I need a serial port for read camera, and other serial port for write control command.
Now I can read frame, but can't write command to serial port.
And the error: QSocketNotifier: Can only be used with threads started with QThread.


ViSP and UEyeOpenCV(camera) are Third-party libraries.
Qt Code: 
  1. /*****main.cpp*****/
  2. #include <iostream>
  3. #include "UEyeOpenCV.hpp"
  4. #include "opencv2/opencv.hpp"
  5. #include <servocontroller.h>
  6.  
  7. #include <visp/vpFeatureBuilder.h>
  8. #include <visp/vpFeatureDepth.h>
  9. #include <visp/vpFeaturePoint.h>
  10. #include <visp/vpHomogeneousMatrix.h>
  11. #include <visp/vpPlot.h>
  12. #include <visp/vpServo.h>
  13. #include <visp/vpVelocityTwistMatrix.h>
  14. #include <visp/vpDot2.h>
  15. #include <visp/vpDisplay.h>
  16. #include <visp/vpImageIo.h>
  17. #include <visp/vpImageTools.h>
  18. #include <visp/vpDisplayOpenCV.h>
  19. #include <visp/vpConfig.h>
  20. #include <visp/vpRobotCamera.h>
  21.  
  22. int main(){
  23.     /* set undistort */
  24.     cv::FileStorage fs("out_camera_data.xml", cv::FileStorage::READ);
  25.     cv::Mat cameraMatrix, distCoeffs;
  26.     fs["Camera_Matrix"] >> cameraMatrix;
  27.     fs["Distortion_Coefficients"] >> distCoeffs;
  28.     std::cout  << "camera matrix: " << cameraMatrix << std::endl
  29.          << "distortion coeffs: " << distCoeffs << std::endl;
  30.     cv::Mat image;
  31.  
  32.     /* open camera */
  33.     UeyeOpencvCam cam = UeyeOpencvCam(752,480);
  34.  
  35.     /* define a wondow of image*/
  36.     vpImage<unsigned char> I(480, 752);     // Create a gray level image
  37.     cv::Mat grayFrame;
  38.     vpDisplayOpenCV d;
  39.     d.init(I, 0, 0, "Visual servoing on dot");
  40.  
  41.     /* set dot*/
  42.     vpDot2 blob;
  43.     blob.setGraphics(true);
  44.     blob.setGraphicsThickness(2);
  45.     vpImagePoint germ;
  46.     bool init_done = false;
  47.  
  48.     /* set com*/
  49.     unsigned short zoom=1500;
  50.     ServoController com;
  51.     com.ServoController::createSerialPort();
  52.     com.setTarget(zoom*4);
  53.  
  54.     while(true) {
  55.         cv::Mat frame= cam.getFrame();
  56.         cv::cvtColor(frame,grayFrame, CV_BGR2GRAY);
  57.         cv::undistort(grayFrame,image,cameraMatrix,distCoeffs);
  58.         cv::Mat image2;
  59.         cv::flip(image,image2,-1);
  60.         vpImageConvert::convert(image2, I);
  61.         vpDisplay::display(I);
  62.  
  63.         if (! init_done) {
  64.             vpDisplay::displayText(I, vpImagePoint(10,10), "Click in the blob to initialize the tracker", vpColor::red);
  65.             if (vpDisplay::getClick(I, germ, false)) {
  66.                 blob.initTracking(I, germ);
  67.                 init_done = true;
  68.             }
  69.         }
  70.         else {
  71.             blob.track(I);
  72.             vpImagePoint mcog;
  73.             mcog=blob.getCog();
  74.             int x=mcog.get_i();
  75.             if (x<240){
  76.                 zoom=zoom+10;
  77.                 com.setTarget(zoom*4);
  78.                 cv::waitKey(33);
  79.             }
  80.             else{
  81.                 zoom=zoom-10;
  82.                 com.setTarget(zoom*4);
  83.                 cv::waitKey(33);
  84.             }
  85.         }
  86.         vpDisplay::flush(I);
  87.     }
  88. }
To copy to clipboard, switch view to plain text mode 

Qt Code: 
  1. //servocontroller.h
  2. /*****servocontroller.h*****/
  3. #ifndef SERVOCONTROLLER_H
  4. #define SERVOCONTROLLER_H
  5.  
  6. #include <string>
  7. #include <QtSerialPort/QSerialPort>
  8. #include <QtSerialPort/QSerialPortInfo>
  9. #include <termios.h>
  10. #include <QDebug>
  11. #include <QString>
  12.  
  13. class ServoController
  14. {
  15. public:
  16.     virtual ~ServoController();
  17.     void createSerialPort();
  18.     void setTarget( unsigned short target );
  19.  
  20. private:
  21.     static const unsigned short mMinChannelValue = 4000;
  22.     static const unsigned short mMaxChannelValue = 8000;
  23.     unsigned short target;
  24.     unsigned char channelNumber;
  25.     QSerialPort* myCom;
  26.     QByteArray command;
  27. };
  28.  
  29. #endif // SERVOCONTROLLER_H
  30.  
  31.  
  32.  
  33. /*****servocontroller.cpp*****/
  34. #include "servocontroller.h"
  35. #include <QtSerialPort/QSerialPort>
  36. #include <QtSerialPort/QSerialPortInfo>
  37. #include <iostream>
  38.  
  39. void ServoController::createSerialPort()
  40. {
  41.     myCom= new QSerialPort();
  42.     myCom->setPortName("/dev/ttyACM0");
  43.     myCom->open(QIODevice::WriteOnly);
  44.     myCom->setBaudRate(9600);
  45.     myCom->setDataBits(QSerialPort::Data8);
  46.     myCom->setParity(QSerialPort::NoParity);
  47.     myCom->setStopBits(QSerialPort::OneStop);
  48.     myCom->setFlowControl(QSerialPort::NoFlowControl);
  49. }
  50.  
  51. ServoController::~ServoController()
  52. {
  53.     myCom->close();
  54. }
  55.  
  56. void ServoController::setTarget(unsigned short target )
  57. {
  58.     if (target<mMinChannelValue ){
  59.         target=mMinChannelValue;
  60.     }
  61.     if(target>mMaxChannelValue){
  62.         target=mMaxChannelValue;
  63.     }
  64.  
  65.     command.resize(4);
  66.     command[0]=0x84;
  67.     command[1]=0x01;
  68.     command[2]=(char)(target & 0x7F);
  69.     command[3]=(char)((target >> 7) & 0x7F);
  70.     myCom-> QSerialPort::write(command);
  71. }
To copy to clipboard, switch view to plain text mode 
Qt Code: 
  1. HEADERS += \
  2.     UEyeOpenCV.hpp \
  3.     servocontroller.h
  4.  
  5. SOURCES += \
  6.     main.cpp \
  7.     ueyeopencv.cpp \
  8.     servocontroller.cpp
  9.  
  10. # important
  11. # library of QSerialport
  12. QT       += serialport
  13.  
  14. # library of OpenCV
  15. INCLUDEPATH += /usr/local/include \
  16.                 /usr/local/include/opencv \
  17.                 /usr/local/include/opencv2
  18. LIBS += /usr/local/lib/libopencv_core.so    \
  19.         /usr/local/lib/libopencv_highgui.so    \
  20.         /usr/local/lib/libopencv_imgproc.so
  21.  
  22. # library of UEye
  23. win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../../usr/lib/release/ -lueye_api
  24. else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../../usr/lib/debug/ -lueye_api
  25. else:unix: LIBS += -L$$PWD/../../../../usr/lib/ -lueye_api
  26. INCLUDEPATH += $$PWD/../../../../usr/include
  27. DEPENDPATH += $$PWD/../../../../usr/include
  28.  
  29. # libreria de ViSP
  30. win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../ViSP-build-release/lib/x86_64-linux-gnu/release/ -lvisp
  31. else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../ViSP-build-release/lib/x86_64-linux-gnu/debug/ -lvisp
  32. else:unix: LIBS += -L$$PWD/../../ViSP-build-release/lib/x86_64-linux-gnu/ -lvisp
  33. INCLUDEPATH += $$PWD/../../ViSP-build-release/lib/x86_64-linux-gnu
  34. DEPENDPATH += $$PWD/../../ViSP-build-release/lib/x86_64-linux-gnu
To copy to clipboard, switch view to plain text mode