");
case SubTaskType::AutoFocus: return QString::fromLocal8Bit("自动调焦");
}
return "未知类型";
}

2
HPPA/TimedDataCollection.cpp
View File

@ -112,6 +112,8 @@ void TimedDataCollection::setupConnections()
connect(m_scheduler, &TaskScheduler::startRecordSignal,
this, &TimedDataCollection::startRecordSignal);
connect(m_scheduler, &TaskScheduler::ObtainingDepthInformationSignals, this, &TimedDataCollection::ObtainingDepthInformationSignals);
connect(m_scheduler, &TaskScheduler::switchHalogenLampSignal,
this, &TimedDataCollection::switchHalogenLampSignal);
connect(m_scheduler, &TaskScheduler::switchD65LampSignal,

2
HPPA/TimedDataCollection.h
View File

@ -52,6 +52,8 @@ Q_SIGNALS:
void motorParm(QString pathLineFilePath);
void startRecordSignal(int camType);
void ObtainingDepthInformationSignals(SubTask info);
void switchHalogenLampSignal(int state);
void switchD65LampSignal(int state);
void switchSlrSignal(int state);

260
HPPA/TimedDataCollectionDataStructures.cpp
View File

@ -113,6 +113,10 @@ SubTaskType TimedDataCollectionDataStructuresReaderWriter::stringToSubTaskType(c
if (str == "HyperSpectual1000_1700nm") return SubTaskType::HyperSpectual1000_1700nm;
if (str == "SingleLensReflex") return SubTaskType::SingleLensReflex;
if (str == "DepthCamera") return SubTaskType::DepthCamera;
if (str == "ObtainingDepthInformation") return SubTaskType::ObtainingDepthInformation;
if (str == "AutoFocus") return SubTaskType::AutoFocus;
return SubTaskType::SingleLensReflex;
}
@ -132,6 +136,15 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const S
obj["exposureTime"] = subTask.exposureTime;
obj["defaultRenderBand"] = subTask.defaultRenderBand;
obj["captureIntervalSeconds"] = subTask.captureIntervalSeconds;
obj["autoFocusMotorConfigFilePath"] = subTask.autoFocusMotorConfigFilePath;
obj["autoFocusX"] = subTask.autoFocusX;
obj["autoFocusY"] = subTask.autoFocusY;
obj["depthInfoX"] = subTask.depthInfoX;
obj["depthInfoY"] = subTask.depthInfoY;
obj["averageNumberOfTimes"] = subTask.averageNumberOfTimes;
obj["percentageOfEffectiveArea"] = subTask.percentageOfEffectiveArea;
return obj;
}
@ -148,6 +161,15 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObj
subTask.exposureTime = json["exposureTime"].toDouble();
subTask.defaultRenderBand = json["defaultRenderBand"].toInt();
subTask.captureIntervalSeconds = json["captureIntervalSeconds"].toDouble();
subTask.autoFocusMotorConfigFilePath = json["autoFocusMotorConfigFilePath"].toString();
subTask.autoFocusX = json["autoFocusX"].toDouble();
subTask.autoFocusY = json["autoFocusY"].toDouble();
subTask.depthInfoX = json["depthInfoX"].toDouble();
subTask.depthInfoY = json["depthInfoY"].toDouble();
subTask.averageNumberOfTimes = json["averageNumberOfTimes"].toInt();
subTask.percentageOfEffectiveArea = json["percentageOfEffectiveArea"].toDouble();
return true;
}
@ -229,21 +251,16 @@ void TaskExecutor::execute(const TimedTask& task)
emit taskUpdated(m_task);
m_currentSubTaskIndex = -1;
m_isRunning = true;
qDebug() << "TaskExecutor: Starting task" << task.id;
// 打开卤素灯预热
emit switchHalogenLampSignal(1);
printMsgAndTime("open HalogenLamp");
makeFolder(m_task.savePath);
// 开始执行第一个子任务
double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
QTimer::singleShot(sleepTimeSecond *1000, this, &TaskExecutor::executeNextSubTask);
double sleepTimeSecond = 1;
QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::executeNextSubTask);
}
void TaskExecutor::printMsgAndTime(QString msg)
@ -269,10 +286,12 @@ void TaskExecutor::makeFolder(QString savePath)
if (!dir.exists()) {
if (dir.mkpath(".")) {
qDebug() << "TaskExecutor: Created data folder:" << savePath;
} else {
}
else {
qWarning() << "TaskExecutor: Failed to create data folder:" << savePath;
}
} else {
}
else {
qDebug() << "TaskExecutor: Data folder already exists:" << savePath;
}
}
@ -299,7 +318,7 @@ void TaskExecutor::onSequenceComplete(int status)
subTask.endTime = QDateTime::currentDateTime();
subTask.durationMinutes = (double)subTask.startTime.secsTo(subTask.endTime) / 60;
qDebug() << "TaskExecutor: subtask "<< m_currentSubTaskIndex<< " time consuming(Minutes): "<< subTask.durationMinutes;
qDebug() << "TaskExecutor: subtask " << m_currentSubTaskIndex << " time consuming(Minutes): " << subTask.durationMinutes;
// 拷贝subTask.pathLineFilePath到m_currentFolder
if (!subTask.pathLineFilePath.isEmpty() && QFile::exists(subTask.pathLineFilePath)) {
@ -307,7 +326,8 @@ void TaskExecutor::onSequenceComplete(int status)
QString destPath = m_currentFolder + QDir::separator() + fileInfo.fileName();
if (QFile::copy(subTask.pathLineFilePath, destPath)) {
qDebug() << "TaskExecutor: Copied path line file to" << destPath;
} else {
}
else {
qDebug() << "TaskExecutor: Failed to copy path line file from" << subTask.pathLineFilePath << "to" << destPath;
}
}
@ -315,23 +335,38 @@ void TaskExecutor::onSequenceComplete(int status)
emit subTaskFinished(m_currentSubTaskIndex, subTask.type, (status == 0));
emit taskUpdated(m_task);
}
//当前任务已经完成，正确关闭灯光或者电源
ensurePostTaskLighting();
//
switch (m_task.subTasks[m_currentSubTaskIndex].type)
emit taskUpdated(m_task);
}
void TaskExecutor::ensurePreTaskLighting()
{
SubTaskType currentTaskType = m_task.subTasks[m_currentSubTaskIndex].type;
if (currentTaskType != SubTaskType::HyperSpectual400_1000nm &&
currentTaskType != SubTaskType::HyperSpectual1000_1700nm)
{
case SubTaskType::SingleLensReflex:
{
emit switchD65LampSignal(0);
break;
}
case SubTaskType::DepthCamera:
{
emit switchD65LampSignal(0);
break;
}
emit switchHalogenLampSignal(0);
}
if (currentTaskType != SubTaskType::SingleLensReflex &&
currentTaskType != SubTaskType::DepthCamera &&
currentTaskType != SubTaskType::ObtainingDepthInformation)
{
emit switchD65LampSignal(0);
}
}
void TaskExecutor::ensurePostTaskLighting()
{
SubTaskType currentTaskType = m_task.subTasks[m_currentSubTaskIndex].type;
if (currentTaskType == SubTaskType::SingleLensReflex ||
currentTaskType == SubTaskType::DepthCamera ||
currentTaskType == SubTaskType::ObtainingDepthInformation)
{
emit switchD65LampSignal(0);
}
// 判断下一次的任务是否为高光谱任务，如果不是关闭卤素灯
int nestSubTaskIndex = m_currentSubTaskIndex + 1;
if (nestSubTaskIndex >= m_task.subTasks.size())
{
@ -340,21 +375,13 @@ void TaskExecutor::onSequenceComplete(int status)
emit switchHalogenLampSignal(0);
return;
}
switch (m_task.subTasks[nestSubTaskIndex].type)
// 判断下一次的任务是否为高光谱任务，如果不是就关闭卤素灯
SubTaskType nestTaskType = m_task.subTasks[nestSubTaskIndex].type;
if (nestTaskType != SubTaskType::HyperSpectual400_1000nm &&
nestTaskType != SubTaskType::HyperSpectual1000_1700nm)
{
case SubTaskType::SingleLensReflex:
{
emit switchHalogenLampSignal(0);
break;
}
case SubTaskType::DepthCamera:
{
emit switchHalogenLampSignal(0);
break;
}
emit switchHalogenLampSignal(0);
}
emit taskUpdated(m_task);
}
void TaskExecutor::onBack2Origin()
@ -362,23 +389,23 @@ void TaskExecutor::onBack2Origin()
// 关闭单反电源
switch (m_task.subTasks[m_currentSubTaskIndex].type)
{
case SubTaskType::SingleLensReflex:
{
emit switchSlrSignal(0);
break;
}
case SubTaskType::SingleLensReflex:
{
emit switchSlrSignal(0);
break;
}
}
// 检查是否还有更多子任务
int nestSubTaskIndex = m_currentSubTaskIndex + 1;
if (nestSubTaskIndex < m_task.subTasks.size()) {
// 执行下一个子任务
if(m_task.subTasks[nestSubTaskIndex].type== SubTaskType::SingleLensReflex)
if (m_task.subTasks[nestSubTaskIndex].type == SubTaskType::SingleLensReflex)
{
printMsgAndTime("Slr task，for weak up，please wait 135 seconds!");
emit switchSlrSignal(0);
QTimer::singleShot(135*1000, this, &TaskExecutor::executeNextSubTask);
QTimer::singleShot(135 * 1000, this, &TaskExecutor::executeNextSubTask);
}
else
{
@ -433,54 +460,88 @@ void TaskExecutor::executeNextSubTask()
// << "type:" << static_cast<int>(subTask.type);
emit subTaskStarted(m_currentSubTaskIndex, subTask.type);
emit motorParm(subTask.pathLineFilePath);
int camType;
switch (subTask.type)
{
case SubTaskType::HyperSpectual400_1000nm:
{
camType = 0;
m_currentFolder = makeSubTaskDataFolder("L");
emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
break;
}
case SubTaskType::HyperSpectual1000_1700nm:
{
camType = 1;
m_currentFolder = makeSubTaskDataFolder("NIR");
emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
break;
}
case SubTaskType::SingleLensReflex:
{
camType = 2;
m_currentFolder = makeSubTaskDataFolder("SLR");
emit camParm(camType, 3, m_currentFolder);
emit switchD65LampSignal(1);
emit switchSlrSignal(1);
break;
}
case SubTaskType::DepthCamera:
{
camType = 3;
m_currentFolder = makeSubTaskDataFolder("DepthCamera");
emit camParm(camType, 3, m_currentFolder);
emit switchD65LampSignal(1);
break;
}
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
emit startRecordSignal(camType);
//执行自动调焦任务
break;
}
case SubTaskType::HyperSpectual400_1000nm:
{
m_camType = 0;
m_currentFolder = makeSubTaskDataFolder("L");
emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
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);
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);
QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
break;
}
case SubTaskType::SingleLensReflex:
{
m_camType = 2;
m_currentFolder = makeSubTaskDataFolder("SLR");
emit camParm(m_camType, 3, m_currentFolder);
emit motorParm(subTask.pathLineFilePath);
emit switchD65LampSignal(1);
emit switchSlrSignal(1);
QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
break;
}
case SubTaskType::DepthCamera:
{
m_camType = 3;
m_currentFolder = makeSubTaskDataFolder("DepthCamera");
emit camParm(m_camType, 3, m_currentFolder);
emit motorParm(subTask.pathLineFilePath);
emit switchD65LampSignal(1);
QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
break;
}
}
ensurePreTaskLighting();
}
void TaskExecutor::emitRecordSignal()
{
emit startRecordSignal(m_camType);
}
// ==================== TaskScheduler 实现 ====================
@ -581,7 +642,7 @@ void TaskScheduler::checkTasks()
if (task.scheduledTime > now) continue;
qint64 fireThreSecs = 5;
if (task.scheduledTime.addSecs(-1*fireThreSecs) < now && task.scheduledTime.addSecs(fireThreSecs) > now)// 到达计划时间，启动任务
if (task.scheduledTime.addSecs(-1 * fireThreSecs) < now && task.scheduledTime.addSecs(fireThreSecs) > now)// 到达计划时间，启动任务
{
std::cerr << "TaskScheduler::checkTasks，到达计划时间，启动任务" << std::endl;
executeTask(task);
@ -639,23 +700,25 @@ void TaskScheduler::executeTask(TimedTask& task)
// 连接信号
connect(m_currentExecutor, &TaskExecutor::finished,
this, &TaskScheduler::onTaskFinished);
this, &TaskScheduler::onTaskFinished);
connect(m_currentExecutor, &TaskExecutor::subTaskStarted,
this, &TaskScheduler::onSubTaskStarted);
this, &TaskScheduler::onSubTaskStarted);
connect(m_currentExecutor, &TaskExecutor::subTaskFinished,
this, &TaskScheduler::onSubTaskFinished);
this, &TaskScheduler::onSubTaskFinished);
connect(m_currentExecutor, &TaskExecutor::errorOccurred,
this, &TaskScheduler::onExecutorError);
this, &TaskScheduler::onExecutorError);
// 采集相关信号透传
connect(m_currentExecutor, &TaskExecutor::hyperCamParm,
this, &TaskScheduler::hyperCamParm);
this, &TaskScheduler::hyperCamParm);
connect(m_currentExecutor, &TaskExecutor::camParm,
this, &TaskScheduler::camParm);
this, &TaskScheduler::camParm);
connect(m_currentExecutor, &TaskExecutor::motorParm,
this, &TaskScheduler::motorParm);
this, &TaskScheduler::motorParm);
connect(m_currentExecutor, &TaskExecutor::startRecordSignal,
this, &TaskScheduler::startRecordSignal);
this, &TaskScheduler::startRecordSignal);
connect(m_currentExecutor, &TaskExecutor::ObtainingDepthInformationSignals, this, &TaskScheduler::ObtainingDepthInformationSignals);
connect(m_currentExecutor, &TaskExecutor::switchHalogenLampSignal, this, &TaskScheduler::switchHalogenLampSignal);
connect(m_currentExecutor, &TaskExecutor::switchD65LampSignal, this, &TaskScheduler::switchD65LampSignal);
@ -687,7 +750,8 @@ void TaskScheduler::updateTaskStatus(int taskId, TaskStatus status)
task.status = status;
if (status == TaskStatus::Running) {
task.startTime = QDateTime::currentDateTime();
} else if (status == TaskStatus::Finished) {
}
else if (status == TaskStatus::Finished) {
task.endTime = QDateTime::currentDateTime();
}
break;

25
HPPA/TimedDataCollectionDataStructures.h
View File

@ -25,7 +25,9 @@ enum class SubTaskType {
HyperSpectual400_1000nm, // 400nm-1000nm高光谱相机
HyperSpectual1000_1700nm, // 1000nm-1700nm高光谱相机
SingleLensReflex, // 单反相机
DepthCamera // 深度相机
DepthCamera, // 深度相机采集任务
ObtainingDepthInformation, //通过深度相机获取被测物体的深度信息
AutoFocus // 自动对焦
};
// ==================== 统一子任务封装 ====================
@ -46,6 +48,17 @@ struct SubTask {
double exposureTime = 0.0; // 高光谱相机用
int defaultRenderBand = 550; // 1000-1700nm高光谱用
int captureIntervalSeconds = 5; // 单反/深度相机用
//任务ObtainingDepthInformation所需的x和y坐标
double depthInfoX = 0.0;
double depthInfoY = 0.0;
int averageNumberOfTimes = 1; //任务ObtainingDepthInformation所需的平均次数
double percentageOfEffectiveArea = 50.0; //深度图像的有效范围百分比
//高光谱自动调焦
QString autoFocusMotorConfigFilePath;//马达配置文件
double autoFocusX = 0.0;
double autoFocusY = 0.0;
};
// ==================== 定时任务 ====================
@ -151,6 +164,8 @@ signals:
void motorParm(QString pathLineFilePath);
void startRecordSignal(int camType);
void ObtainingDepthInformationSignals(SubTask info);
void switchHalogenLampSignal(int state);
void switchD65LampSignal(int state);
void switchSlrSignal(int state);
@ -160,15 +175,21 @@ public slots:
void onBack2Origin();
void onError(const QString& error);
void emitRecordSignal();
private:
QString m_currentFolder;
void executeNextSubTask();
void ensurePreTaskLighting();
void ensurePostTaskLighting();
void printMsgAndTime(QString msg);
TimedTask m_task;
int m_currentSubTaskIndex;
bool m_isRunning;
int m_camType;
};
// ==================== 任务调度器 ====================
@ -214,6 +235,8 @@ signals:
void motorParm(QString pathLineFilePath);
void startRecordSignal(int camType);
void ObtainingDepthInformationSignals(SubTask info);
void switchHalogenLampSignal(int state);
void switchD65LampSignal(int state);
void switchSlrSignal(int state);

26
HPPA/TwoMotorControl.cpp
View File

@ -210,6 +210,32 @@ void TwoMotorControl::onBack2Origin2()
emit back2OriginSignal_TimedDataCollection();
}
void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea)
{
window->m_DepthCameraOperation->setAverageNumberOfTimes(averageNumberOfTimes);
window->m_DepthCameraOperation->setPercentageOfEffectiveArea(percentageOfEffectiveArea);
m_ObtainTargetDepthInfoCoordinator = new TwoMotor1PosCoordinator(m_multiAxisController);
connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, window, &DepthCameraWindow::OpenDepthCamera_getDepthValue);
connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2origin);
connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::sequenceComplete);//关灯
connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin3);
double xmotor_move_speed = ui.xmotor_move_speed_lineEdit->text().toDouble();
double ymotor_move_speed = ui.ymotor_move_speed_lineEdit->text().toDouble();
m_ObtainTargetDepthInfoCoordinator->moveToTarget(depthInfoX, depthInfoY, xmotor_move_speed, ymotor_move_speed);
}
void TwoMotorControl::onBack2Origin3()
{
m_ObtainTargetDepthInfoCoordinator->deleteLater();
m_ObtainTargetDepthInfoCoordinator = nullptr;
emit back2OriginSignal_TimedDataCollection();
}
void TwoMotorControl::run()
{
if (getState())

3
HPPA/TwoMotorControl.h
View File

@ -82,7 +82,9 @@ public Q_SLOTS:
void run2(SingleLensReflexCameraWindow* w);
void run3(DepthCameraWindow* window);
void run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea);
void onBack2Origin2();
void onBack2Origin3();
void stop_record();
@ -111,6 +113,7 @@ private:
QThread m_coordinatorThread;
TwoMotionCaptureCoordinator* m_coordinator = nullptr;
TwoMotionCaptureCoordinator* m_coordinator_TimedDataCollection = nullptr;
TwoMotor1PosCoordinator* m_ObtainTargetDepthInfoCoordinator = nullptr;
DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;