update

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "a8000_protocol"]
 	path = a8000_protocol
 	url = zwsd@192.168.1.3:project_boditech_vidas_a8000_v3/a8000_protocol.git
+[submodule "a8k_optalgo"]
+	path = a8k_optalgo
+	url = zwsd@192.168.1.3:project_boditech_vidas_a8000_v3/a8k_optalgo.git

CMakeLists.txt

@@ -75,8 +75,15 @@ set(PROJECT_SOURCES
         src/basic/a8k_id_card_writer.cpp
         src/tab/a8k_opt_tab.cpp
 
+        a8k_optalgo/a8k_opt_algo.cpp
+
 
         app.rc
+
+
+        src/ui/dialog.ui 
+        src/ui/dialog.cpp
+
 )
 
 

README.md

@@ -224,9 +224,6 @@ ID地址:
 
 
 
-
-
-
             
 
 
@@ -245,4 +242,14 @@ T光学
     lasterGain 100
     scanGain   20
 
+F光学
+    lasterGain 0 (数值越大，功率越小)
+    scanGain   0
+
+    第一次扫描，0,0
+
+
+实验材料:
+    Fx3-23 -> F光学，位置80,120,160
+
 ```

a8k_optalgo

@@ -0,0 +1 @@
+Subproject commit f1e84f5f99f42f6e810a77611cf197826a430271

libzqt/zui/zqui.hpp

@@ -66,4 +66,6 @@ class ZQUI : public QObject {
   void doinui_signal(QFunction);
 };
 
-extern void DoInUi(std::function<void()> dowhat);
+extern void DoInUi(std::function<void()> dowhat);
+
+#define ISHOW(fmt, ...) ZQUI::ins()->ishow(fmt, ##__VA_ARGS__)

src/basic/widgetplot2d.cpp

@@ -1,9 +1,9 @@
 #include "widgetplot2d.h"
 
-#include <QDebug>
-#include <QStandardPaths>
 #include <QColorDialog>
+#include <QDebug>
 #include <QFileDialog>
+#include <QStandardPaths>
 #include <QToolTip>
 
 #include "ui_widgetplot2d.h"
@@ -406,10 +406,10 @@ void WidgetPlot2D::savePlotPng() {
   ZCSV csv;
   int  datacnt = ui->customPlot->graph(0)->dataCount();
   csv.setdata(1, 1, "pointIndex");
-  csv.setdata(1, 2, "value");
+  csv.setdata(2, 1, "value");
   for (size_t i = 0; i < datacnt; i++) {
-    csv.setdata(i + 1, 1, QString::number(ui->customPlot->graph(0)->data()->at(i)->key).toStdString());
-    csv.setdata(i + 1, 2, QString::number(ui->customPlot->graph(0)->data()->at(i)->value).toStdString());
+    csv.setdata(1, i + 1, QString::number(ui->customPlot->graph(0)->data()->at(i)->key).toStdString());
+    csv.setdata(2, i + 1, QString::number(ui->customPlot->graph(0)->data()->at(i)->value).toStdString());
   }
   csv.dumpCSV(fileName.toStdString());
 }

src/basic/zcsv.cpp

@@ -1,5 +1,8 @@
 
 #include "zcsv.hpp"
+
+#include <stdarg.h>
+
 using namespace std;
 using namespace iflytop;
 
@@ -63,7 +66,7 @@ ZCSVCell* ZCSV::findCell(int rowNum, int colNum) {
   return NULL;
 }
 
-void ZCSV::setdata(int rowNum, int colNum, string data) {
+void ZCSV::setdata(int colNum, int rowNum, string data) {
   ZCSVCell* cell = findCell(rowNum, colNum);
   if (cell != NULL) {
     cell->data = data;
@@ -84,7 +87,16 @@ void ZCSV::setdata(int rowNum, int colNum, string data) {
     csvData.push_back(newCell);
   }
 }
-string ZCSV::getdata(int rowNum, int colNum) {
+void ZCSV::setdata(int colNum, int rowNum, const char* fmt, ...) {
+  char    buffer[1024];
+  va_list args;
+  va_start(args, fmt);
+  vsnprintf(buffer, 1024, fmt, args);
+  va_end(args);
+  setdata(colNum, rowNum, string(buffer));
+}
+
+string ZCSV::getdata(int colNum, int rowNum) {
   ZCSVCell* cell = findCell(rowNum, colNum);
   if (cell != NULL) {
     return cell->data;

src/basic/zcsv.hpp

@@ -32,8 +32,9 @@ class ZCSV {
 
   bool parseCSV(string filename);
 
-  void   setdata(int rowNum, int colNum, string data);
-  string getdata(int rowNum, int colNum);
+  void   setdata(int colNum, int rowNum, string data);
+  void   setdata(int colNum, int rowNum, const char* fmt, ...);
+  string getdata(int colNum, int rowNum);
 
   int maxRowNum() { return m_maxRowNum; }
   int maxColNum() { return m_maxColNum; }

src/mainwindow.cpp

@@ -185,7 +185,7 @@ void MainWindow::parse_ptv2_cmd(zcr_cmd_header_t *frame, int32_t packetlen) {
   } else {
     //
     if (cmdId == kpipette_write_cmd_direct || cmdId == ka8000_idcard_write_raw) {
-      ZQUI::ins()->rawshow("[CMD     ] %d mid:%d cmdid:%s(0x%04x)  param:%s", frame->packetindex, cmdid2str(cmdId), cmdId, mid,  //
+      ZQUI::ins()->rawshow("[CMD     ] %d mid:%d cmdid:%s(0x%04x)  param:%s", frame->packetindex, mid, cmdid2str(cmdId), cmdId,  //
                            zhex2str(frame->data, packetlen - sizeof(zcr_cmd_header_t)).c_str());
     } else {
       int32_t  paramNum = (packetlen - sizeof(zcr_cmd_header_t)) / 4;

src/tab/a8k_opt_tab.cpp

@@ -12,12 +12,16 @@
 
 #include "../basic/format_memory.hpp"
 #include "../basic/stm32_pin.hpp"
+#include "../ui/dialog.h"
 #include "./mainwindow.h"
+#include "a8k_optalgo\a8k_opt_algo.hpp"
 #include "basic\widgetplot2d.h"
+#include "zcsv.hpp"
 #include "zui\zqui.hpp"
 //
 using namespace iflytop;
 using namespace std;
+using namespace a8k_opt_algo;
 
 extern Ui::MainWindow *main_ui;
 
@@ -31,6 +35,63 @@ typedef struct {
   int      dataNum;
 } opt_result_t;
 
+typedef enum {
+  kfopt = 1,
+  ktopt = 2,
+} opt_type_t;
+
+static const char *optType2Str(opt_type_t type) {
+  switch (type) {
+    case kfopt:
+      return "F光学";
+    case ktopt:
+      return "T光学";
+    default:
+      return "未知";
+  }
+}
+
+static vector<float> array2vector(opt_result_t result) {
+  vector<float> ret;
+  ret.reserve(result.dataNum);
+  for (int i = 0; i < result.dataNum; i++) {
+    ret.push_back(result.data[i]);
+  }
+  return ret;
+}
+
+opt_result_t m_optData;
+opt_type_t   m_optType;
+int32_t      m_scanGain;
+int32_t      m_laserGain;
+
+void dumpRawData() {
+  ZQUI::ins()->ishow("---------------------opt result(%d)---------------------", m_optData.dataNum);
+  ISHOW("laster gain:%d", m_laserGain);
+  ISHOW("scan   gain:%d", m_scanGain);
+  ISHOW("opt    Type:%s", optType2Str(m_optType));
+
+  for (size_t i = 0; i < m_optData.dataNum; i++) {
+    ZQUI::ins()->ishow("%5d,%d", i, m_optData.data[i]);
+  }
+  DoInUi([]() {
+    WidgetPlot2D *plot2d = new WidgetPlot2D();
+    QStringList   lines;
+    lines.push_back("line1");
+    plot2d->initGraphName(lines);
+
+    for (int i = 0; i < m_optData.dataNum; i++) {
+      plot2d->addData("line1", m_optData.data[i]);
+    }
+    // 250 个点的情况下，峰的标准位置在 40     80     120     160     200
+    // 1200个点的情况下，峰的标准位置在 40*4.8 80*4.8 120*4.8 160*4.8 200*4.8
+    for (int i = 1; i < 6; i++) {
+      plot2d->addRefLine(4.8 * 40 * i);
+    }
+    plot2d->show();
+  });
+}
+
 A8kOptTab *A8kOptTab::inst() {
   static A8kOptTab *ins = new A8kOptTab();
   return ins;
@@ -41,6 +102,29 @@ void A8kOptTab::construct(QTabWidget *fathertab) {
    *                                                      模块操作                                                       *
    ***********************************************************************************************************************/
   ZQVTabPage *tab = new ZQVTabPage(fathertab, "光学模组");
+  {
+    ZQFunctionListBox *box = new ZQFunctionListBox(tab, "说明文档", 4);
+
+    box->newSubButton("说明", [this](int argn, const char **args) {  //
+      DoInUi([this]() {
+        Dialog *dialog = new Dialog();
+        dialog->show();
+        dialog->setHelpInfo(
+            ""  //
+            "扫描位置:\n"
+            "推杆电机: 52\n"
+            "   F光学扫描位置:kreg_a8k_opt_f_pos_offset\n"
+            "                kreg_a8k_opt_f_reverse_scan_pos_offset\n"
+            "   T光学扫描位置:kreg_a8k_opt_t_pos_offset\n"
+            "                kreg_a8k_opt_t_reverse_scan_pos_offset\n"
+            "详细说明参考:\n"
+            "  https://iflytop1.feishu.cn/wiki/LbfHwPFmki3G1uk9p0KcA9lvnSd?fromScene=spaceOverview \n"
+            "");
+      });
+    });
+
+    // ModuleNameText->setObjectName(QString::fromUtf8("ModuleNameText"));
+  }
 
   {
     ZQFunctionListBox *box = new ZQFunctionListBox(tab, "光学测试", 4);
@@ -63,7 +147,7 @@ void A8kOptTab::construct(QTabWidget *fathertab) {
       ICM->callcmd1(PUSH_AND_PULL_MOTOR, kstep_motor_easy_move_to, 1100);
     });
     box->newSubButtonEnd();
-    box->newSubButton("丢板", [this](int argn, const char **args) { ICM->callcmd1(CAMERA_MOTOR, kstep_motor_easy_move_to, 0); });
+    box->newSubButton("丢板", [this](int argn, const char **args) { ICM->callcmd1(CAMERA_MOTOR, kstep_motor_easy_move_to, -350); });
 
     box->newSubButtonEnd();
     box->newFunc("T光学-开始扫描", {"scanDirection", "lasterGain", "scanGain"}, [this](int argn, const char **args) {
@@ -71,6 +155,9 @@ void A8kOptTab::construct(QTabWidget *fathertab) {
       int32_t lasterGain    = atoi(args[1]);
       int32_t scanGain      = atoi(args[2]);
       ICM->callcmd3(getDeviceId(), ka8k_opt_v2_t_start_scan, scanDirection, lasterGain, scanGain);
+      m_optType   = ktopt;
+      m_scanGain  = scanGain;
+      m_laserGain = lasterGain;
     });
 
     box->newFunc("F光学-开始扫描", {"scanDirection", "lasterGain", "scanGain"}, [this](int argn, const char **args) {
@@ -78,11 +165,13 @@ void A8kOptTab::construct(QTabWidget *fathertab) {
       int32_t lasterGain    = atoi(args[1]);
       int32_t scanGain      = atoi(args[2]);
       ICM->callcmd3(getDeviceId(), ka8k_opt_v2_f_start_scan, scanDirection, lasterGain, scanGain);
+      m_optType   = kfopt;
+      m_scanGain  = scanGain;
+      m_laserGain = lasterGain;
     });
 
     box->newSubButton("读取扫描结果", [this](int argn, const char **args) {
       // ka8000_optical_read_raw
-
       uint8_t rdbuf[5000];
       int32_t readsize = 0;
       int     i        = 0;
@@ -95,39 +184,132 @@ void A8kOptTab::construct(QTabWidget *fathertab) {
         readsize += ICM->getAckBufLen();
         i++;
       }
-
       int16_t *data = (int16_t *)rdbuf;
-      ZQUI::ins()->ishow("---------------------opt result(%d)---------------------", readsize / 2);
+      memcpy(m_optData.data, data, readsize);
+      m_optData.dataNum = readsize / 2;
 
-      for (size_t i = 0; i < readsize / 2; i++) {
-        ZQUI::ins()->ishow("%5d,%d", i, data[i]);
-      }
+      dumpRawData();
+    });
 
-      opt_result_t optdata;
-      memcpy(optdata.data, data, readsize);
-      optdata.dataNum = readsize / 2;
+    box->newSubButton("保存数据", [this](int argn, const char **args) {
+      DoInUi([this]() {
+        QString savePath = QStandardPaths::writableLocation(QStandardPaths::DesktopLocation);
+        QString fileName = QFileDialog::getSaveFileName(nullptr,
+                                                        "保存波形数据",           // 对话框的标题
+                                                        savePath,                 // 保存的默认路径为程序运行路径
+                                                        "Save Picture (*.csv)");  // 打开文件的类型，;隔开
+        if (fileName.isNull()) return;
+
+        ZCSV csv;
+        int  datacnt = m_optData.dataNum;
+        csv.setdata(1, 1, "Index");
+        csv.setdata(2, 1, "Data");
+        csv.setdata(3, 1, "OptType(1:f,2:t)");
+        csv.setdata(4, 1, "ScanGain(0...255)");
+        csv.setdata(5, 1, "LasterGain(0...255)");
+
+        for (int i = 0; i < datacnt; i++) {
+          csv.setdata(1, i + 2, QString::number(i + 1).toStdString());              // 第一列数据
+          csv.setdata(2, i + 2, QString::number(m_optData.data[i]).toStdString());  // 第二列数据
+        }
 
-      DoInUi([this, optdata]() {
-        WidgetPlot2D *plot2d = new WidgetPlot2D();
-        QStringList   lines;
-        lines.push_back("line1");
-        plot2d->initGraphName(lines);
+        csv.setdata(3, 2, "%d", m_optType);
+        csv.setdata(4, 2, "%d", m_scanGain);
+        csv.setdata(5, 2, "%d", m_laserGain);
 
-        for (int i = 0; i < optdata.dataNum; i++) {
-          plot2d->addData("line1", optdata.data[i]);
+        csv.dumpCSV(fileName.toStdString());
+        ISHOW("保存成功");
+      });
+    });
+    box->newSubButton("载入数据", [this](int argn, const char **args) {
+      DoInUi([]() {
+        QString filePath = QFileDialog::getOpenFileName(nullptr, "Select a file");
+        if (!filePath.isEmpty()) {
+          QFile file(filePath);
+          if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+            ZQUI::ins()->ishow("open file fail");
+            return;
+          }
         }
 
-        // 250 个点的情况下，峰的标准位置在 40     80     120     160     200
-        // 1200个点的情况下，峰的标准位置在 40*4.8 80*4.8 120*4.8 160*4.8 200*4.8
-        for (int i = 1; i < 6; i++) {
-          plot2d->addRefLine(4.8 * 40 * i);
+        ZCSV csv;
+        csv.parseCSV(filePath.toStdString());
+
+        int datacnt       = csv.maxRowNum() - 1;
+        m_optData.dataNum = datacnt;
+        for (int i = 0; i < datacnt; i++) {
+          m_optData.data[i] = atoi(csv.getdata(2, i + 2).c_str());
         }
 
-        plot2d->show();
+        m_optType   = (opt_type_t)atoi(csv.getdata(3, 2).c_str());
+        m_scanGain  = atoi(csv.getdata(4, 2).c_str());
+        m_laserGain = atoi(csv.getdata(5, 2).c_str());
+        dumpRawData();
       });
+    });
+  }
+  {
+    //
+    ZQFunctionListBox *box = new ZQFunctionListBox(tab, "结果处理", 4);
+    // 预分析结果
+
+    box->newSubButton("光学结果预分析", [this](int argn, const char **args) {
+      int32_t lasterGain = atoi(args[0]);
+      int32_t scanGain   = atoi(args[1]);
+      ICM->callcmd2(getDeviceId(), ka8k_opt_v2_t_open_laster, lasterGain, scanGain);
+
+      if (m_optData.dataNum == 0) {
+        ZQUI::ins()->ishow("请先进行光学分析,并读取扫描结果");
+        return;
+      }
+
+      ISHOW("------ OptRawResultInfo ------");
+      ISHOW("laster gain:%d", lasterGain);
+      ISHOW("scan   gain:%d", scanGain);
+      ISHOW("opt    Type:%s", optType2Str(m_optType));
+
+      // 1. 预分析
+      OptAlgoPreProcessResult result;
+      if (m_optType == kfopt) {
+        F_A8kOptAlgoPreProcess(array2vector(m_optData), scanGain, 2600, 2800, result);
+      } else if (m_optType == ktopt) {
+        T_A8kOptAlgoPreProcess(array2vector(m_optData), scanGain, 2600, 2800, result);
+      }
+      ISHOW("------ OptPreParseResult ------");
+      ISHOW("scanAgain      :%s", result.scanAgain ? "true" : "false");
+      ISHOW("suggestScanGain:%d", result.suggestScanGain);
+    });
+    box->newSubButtonEnd();
+    // 分析结果
 
-      // 打印读取到的结果
+    box->newSubButton("光学结果分析", [this](int argn, const char **args) {
+      int32_t lasterGain = atoi(args[0]);
+      int32_t scanGain   = atoi(args[1]);
+      ICM->callcmd2(getDeviceId(), ka8k_opt_v2_t_open_laster, lasterGain, scanGain);
+
+      if (m_optData.dataNum == 0) {
+        ZQUI::ins()->ishow("请先进行光学分析,并读取扫描结果");
+        return;
+      }
+
+      ISHOW("------ OptRawResultInfo ------");
+      ISHOW("laster gain:%d", lasterGain);
+      ISHOW("scan   gain:%d", scanGain);
+      ISHOW("opt    Type:%s", optType2Str(m_optType));
+
+      // 1. 预分析
+      OptAlgoPreProcessResult result;
+      if (m_optType == kfopt) {
+        F_A8kOptAlgoPreProcess(array2vector(m_optData), scanGain, 2600, 2800, result);
+      } else if (m_optType == ktopt) {
+        T_A8kOptAlgoPreProcess(array2vector(m_optData), scanGain, 2600, 2800, result);
+      }
+      ISHOW("------ OptPreParseResult ------");
+      ISHOW("scanAgain      :%s", result.scanAgain ? "true" : "false");
+      ISHOW("suggestScanGain:%d", result.suggestScanGain);
     });
+    box->newSubButtonEnd();
+    // 打印分析报告
   }
 
   {

src/ui/dialog.cpp

@@ -0,0 +1,12 @@
+#include "dialog.h"
+
+#include "ui_dialog.h"
+
+Dialog::Dialog(QWidget *parent) : QDialog(parent), ui(new Ui::Dialog) { ui->setupUi(this); }
+
+Dialog::~Dialog() { delete ui; }
+
+void Dialog::setHelpInfo(QString info) {
+
+    ui->helpInfo->setText(info);
+}

src/ui/dialog.h

@@ -0,0 +1,24 @@
+#ifndef DIALOG_H
+#define DIALOG_H
+
+#include <QDialog>
+
+namespace Ui {
+class Dialog;
+}
+
+class Dialog : public QDialog
+{
+    Q_OBJECT
+
+public:
+    explicit Dialog(QWidget *parent = nullptr);
+    ~Dialog();
+
+    void setHelpInfo(QString info);
+
+private:
+    Ui::Dialog *ui;
+};
+
+#endif // DIALOG_H

src/ui/dialog.ui

@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Dialog</class>
+ <widget class="QDialog" name="Dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>640</width>
+    <height>480</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QDialogButtonBox" name="buttonBox">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>440</y>
+     <width>621</width>
+     <height>32</height>
+    </rect>
+   </property>
+   <property name="orientation">
+    <enum>Qt::Horizontal</enum>
+   </property>
+   <property name="standardButtons">
+    <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+   </property>
+  </widget>
+  <widget class="QTextBrowser" name="helpInfo">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>40</y>
+     <width>571</width>
+     <height>371</height>
+    </rect>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>accepted()</signal>
+   <receiver>Dialog</receiver>
+   <slot>accept()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>248</x>
+     <y>254</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>157</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>rejected()</signal>
+   <receiver>Dialog</receiver>
+   <slot>reject()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>316</x>
+     <y>260</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>286</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>