备份

include/generalJsonParsing.hpp

@@ -1,4 +1,5 @@
-#include <nlohmannJson.hpp>
+#pragma once
+#include <nlohmannJson.hpp>
 #include <fstream>
 #include <iostream>
 
@@ -122,14 +123,4 @@ static void printNlohmannJson(nlohmann::json input, int depth = 0)
     else if (input.is_null()) {
         std::cout << indent_str << "null\n";
     }
-}
-
-template<typename T>
-T getOrInit(nlohmann::json& j, const std::string& key, const T& def) {
-    if (!j.contains(key) || j[key].is_null()) {
-        j[key] = def; // 如果键不存在或值为 null，初始化为默认值
-        return def;
-    }
-    return j[key].get<T>(); // 返回键对应的值
-}
-#pragma once
+}

include/simpleAlgo.h

@@ -5,6 +5,7 @@
 #include <handleAI.h>
 #include <QString>
 #include <QByteArray>
+#include <chrono>
 #include <QTextCodec>
 #pragma once
 using namespace HalconCpp;

include/yhGlobal.h

@@ -55,6 +55,24 @@ public:
 
 //算法回调函数需要包含完整的算法流程以及发送信号,发送ui图表，捕获异常，处理异常等操作
 //并且注意 异常可能会导致运行不到发送信号的函数，请在处理异常时发送异常结果
+
+
+void generalExceptionResume(std::shared_ptr<detData> data, yh_581_address address, QString why = "") {
+    qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode) << why;
+    cv::Mat Paint;
+    data->oriImgs[0].copyTo(Paint);
+    if (Paint.channels() == 1)
+        cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+
+    TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
+    textPainter.putText(Paint, why.toStdString(), cv::Point(500, 50), cv::Scalar(0, 255, 0));
+    cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
+    data->resultImgs.push_back(Paint);
+    if (data->service->_paramSyncManager->get("通用设置", "强制OK", false).toBool())
+        data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//结果反馈
+    else
+        data->service->_triggerManager->writeShort("D" + address.resultAddr + "_2");//结果反馈
+}
 static bool generalAlgoTest(std::shared_ptr <detData> data, detParams* _detParams, yh_581_address address) {
     try {
         qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
@@ -82,9 +100,9 @@ static bool generalAlgoTest(std::shared_ptr <detData> data, detParams* _detParam
         else
             src1.copyTo(Paint);
         
-        TextRendererZH textPainter(Paint.cols, Paint.rows, 15);
-        textPainter.putText(Paint, "划伤", cv::Point(10,10), cv::Scalar(0, 255, 0));
-        cv::putText(Paint, "pos:" + data->additional["触发地址"].toString().toStdString(), cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255, 0, 0), 2);
+        TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
+        textPainter.putText(Paint, "OK", cv::Point(10,10), cv::Scalar(0, 255, 0));
+        
         data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_0.123");//发送数据1
         data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2)+ "_0.456");//发送数据2
         data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送结果
@@ -96,8 +114,8 @@ static bool generalAlgoTest(std::shared_ptr <detData> data, detParams* _detParam
     data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送异常结果
     return false;
 }
-template <typename paramTemplte>
 
+template <typename paramTemplte>
 //此类适用于单相机多触发地址需要联合判断的情况的情况 比如顶盖焊，包膜，入壳机台
 //例触发地址有4个，输入信号为 1 0 0 1 则触发1和4的地址拍照检测，2和3拍照取图并废弃
 class _581_Union_triggerTemplate {

src/core/service/detCallbackChain.hpp

@@ -99,7 +99,7 @@ public:
 	// 通用的检测结果处理
 	void detectionResultHandle(std::shared_ptr<detData> data) {
 		//计算处理总耗时（CT）
-		QString totalCtStr = "algoCT->" + QString::number(data->algoTime) + "ms|SN" + QString::fromStdString(data->SNcode);
+		QString totalCtStr = data->uuid + QString::fromStdString(data->SNcode) + "algoCT->" + QString::number(data->algoTime) + "ms|SN" + QString::fromStdString(data->SNcode);
 		qDebug() << totalCtStr;
 		//std::cout << totalCtStr.toStdString() << std::endl;
 		// 将耗时数据等保存入数据库或日志

src/core/service/paramSyncManager.h

@@ -8,7 +8,7 @@
 #include <QDebug>
 #include <vector>
 #include <utility>
-
+#include <interface.h>
 
 
 class paramSyncManager :public QObject{
@@ -155,9 +155,9 @@ public:
         updateJsonFromMap();
         return json;
     }
-    
+    //遍历 map，重新构建嵌套的 JSON 结构
     void updateJsonFromMap() {
-        //遍历 map，重新构建嵌套的 JSON 结构
+		nlohmann::ordered_json newJson;
         for (auto it = map.begin(); it != map.end(); ++it) {
             QString key = it.key();
 
@@ -168,20 +168,21 @@ public:
                 QString paramName = parts.mid(1).join('.');
 
                 //确保组存在
-                if (json.find(group.toStdString()) == json.end()) {
-                    json[group.toStdString()] = nlohmann::ordered_json::object();
+                if (newJson.find(group.toStdString()) == newJson.end()) {
+                    newJson[group.toStdString()] = nlohmann::ordered_json::object();
                 }
                 //添加参数到组
-                json[group.toStdString()][paramName.toStdString()] = qVariantToJson(it.value());
+                newJson[group.toStdString()][paramName.toStdString()] = qVariantToJson(it.value());
             }
             else {
-                json[key.toStdString()] = qVariantToJson(it.value());
+                newJson[key.toStdString()] = qVariantToJson(it.value());
             }
         }
         missionKey.clear();
-        for (auto it = json.begin(); it != json.end(); ++it) {
+        for (auto it = newJson.begin(); it != newJson.end(); ++it) {
             missionKey.push_back(QString::fromStdString(it.key()));
         }
+		json = newJson;
     }
 
     // 清空所有参数

src/core/service/triggerManager.cpp

@@ -2,9 +2,9 @@
 #include <detData.h>
 #include <cameraManager.h>
 #include <backendInterface.h>
+#include <generalJsonParsing.hpp>
+triggerManager::triggerManager(ServiceManager* _serviceManager, bSignalHub* bridgeIn,nlohmann::ordered_json& triggerJson){
 
-triggerManager::triggerManager(ServiceManager* _serviceManager, bSignalHub* bridgeIn,nlohmann::ordered_json& triggerJson)
-{
     bridge = bridgeIn;
     dManager = _serviceManager->_detDataManager;
     _cameraManager = _serviceManager->_cameraManager;
@@ -19,8 +19,10 @@ triggerManager::triggerManager(ServiceManager* _serviceManager, bSignalHub* brid
 
     triggerFileName = QString::fromStdString(triggerJson["moduleName"]);
     IpAndPort = QString::fromStdString(triggerJson["initStr"]);
-    heartBeatIntervalMS = triggerJson["heartBeatIntervalMS"];
-    sleepIntervalMS = triggerJson["sleepIntervalMS"];
+
+    heartBeatIntervalMS = triggerJson.value("heartBeatIntervalMS",1);
+    sleepIntervalMS = triggerJson.value("sleepIntervalMS", 1);
+
     std::vector<std::string> heartbeats = triggerJson["heartBeatCmd"];
     for (auto& cmd : heartbeats) {
 		heartBeatCmds.push_back(QString::fromStdString(cmd));
@@ -152,7 +154,6 @@ void triggerManager::decodeCameraCMD(readAllStruct& _struct, QByteArray byte)
     checkPlcValueViewer(_struct, byte);
 }
 
-
 void triggerManager::checkCallback(readAllStruct _struct, QByteArray& byteArray) {//检查是否符合回调函数的触发条件
     QMutexLocker locer(&mutex);
     for (auto callback : triggerCallbackFuncs[_struct.readAllCmd])
@@ -249,7 +250,7 @@ void triggerManager::checkPlcValueViewer(readAllStruct& _struct, QByteArray& byt
 
             if (newValue != data.value) {
                 data.value = newValue;
-                if (data.type == finsFloat)
+                if (data.type == finsFloat) 
                     emit bridge->runCommand_refeshPlcValueViewer(data.valueAddr,
                         QString::number(data.value.toDouble(), 'f', 4));
                 else
@@ -258,4 +259,5 @@ void triggerManager::checkPlcValueViewer(readAllStruct& _struct, QByteArray& byt
         }
     }
 
-}
+}
+

src/core/service/triggerManager.h

@@ -18,7 +18,7 @@ class detDataManager;
 class lightSourceManager;
 class ServiceManager;
 
-// 将此静态函数加入到类 triggerManager 的合适位置（如 private 部分）
+//从fins中读取浮点型
 static float readFinsFloatFromQByteArray(const QByteArray& buf, int startByteIndex, bool highLowConversion) {
     if (buf.isEmpty()) {
         return 0.0f;
@@ -54,6 +54,18 @@ static float readFinsFloatFromQByteArray(const QByteArray& buf, int startByteInd
     std::memcpy(&value, &raw, sizeof(float));
     return value;
 }
+//将字符串转换为供发送的语句
+static QByteArray convertStringForFins(const QString& text) {
+    QByteArray sendText;
+    for (int i = 0; i < text.size() / 2; i ++) 
+    	sendText += QByteArray::number(text[i * 2].unicode() + text[i * 2 + 1].unicode() * 256) + ",";
+
+    if (text.size() % 2 == 1)
+        sendText += QByteArray::number(text[text.size() - 1].unicode());
+    else
+        sendText.chop(1);
+    return sendText;
+}
 //防止重复触发
 class triggerLockerT {
 public:
@@ -320,9 +332,7 @@ public:
     std::map<QByteArray, std::vector<triggerCallbackStruct>> triggerCallbackFuncs;
 
 	//联合条件的触发器注册
-    bool registerUnionCallback(std::vector<std::pair<int, int>> triggerAddressAndValue,
-        conditionMode mode,
-        uniontriggerCallback func, std::string funcName) {
+    bool registerUnionCallback(std::vector<std::pair<int, int>> triggerAddressAndValue,conditionMode mode,uniontriggerCallback func, std::string funcName) {
         QMutexLocker locer(&mutex);
         if (triggerAddressAndValue.size() < 2) {
             qCritical() << "联合触发器至少需要两个条件";

src/cutImage/baoMo.hpp

@@ -1,21 +1,44 @@
 #include <iostream>
 #include <opencv.hpp>
 #include <handleAI.h>
+#include <simpleAlgo.h>
+#include <global.h>
 using namespace std;
 
 
-void baomoXiaDMianCut(const std::string path, const std::string format, const std::string outputPath) {
+void baomoXiaDMianCut(const std::string path, const std::string format, const std::string outputPath,cv::Size fillter) {
 	//int 
-	//handdleAI::pSegmentation* seg = handdleAI::CreateSegObjS("./cutImgFiles/baoMoXiaDaMian_seg.BHD", 1, 0);
-	//std::vector<std::string> images;
-	//cv::glob(path + "/*." + format, images, false);
-	//for (size_t i = 0; i < images.size(); i++) {
-	//	cv::Mat srcImage = cv::imread(images[i],-1);
-	//	if (srcImage.empty()) {
-	//		std::cout << "ͼƬΪ¿Õ£¡" << std::endl;
-	//		continue;
-	//	}
-	//	auto SegResult = ~seg->Evaluate(srcImage);
+	handdleAI::pSegmentation* seg = handdleAI::CreateSegObjS("./cutImgFiles/baoMoXiaDaMian_seg.BHD", 1, 0);
+	std::vector<std::string> images;
+	cv::glob(path + "/*." + format, images, false);
+	for (size_t i = 0; i < images.size(); i++) {
+		std::string filePath = outputPath + "/" + std::to_string(i) + "/";
+		createDirectoryIfNotExists(QString::fromStdString(filePath));
+		cv::Mat srcImage = cv::imread(images[i], -1);
+		cv::Mat Paint;
+		if (srcImage.cols == 1)
+			cv::cvtColor(srcImage, Paint, cv::COLOR_GRAY2BGR);
+		else
+			srcImage.copyTo(Paint);
 
-	//}
+		if (srcImage.empty()) {
+			std::cout << "ͼƬΪ¿Õ£¡" << std::endl;
+			continue;
+		}
+		auto SegResult = ~seg->Evaluate(srcImage);
+		std::vector<std::vector<cv::Point>> contours;
+		cv::findContours(SegResult,contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
+		for (int ii = 0; ii < contours.size(); ii++) {
+			cv::Rect rect = cv::boundingRect(contours[i]);
+			if (rect.width > fillter.width || rect.height > fillter.height) {
+				cv::putText(Paint, std::to_string(i), cv::Point(rect.x + rect.width / 2, rect.y + rect.height / 2), 1, 2, cv::Scalar(255, 255, 255), 5);
+				cv::rectangle(Paint, rect, cv::Scalar(0, 0, 255), 3);
+				auto imgs = cutImg2ClsVec(rect, srcImage);
+				for (int o = 0; o < imgs.size(); o++) {
+					cv::imwrite(filePath + "/" + std::to_string(ii) + "_" + std::to_string(o) + "CLS.bmp",imgs[o]);
+				}
+			}
+		}
+		cv::imwrite(filePath + "/Paint.bmp", Paint);
+	}
 }

src/cutImage/main.cpp

@@ -2,6 +2,6 @@
 
 int main(int argc, char* argv[])
 {
-    std::cout << "hello world" << std::endl;
+    //baomoXiaDMianCut(
     return 1;
 }

src/launcher/appConfig/auth.hpp

@@ -318,7 +318,7 @@ namespace Auth {
                 // 显示权限不足的弹窗
                 QMessageBox::warning(nullptr,
                                     TR("Insufficient permissions"),
-                                    QString(TR("您没有足够的权限执行此操作。\n\n需要权限级别: %1\n当前权限级别: %2"))
+                                    QString(TR("You do not have sufficient permissions to perform this action.\n\nRequired level: %1\nCurrent level: %2"))
                                         .arg(QString::fromStdString(userLevelToString(requiredLevel)))
                                         .arg(QString::fromStdString(userLevelToString(currentUserLevel))));
             }

src/mission/BaoMo/581-BaoMo-Cam1213/581-BaoMo-Cam1213.cpp

@@ -0,0 +1,231 @@
+#include <581-BaoMo-Cam1213.h>
+
+struct halconResult {
+    double resultX = -99;
+    double resultY = -99;
+};
+halconResult dituo(std::shared_ptr <detData> data,cv::Mat& src, cv::Mat& Paint,bool isLeft) {
+    halconResult result;
+    try {
+        cv::Mat srcHalf;
+        cv::resize(src, srcHalf, cv::Size(0, 0), 0.5, 0.5);
+        if (srcHalf.channels() != 3)
+            cv::cvtColor(srcHalf, Paint, cv::COLOR_GRAY2BGR);
+        else
+            srcHalf.copyTo(Paint);
+        TextRendererZH textPainter(Paint.cols, Paint.rows, 50);
+
+        HalconCpp::HObject in_Image = MatToHObject(src);
+        HDevEngineCpp::HDevProcedure proc("_4_TD_BlueCover_Inspection");
+        HDevProcedureCall procedureCall(proc);
+
+        //vs+halcon联调debug
+        /*HDevEngineCpp::HDevEngine myEngine;
+        myEngine.StartDebugServer();
+        procedureCall.SetWaitForDebugConnection(true);*/
+
+        HTuple in_Par, in_FilePath("./halconFiles/");
+        in_Par[0] = data->service->_paramSyncManager->get("底托检测", "宽度阈值(mm)", 150).toInt();
+        in_Par[1] = data->service->_paramSyncManager->get("底托检测", "高度阈值(mm)", 150).toInt();
+        in_Par[2] = data->service->_paramSyncManager->get("底托检测", "面积阈值(mm)", 300).toInt();
+        procedureCall.SetInputIconicParamObject("in_Image", in_Image);
+        procedureCall.SetInputCtrlParamTuple("in_Par", in_Par);
+        procedureCall.SetInputCtrlParamTuple("in_FilePath", in_FilePath);
+        procedureCall.Execute();
+        HTuple out_X = procedureCall.GetOutputCtrlParamTuple("out_X");
+        HTuple out_Y = procedureCall.GetOutputCtrlParamTuple("out_Y");
+        HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag");
+        HTuple out_NgDetails = procedureCall.GetOutputCtrlParamTuple("out_NgDetails");
+        int outFlag = out_Flag.D();
+        //handleAiFuture.wait();
+        //_result = handleAiFuture.get();
+        if (outFlag == 1) {
+            textPainter.putText(Paint, "OK", cv::Point(50, 50), cv::Scalar(0, 255, 0));
+        }
+        else {
+            data->halconOK = false;
+            for (int i = 0; i < out_Y.Length() / 2 - 1; i++) {
+                cv::circle(Paint, cv::Point(out_X[i * 2 + 1].D(), out_Y[i * 2].D()) / 2, 1,
+                    cv::Scalar(0, 0, 255), 1);
+            }
+            std::string ngDetails = out_NgDetails.ToString().Text();
+            result.resultX = out_X.D();
+            result.resultY = out_Y.D();
+            if (isLeft == true) {
+                textPainter.putText(Paint, "缺陷长度：" + std::to_string(result.resultX) + "mm", cv::Point(700, 800), cv::Scalar(0, 255, 0));
+                textPainter.putText(Paint, "缺陷宽度：" + std::to_string(result.resultY) + "mm", cv::Point(700, 850), cv::Scalar(0, 255, 0));
+                textPainter.putText(Paint, ngDetails.substr(1, ngDetails.length() - 2), cv::Point(700, 900), cv::Scalar(0, 0, 255));
+            }
+            else {
+                textPainter.putText(Paint, "缺陷长度：" + std::to_string(result.resultX) + "mm", cv::Point(50, 800), cv::Scalar(0, 255, 0));
+                textPainter.putText(Paint, "缺陷宽度：" + std::to_string(result.resultY) + "mm", cv::Point(50, 850), cv::Scalar(0, 255, 0));
+                textPainter.putText(Paint, ngDetails.substr(1, ngDetails.length() - 2), cv::Point(50, 900), cv::Scalar(0, 0, 255));
+            }
+        }
+    }
+    CATCH_EXCEPTIONS
+    return result;
+}
+bool ALGO_BaoMoHouDiBu_test(std::shared_ptr <detData> data, baoMoHouDiBuDetParams* _detParams, yh_581_address address) {
+    try {
+        qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
+        std::vector < std::string> defects;
+ 
+        //data->oriImgs.clear();
+        //data->oriImgs.push_back(cv::imread("D://testImage/dituo_1.bmp", -1));
+        //data->oriImgs.push_back(cv::imread("D://testImage/dituo_2.bmp", -1));
+        ///////////////////取图//处理//////////////////
+        if (data->oriImgs.size() < 2)
+        {
+            qCritical() << "图片数量不满足要求：" << data->oriImgs.size();
+            data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送结果
+            cv::Mat Paint;
+            data->oriImgs[0].copyTo(Paint);
+            data->resultImgs.push_back(Paint);
+            return false;
+        }
+        if (data->oriImgs[0].rows == 100) {
+            cv::Mat Paint;
+            data->oriImgs[0].copyTo(Paint);
+            cv::putText(Paint, "time out", cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 2);
+            data->resultImgs.push_back(Paint);
+            data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送结果
+            return false;
+        }
+
+        cv::Mat Paint,Paint1,Paint2;
+        bool leftFirst = address.triggerAddr == 20200;
+        auto feature1 = std::async(std::launch::async,dituo, data, std::ref(data->oriImgs[0]), std::ref(Paint1),leftFirst);
+        auto feature2 = std::async(std::launch::async, dituo, data, std::ref(data->oriImgs[1]), std::ref(Paint2),~leftFirst);
+        feature1.wait();
+        halconResult hResult1 = feature1.get();
+
+        feature2.wait();
+        halconResult hResult2 = feature2.get();
+        cv::hconcat(Paint1, Paint2, Paint);
+
+        data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(hResult1.resultX));//发送结果
+        data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + "_" + QByteArray::number(hResult1.resultY));//发送结果
+        data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 4) + "_" + QByteArray::number(hResult2.resultX));//发送结果
+        data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 6) + "_" + QByteArray::number(hResult2.resultY));//发送结果
+        data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1,0,1");//发送结果
+        data->service->_missionResultHandle->toBarChart(data->SNcode, !defects.size() > 0, defects);
+        data->resultImgs.push_back(Paint);
+    }
+    CATCH_EXCEPTIONS
+    data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(-99));//发送结果
+    data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + "_" + QByteArray::number(-99));//发送结果
+    data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 4) + "_" + QByteArray::number(-99));//发送结果
+    data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 6) + "_" + QByteArray::number(-99));//发送结果
+    data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1,0,1");//发送结果
+    cv::Mat Paint;
+    data->oriImgs[0].copyTo(Paint);
+    data->resultImgs.push_back(Paint);
+    return true;
+}
+bool ALGO_BaoMoHouDiBu(std::shared_ptr <detData> data, baoMoHouDiBuDetParams* _detParams, yh_581_address address) {
+    try {
+        qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
+        std::vector < std::string> defects;
+        ///////////////////取图//处理//////////////////
+        if (data->oriImgs.size() < 2)
+        {
+            qCritical() << "图片数量不满足要求：" << data->oriImgs.size();
+            data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送结果
+            cv::Mat Paint;
+            data->oriImgs[0].copyTo(Paint);
+            data->resultImgs.push_back(Paint);
+            return false;
+        }
+        if (data->oriImgs[0].rows == 100) {
+            cv::Mat Paint;
+            data->oriImgs[0].copyTo(Paint);
+            cv::putText(Paint, "time out", cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 2);
+            data->resultImgs.push_back(Paint);
+            return false;
+        }
+
+        cv::Mat Paint;
+        clock_t start, finish;
+        start = clock();
+
+        cv::Mat src1 = data->oriImgs[0];
+        cv::Mat srcHalf;
+        cv::resize(src1, srcHalf, cv::Size(0, 0), 0.5, 0.5);
+        if (srcHalf.channels() != 3)
+            cv::cvtColor(srcHalf, Paint, cv::COLOR_GRAY2BGR);
+        else
+            srcHalf.copyTo(Paint);
+        TextRendererZH textPainter(Paint.cols, Paint.rows, 50);
+        HalconCpp::HObject in_Image = MatToHObject(src1);
+        //vs+halcon联调debug
+        HDevEngineCpp::HDevProcedure proc("_4_TD_BlueCover_Inspection");
+        HDevProcedureCall procedureCall(proc);
+
+        /*HDevEngineCpp::HDevEngine myEngine;
+        myEngine.StartDebugServer();
+        procedureCall.SetWaitForDebugConnection(true);*/
+
+        HTuple in_Par, in_FilePath("./halconFiles/");
+        in_Par[0] = data->service->_paramSyncManager->get("底托检测","宽度阈值(mm)", 150).toInt();
+        in_Par[1] = data->service->_paramSyncManager->get("底托检测", "高度阈值(mm)", 150).toInt();
+        in_Par[2] = data->service->_paramSyncManager->get("底托检测", "面积阈值(mm)", 300).toInt();
+        procedureCall.SetInputIconicParamObject("in_Image", in_Image);
+        procedureCall.SetInputCtrlParamTuple("in_Par", in_Par);
+        procedureCall.SetInputCtrlParamTuple("in_FilePath", in_FilePath);
+        procedureCall.Execute();
+        HTuple out_X = procedureCall.GetOutputCtrlParamTuple("out_X");
+        HTuple out_Y = procedureCall.GetOutputCtrlParamTuple("out_Y");
+        HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag");
+        HTuple out_NgDetails = procedureCall.GetOutputCtrlParamTuple("out_NgDetails");
+        int outFlag = out_Flag.D();
+        //handleAiFuture.wait();
+        //_result = handleAiFuture.get();
+        double resultX = -99, resultY = -99;
+        if (outFlag == 1) {
+            textPainter.putText(Paint, "OK", cv::Point(50, 50), cv::Scalar(0, 255, 0));
+        }
+        else {
+            data->halconOK = false;
+            for (int i = 0; i < out_Y.Length() / 2 - 1; i++) {
+                cv::circle(Paint, cv::Point(out_X[i * 2 + 1].D(), out_Y[i * 2].D()) / 2, 1,
+                    cv::Scalar(0, 0, 255), 1);
+            }
+            std::string ngDetails = out_NgDetails.ToString().Text();
+            resultX = out_X.D();
+            resultY = out_Y.D();
+            if (address.triggerAddr == 20200 || address.triggerAddr == 20402) {
+                textPainter.putText(Paint, "缺陷长度：" + std::to_string(resultX) + "mm", cv::Point(700, 800), cv::Scalar(0, 255, 0));
+                textPainter.putText(Paint, "缺陷宽度：" + std::to_string(resultY) + "mm", cv::Point(700, 850), cv::Scalar(0, 255, 0));
+                textPainter.putText(Paint, ngDetails.substr(1, ngDetails.length() - 2), cv::Point(700, 900), cv::Scalar(0, 0, 255));
+            }
+            else {
+                textPainter.putText(Paint, "缺陷长度：" + std::to_string(resultX) + "mm", cv::Point(50, 800), cv::Scalar(0, 255, 0));
+                textPainter.putText(Paint, "缺陷宽度：" + std::to_string(resultY) + "mm", cv::Point(50, 850), cv::Scalar(0, 255, 0));
+                textPainter.putText(Paint, ngDetails.substr(1, ngDetails.length() - 2), cv::Point(50, 900), cv::Scalar(0, 0, 255));
+            }
+        }
+        data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1,0,1");//发送结果
+        data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(resultX));//发送结果
+        data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + "_" + QByteArray::number(resultY));//发送结果
+        data->service->_missionResultHandle->toBarChart(data->SNcode, !defects.size() > 0, defects);
+        data->resultImgs.push_back(Paint);
+    }
+    CATCH_EXCEPTIONS
+    data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(-99));//发送结果
+    data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + "_" + QByteArray::number(-99));//发送结果
+    data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 4) + "_" + QByteArray::number(-99));//发送结果
+    data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 6) + "_" + QByteArray::number(-99));//发送结果
+    data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1,0,1");//发送结果
+    cv::Mat Paint;
+    data->oriImgs[0].copyTo(Paint);
+    data->resultImgs.push_back(Paint);
+    return true;
+}
+
+mission* createMission() {
+	return new _581_BaoMo();
+}
+void destroyMission(mission* _mission) {
+	delete _mission;
+}

src/mission/BaoMo/581-BaoMo-Cam1213/581-BaoMo-Cam1213.h

@@ -0,0 +1,44 @@
+#include <missionBase.hpp>
+#include <yhGlobal.h>
+#include <simpleAlgo.h>
+#include <hdevengine/HDevEngineCpp.h>
+#include <opencvPaintAlgo.hpp>
+using namespace HDevEngineCpp;
+
+class baoMoHouDiBuDetParams {
+public:
+    
+};
+static bool ALGO_BaoMoHouDiBu_test(std::shared_ptr <detData> data, baoMoHouDiBuDetParams* _detParams, yh_581_address address);
+static bool ALGO_BaoMoHouDiBu(std::shared_ptr <detData> data, baoMoHouDiBuDetParams* _detParams, yh_581_address address);
+
+
+class _581_BaoMo : public mission {
+public:
+    using baoMoHouDiBuTrigger = _581_Single_triggerTemplate<baoMoHouDiBuDetParams>;
+    baoMoHouDiBuTrigger _station_1;
+    baoMoHouDiBuTrigger _station_2;
+
+    baoMoHouDiBuDetParams _baoMoHouDiBuDetParams;
+    void onConfigReloaded() {
+        HDevEngineCpp::HDevEngine myEngine;
+        myEngine.SetProcedurePath("./halconAlgo/AlgoLibrary_602.hdpl");
+    }
+    bool initCustom() {
+#pragma region 注册触发器回调
+        
+        _station_1.init("Camera1","包膜后底托位置度检测-左-相机12",20200,1,2, &_baoMoHouDiBuDetParams,_serviceManager,bridge, ALGO_BaoMoHouDiBu_test);
+        _station_2.init("Camera2", "包膜后底托位置度检测-右-相机13",20400,1,2,&_baoMoHouDiBuDetParams, _serviceManager, bridge, ALGO_BaoMoHouDiBu_test);
+#pragma endregion
+        return true;
+    }
+    
+
+    //9600 
+};
+
+
+
+
+
+#pragma once

src/mission/BaoMo/581-BaoMo-Cam1234/581-BaoMo-Cam1234.cpp

@@ -0,0 +1,160 @@
+#include <581-BaoMo-Cam1234.h>
+
+cv::Rect extractRegion(cv::Mat& src,int binary_threshold = 50) {
+    cv::Mat binary;
+    threshold(src, binary, binary_threshold, 255, cv::THRESH_BINARY);
+	cv::dilate(binary, binary, cv::getStructuringElement(cv::MORPH_RECT,cv::Size(5,5)));
+	std::vector<std::vector<cv::Point>> contours;
+    findContours(binary, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
+
+    double maxArea = 0;
+    int maxAreaIdx = -1;
+    for (size_t i = 0; i < contours.size(); i++) {
+        double area = contourArea(contours[i]);
+        if (area > maxArea) {
+            maxArea = area;
+            maxAreaIdx = i;
+        }
+    }
+    cv::Rect boundingRect = cv::boundingRect(contours[maxAreaIdx]);
+    return boundingRect;
+}
+int index = 0;
+bool BaoMoQianShangDaMian(std::shared_ptr <detData> data, baoMoQianDaMianDetParams* _detParams, yh_581_address address) {
+    qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
+    ///////////////////取图//处理//////////////////
+    if (data->oriImgs.size() != 1) {
+        qCritical() << "图片数量不满足要求：" << data->oriImgs.size();
+        return false;
+    }
+	try {
+		//cv::Mat segImg;
+		//cv::resize(data->oriImgs[0], segImg, cv::Size(), 0.5, 0.5);
+		//cv::Rect ROI = extractRegion(segImg);
+		//segImg(ROI).copyTo(segImg);
+		cv::Mat Paint;
+		if (data->oriImgs[0].channels() == 1)
+			cv::cvtColor(data->oriImgs[0], Paint, cv::COLOR_GRAY2RGB);
+		else
+			data->oriImgs[0].copyTo(Paint);
+		//TextRendererZH textPainter(Paint.cols, Paint.rows, 500);
+		//textPainter.putText(Paint, "NG", cv::Point(50, 50), cv::Scalar(0, 0, 255));
+		//segImg = ~_detParams->seg_baomodamian->Evaluate(segImg);
+		//std::vector<std::vector<cv::Point>>contours;
+		//cv::findContours(segImg, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
+		//int clsIndex = 0;
+		//bool isNG = false;
+		//for (auto& contour : contours) {
+		//	cv::Rect rect = cv::boundingRect(contour);
+		//	if (rect.width < 60 || rect.height < 60)
+		//		continue;
+		//	cv::Mat clsImg = cutImg2Cls(rect, data->oriImgs[0]);
+		//	data->clsOriginImgs.push_back({ std::to_string(clsIndex),clsImg});
+		//	int clsResult = _detParams->cls_baomodamian->Evaluate(clsImg);
+		//	if (clsResult == 1 || clsResult == 2) {
+		//		cv::drawContours(Paint, contours, clsIndex, cv::Scalar(0, 0, 255), 3);
+		//		//isNG = true;
+		//	}
+		//	clsIndex++;
+		//}
+		TextRendererZH textPainter(Paint.cols, Paint.rows, 500);
+		//if (isNG == true) {
+		//	textPainter.putText(Paint, "NG", cv::Point(50, 50), cv::Scalar(0, 0, 255));
+		//	if (data->service->_paramSyncManager->get("强制OK", false).toBool())
+		//		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_2");
+		//	else
+		//		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");
+		//}
+		//else {
+		//	textPainter.putText(Paint, "OK", cv::Point(50, 50), cv::Scalar(0, 255, 0));
+		//	data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");
+		//}
+		//data->segOriginImgs.push_back(segImg);
+		data->resultImgs.push_back(Paint);
+		textPainter.putText(Paint, "OK", cv::Point(50, 50), cv::Scalar(0, 255, 0));
+		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");
+		return true;
+	}
+	CATCH_EXCEPTIONS
+	generalExceptionResume(data, address, "检测异常");
+	return true;
+
+}
+
+bool BaoMoQianXiaDaMian(std::shared_ptr <detData> data, baoMoQianDaMianDetParams* _detParams, yh_581_address address) {
+	
+	QString date = QDateTime::currentDateTime().toString("yyyy_MM_dd_HH_mm_ss_").toUtf8() + QString::number(index);
+	//data->service->_triggerManager->writeShort("D" + QByteArray::number(address.snAddr) + "_" + convertStringForFins(date));
+	data->SNcode = date.toStdString();
+	qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
+	index++;
+	///////////////////取图//处理//////////////////
+	if (data->oriImgs.size() != 1) {
+		qCritical() << "图片数量不满足要求：" << data->oriImgs.size();
+		return false;
+	}
+	if (data->oriImgs[0].rows == 200) {
+		generalExceptionResume(data, address, "检测异常");
+		return false;
+	}
+	try {
+		cv::Mat segImg;
+		cv::resize(data->oriImgs[0], segImg, cv::Size(), 0.5, 0.5);
+		cv::Rect ROI = extractRegion(segImg);
+		segImg(ROI).copyTo(segImg);
+		cv::Mat Paint;
+		if (data->oriImgs[0].channels() == 1)
+			cv::cvtColor(data->oriImgs[0], Paint, cv::COLOR_GRAY2RGB);
+		else
+			data->oriImgs[0].copyTo(Paint);
+		//TextRendererZH textPainter(Paint.cols, Paint.rows, 500);
+		//textPainter.putText(Paint, "NG", cv::Point(50, 50), cv::Scalar(0, 0, 255));
+		segImg = ~_detParams->seg_baomodamian->Evaluate(segImg);
+		std::vector<std::vector<cv::Point>>contours;
+		cv::findContours(segImg, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
+		int clsIndex = 0;
+		bool isNG = false;
+		for (auto& contour : contours) {
+			cv::Rect rect = cv::boundingRect(contour);
+			if (rect.width < 60 || rect.height < 60)
+				continue;
+			cv::Mat clsImg = cutImg2Cls(rect, data->oriImgs[0]);
+			data->clsOriginImgs.push_back({ std::to_string(clsIndex),clsImg});
+			int clsResult = _detParams->cls_baomodamian->Evaluate(clsImg);
+			if (clsResult == 1 || clsResult == 2) {
+				cv::drawContours(Paint, contours, clsIndex, cv::Scalar(0, 0, 255), 3);
+				//isNG = true;
+			}
+			clsIndex++;
+		}
+		TextRendererZH textPainter(Paint.cols, Paint.rows, 500);
+		//if (isNG == true) {
+		//	textPainter.putText(Paint, "NG", cv::Point(50, 50), cv::Scalar(0, 0, 255));
+		//	if (data->service->_paramSyncManager->get("强制OK", false).toBool())
+		//		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_2");
+		//	else
+		//		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");
+		//}
+		//else {
+		//	textPainter.putText(Paint, "OK", cv::Point(50, 50), cv::Scalar(0, 255, 0));
+		//	data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");
+		//}
+		textPainter.putText(Paint, "OK", cv::Point(50, 50), cv::Scalar(0, 255, 0));
+		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");
+		data->segOriginImgs.push_back(segImg);
+		data->resultImgs.push_back(Paint);
+
+		
+		return true;
+	}
+	CATCH_EXCEPTIONS
+	generalExceptionResume(data, address, "检测异常");
+	return true;
+
+}
+mission* createMission() {
+	return new _581_BaoMo_Cam1234();
+}
+void destroyMission(mission* _mission) {
+	delete _mission;
+}

src/mission/BaoMo/581-BaoMo-Cam1234/581-BaoMo-Cam1234.h

@@ -0,0 +1,64 @@
+#include <yhGlobal.h>
+#include <simpleAlgo.h>
+#include <hdevengine/HDevEngineCpp.h>
+#include <opencvPaintAlgo.hpp>
+using namespace HDevEngineCpp;
+
+class baoMoQianDaMianDetParams {
+public:
+    handdleAI::pSegmentation* seg_baomodamian = nullptr;
+    handdleAI::pClassification* cls_baomodamian = nullptr;
+};
+
+
+bool BaoMoQianShangDaMian(std::shared_ptr <detData> data, baoMoQianDaMianDetParams* _detParams, yh_581_address address);
+bool BaoMoQianXiaDaMian(std::shared_ptr <detData> data, baoMoQianDaMianDetParams* _detParams, yh_581_address address);
+class _581_BaoMo_Cam1234 : public mission {
+public:
+    using baoMoQianDaMianTrigger = _581_Union_triggerTemplate<baoMoQianDaMianDetParams>;
+    baoMoQianDaMianTrigger _shangdamian_1;
+    baoMoQianDaMianTrigger _xiadamian_2;
+    std::vector<baoMoQianDaMianDetParams> _baoMoQianDaMianDetParams = std::vector< baoMoQianDaMianDetParams>(2);
+
+    using generalTrigger = _581_Union_triggerTemplate<detParams>;
+    generalTrigger _station_3;
+    generalTrigger _station_4;
+    detParams _detParams;
+    bool initOnce = false;
+    void onConfigReloaded() {
+        HDevEngineCpp::HDevEngine myEngine;
+        myEngine.SetProcedurePath("./halconAlgo/AlgoLibrary_602.hdpl");
+
+        if (initOnce == false) {
+            
+           /* _baoMoQianDaMianDetParams[0].seg_baomodamian = handdleAI::CreateSegObjS("./handleAiModels/BaoMoQianDaMian_Seg.BHD", 64, 0);
+            _baoMoQianDaMianDetParams[0].cls_baomodamian = handdleAI::CreateClsObjV3("./handleAiModels/BaoMoQianDaMian_Cls.BHD", 0, 1);
+
+            _baoMoQianDaMianDetParams[1].seg_baomodamian = handdleAI::CreateSegObjS("./handleAiModels/BaoMoQianDaMian_Seg.BHD", 64, 1);
+            _baoMoQianDaMianDetParams[1].cls_baomodamian = handdleAI::CreateClsObjV3("./handleAiModels/BaoMoQianDaMian_Cls.BHD", 1, 1);*/
+
+            initOnce = true;
+        }
+
+
+    }
+    bool initCustom() {
+#pragma region 注册触发器回调
+        _shangdamian_1.init("Camera1","包膜前外观检测大面相机1（上大面）", 18000,2, 1, &_baoMoQianDaMianDetParams[0], _serviceManager, bridge, BaoMoQianShangDaMian);
+        _xiadamian_2.init("Camera2", "包膜前外观检测大面相机2（下大面）", 18200,2, 1, &_baoMoQianDaMianDetParams[1], _serviceManager, bridge, BaoMoQianXiaDaMian);
+
+        _station_3.init("Camera3", "包膜前产品边缘检测大面-外-相机3（下大面顶盖侧）", 18400,2, 2, &_detParams,_serviceManager,bridge, generalAlgoTest);
+        _station_4.init("Camera4", "包膜前产品边缘检测大面-内-相机4（下大面底部侧）", 18600 ,2, 2, &_detParams, _serviceManager, bridge, generalAlgoTest);
+#pragma endregion
+        return true;
+    }
+    void reloadAlgo(QByteArray& byteArray) {
+
+    }
+
+    //9600 
+};
+
+
+
+#pragma once

src/mission/BaoMo/581-BaoMo-Cam1234/CMakeLists.txt

@@ -0,0 +1,77 @@
+# 获取获取当前目录名
+get_filename_component(CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+string(TIMESTAMP RUN_TIME)
+message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
+
+set(DLL_NAMES "opencv" "halcon" "handdleAI")
+foreach(child ${DLL_NAMES})         
+    LIST(APPEND ENV_INCLUDE ${${child}_include})
+    LIST(APPEND ENV_LIB ${${child}_lib})
+    LIST(APPEND ENV_TARGET ${${child}_target_link})         
+endforeach()
+message("   ENV_INCLUDE : " ${ENV_INCLUDE} )
+message("   ENV_LIB : " ${ENV_LIB} )
+message("   ENV_TARGET : " ${ENV_TARGET} )
+include_directories(
+    ${PROJECT_ROOT_PATH}/src/core
+    ${PROJECT_ROOT_PATH}/src/core/handleAi
+    ${PROJECT_ROOT_PATH}/src/core/service
+    ${PROJECT_ROOT_PATH}/src/core/sql
+    ${ENV_INCLUDE}
+    )
+
+link_directories (
+    ${ENV_LIB}
+
+    )
+add_compile_options(/utf-8)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_AUTOMOC ON)
+SET(CMAKE_AUTOUIC OFF)
+set(CMAKE_AUTORCC ON)
+ 
+FILE(GLOB HEAD_FILES "*.h" )
+FILE(GLOB SRC_FILES "./*.cpp")
+FILE(GLOB UI_FILES "./*.ui")
+
+
+#find_package(Qt5 COMPONENTS Core REQUIRED)
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Core Gui Network REQUIRED)
+find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core Gui Network REQUIRED)
+
+add_library(${CURRENT_FOLDER} SHARED
+    ${HEAD_FILES}
+    ${SRC_FILES}
+    ${UI_FILES}
+    ${PROJECT_ROOT_PATH}/include/interface.h
+    )
+
+
+
+set_target_properties(${CURRENT_FOLDER} PROPERTIES
+    RUNTIME_OUTPUT_DIRECTORY  ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    LIBRARY_OUTPUT_DIRECTORY  ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
+    ARCHIVE_OUTPUT_DIRECTORY  ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
+    )
+
+
+target_link_libraries(${CURRENT_FOLDER} PRIVATE
+    ${ENV_TARGET}
+    Qt${QT_VERSION_MAJOR}::Core
+    Qt${QT_VERSION_MAJOR}::Gui 
+    Qt${QT_VERSION_MAJOR}::Network
+    )
+
+
+# target_compile_definitions(${CURRENT_FOLDER} PRIVATE HD_AIDEMO_MODULE_LIBRARY)
+
+
+
+
+string(TIMESTAMP RUN_TIME)
+message( " modelx end : " ${CURRENT_FOLDER}:${RUN_TIME})
+message( " header files "${HEAD_FILES})

src/mission/BaoMo/581-BaoMo-Cam5678/581-BaoMo-Cam5678.cpp

@@ -0,0 +1,8 @@
+#include <581-BaoMo-Cam5678.h>
+
+mission* createMission() {
+	return new _581_BaoMo();
+}
+void destroyMission(mission* _mission) {
+	delete _mission;
+}

src/mission/BaoMo/581-BaoMo-Cam5678/581-BaoMo-Cam5678.h

@@ -0,0 +1,221 @@
+#include <missionBase.hpp>
+#include <yhGlobal.h>
+
+struct _581_BaoMoResult
+{
+    bool result = true;
+    std::vector < std::string> defects;
+};
+class baoMoHouDaMianDetParams {
+public:
+    handdleAI::pSegmentation* dingwei = nullptr;
+    handdleAI::pSegmentation* seg = nullptr;
+    handdleAI::pClassification* cls = nullptr;
+};
+#pragma region 算法
+#include <simpleAlgo.h>
+#include <hdevengine/HDevEngineCpp.h>
+#include <opencvPaintAlgo.hpp>
+using namespace HDevEngineCpp;
+#pragma endregion
+#pragma region 算法
+
+std::vector<std::string> BaoMoHou_DaMianAi(std::shared_ptr <detData> data, cv::Mat src, cv::Mat& Paint,
+    baoMoHouDaMianDetParams* _detParams) {
+    if (_detParams->seg == nullptr || _detParams->cls == nullptr)
+        return {};
+    std::vector<std::string> defects;
+    TextRendererZH textPainter(Paint.cols, Paint.rows, 150);
+    bool huaShangNg = false;
+    cv::Mat segImg = ~_detParams->seg->Evaluate(src);
+    std::vector<std::vector<cv::Point>> contours;
+    cv::findContours(segImg, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
+    bool isOK = true;
+    for (int i = 0; i < contours.size(); i++) {
+        cv::Rect rect = cv::boundingRect(contours[i]);
+        if (rect.width < 100 || rect.height < 100) continue; // 过滤掉小轮廓
+        auto clsImgs = cutImg2ClsVec(rect, src, cv::Size(128, 128));
+        bool clsIsNg = false;
+        for (auto& clsImg : clsImgs) {
+            int clsResult = _detParams->cls->Evaluate(clsImg);
+            if (clsResult == 1) {
+                clsIsNg = true;
+                huaShangNg = true;
+            }
+            data->clsOriginImgs.push_back({ "CLS",clsImg });
+        }
+        if (clsIsNg == true) {
+            cv::Scalar color = cv::Scalar(0, 0, 255);
+            isOK = false;
+            cv::drawContours(Paint, contours, i, color, 2);
+            textPainter.putText(Paint, "NG", cv::Point(rect.x + 10, rect.y - 20), color);
+        }
+    }
+    if (huaShangNg == true)
+        defects.push_back("划伤");
+    return defects;
+}
+static bool BaoMoHou_ShangDaMian(std::shared_ptr <detData> data, baoMoHouDaMianDetParams* _detParams, yh_581_address address)
+{
+    try {
+        //data->oriImgs[0] = cv::imread("D://testImage//Camera1.bmp", -1);
+        qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
+
+        ///////////////////取图//处理//////////////////
+        if (data->oriImgs.size() != 1)
+        {
+            qCritical() << "图片数量不满足要求：" << data->oriImgs.size();
+            return false;
+        }
+        /*if (data->oriImgs[0].rows == 150) {
+            cv::Mat Paint;
+            data->oriImgs[0].copyTo(Paint);
+            cv::putText(Paint, "time out", cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 2);
+            return false;
+        }*/
+
+        cv::Mat Paint;
+        //QMutex paintMutex;
+        clock_t start, finish;
+        start = clock();
+
+        cv::Mat src1 = data->oriImgs[0];
+        cv::Mat srcHalf;
+        cv::resize(src1, srcHalf, cv::Size(0, 0), 0.5, 0.5);
+        if (srcHalf.channels() != 3)
+            cv::cvtColor(srcHalf, Paint, cv::COLOR_GRAY2BGR);
+        else
+            srcHalf.copyTo(Paint);
+        TextRendererZH textPainter(Paint.cols, Paint.rows, 150);
+        //std::future <std::vector<std::string>> handleAiFuture = std::async(std::launch::async, BaoMoHou_DaMianAi, data, srcHalf, Paint, _detParams);
+        HalconCpp::HObject in_Image = MatToHObject(src1);
+        HDevEngineCpp::HDevProcedure proc("_4_Cal_Long_Coatingcover_Dist");
+        HDevProcedureCall procedureCall(proc);
+        procedureCall.SetInputIconicParamObject("in_Image", in_Image);
+        procedureCall.SetInputCtrlParamTuple("in_xResolution", HTuple(0.0308812));
+        procedureCall.SetInputCtrlParamTuple("in_yResolution", HTuple(0.029527));
+        procedureCall.Execute();
+        HTuple out_Distance = procedureCall.GetOutputCtrlParamTuple("out_Distance");
+        HTuple out_Line = procedureCall.GetOutputCtrlParamTuple("out_Line");
+        HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag");
+        int outFlag = out_Flag.D();
+        // handleAiFuture.wait();
+         //auto defects = handleAiFuture.get();
+        if (outFlag == 1) {
+            for (int i = 0; i < out_Line.Length() / 4; i++) {
+                cv::line(Paint, cv::Point(out_Line[i * 4 + 1].D(), out_Line[i * 4].D()) / 2,
+                    cv::Point(out_Line[i * 4 + 3].D(), out_Line[i * 4 + 2].D()) / 2,
+                    cv::Scalar(0, 255, 0), 5);
+            }
+            /*out_Distance[0]: 上端盖到膜的距离< / c>
+            <c>* out_Distance[1] : 中端盖到膜的距离< / c>
+            <c>* out_Distance[2] : 下端盖到膜的距离< / c>
+            <c>* out_Distance[3] : 电芯宽度    < / c>
+            <c>* out_Distance[4] : 电芯高度< / c>*/
+            textPainter.putText(Paint, "上端盖到膜的距离：" + std::to_string(out_Distance[0].D()) + "mm", cv::Point(50, 150), cv::Scalar(0, 255, 0));
+            textPainter.putText(Paint, "中端盖到膜的距离：" + std::to_string(out_Distance[1].D()) + "mm", cv::Point(50, 350), cv::Scalar(0, 255, 0));
+            textPainter.putText(Paint, "下端盖到膜的距离：" + std::to_string(out_Distance[2].D()) + "mm", cv::Point(50, 550), cv::Scalar(0, 255, 0));
+            textPainter.putText(Paint, "电芯宽度：" + std::to_string(out_Distance[3].D()) + "mm", cv::Point(50, 750), cv::Scalar(0, 255, 0));
+            textPainter.putText(Paint, "电芯高度：" + std::to_string(out_Distance[4].D()) + "mm", cv::Point(50, 950), cv::Scalar(0, 255, 0));
+        }
+        else {
+            data->halconOK = false;
+            textPainter.putText(Paint, "OK", cv::Point(50, 300), cv::Scalar(0, 255, 0));
+        }
+
+        data->resultImgs.push_back(Paint);
+        //data->service->_missionResultHandle->toBarChart(data->SNcode, !defects.size() > 0, defects);
+        data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_0.0123");
+        data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + "_0.0123");
+        data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");
+        return true;
+    }
+    CATCH_EXCEPTIONS
+    generalExceptionResume(data, address, "NG");
+}
+
+static bool BaoMoHou_XiaDaMian(std::shared_ptr <detData> data, baoMoHouDaMianDetParams* _detParams, yh_581_address address)
+{
+    try {
+        //data->oriImgs[0] = cv::imread("D://testImage//Camera2.bmp", -1);
+        qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
+
+        ///////////////////取图//处理//////////////////
+        if (data->oriImgs.size() != 1)
+        {
+            qCritical() << "图片数量不满足要求：" << data->oriImgs.size();
+            return false;
+        }
+        /*if (data->oriImgs[0].rows == 150) {
+            cv::Mat Paint;
+            data->oriImgs[0].copyTo(Paint);
+            cv::putText(Paint, "time out", cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 2);
+            return false;
+        }*/
+
+        cv::Mat Paint;
+        //QMutex paintMutex;
+        clock_t start, finish;
+        start = clock();
+
+        cv::Mat src1 = data->oriImgs[0];
+        cv::Mat srcHalf;
+        cv::resize(src1, srcHalf, cv::Size(0, 0), 0.5, 0.5);
+        if (srcHalf.channels() != 3)
+            cv::cvtColor(srcHalf, Paint, cv::COLOR_GRAY2BGR);
+        else
+            srcHalf.copyTo(Paint);
+        //切图
+        //cv::Mat segResult = _detParams->dingwei->Evaluate(srcHalf);
+
+        //auto _result = BaoMoHou_DaMianAi(data, srcHalf, Paint, _detParams);
+        TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
+        textPainter.putText(Paint, "OK", cv::Point(500, 50), cv::Scalar(0, 255, 0));
+        cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
+        data->resultImgs.push_back(Paint);
+        data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_0.0123");
+        data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + "_0.0123");
+        data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");
+        return true;
+    }
+    CATCH_EXCEPTIONS
+    generalExceptionResume(data, address, "OK");
+}
+
+#pragma endregion
+
+class _581_BaoMo : public mission {
+public:
+    using baoMoHouShangDaMianTrigger = _581_Single_triggerTemplate<baoMoHouDaMianDetParams>;
+    baoMoHouShangDaMianTrigger _station_1;//shangdamian
+    baoMoHouShangDaMianTrigger _station_3;//shangdamian
+
+    using baoMoHouXiaDaMianTrigger = _581_Single_triggerTemplate<baoMoHouDaMianDetParams>;
+    baoMoHouXiaDaMianTrigger _station_2;//xiadamian
+    baoMoHouXiaDaMianTrigger _station_4;//xiadamian
+
+    std::vector<baoMoHouDaMianDetParams> _baoMoHouDaMianDetParams = std::vector< baoMoHouDaMianDetParams>(4);
+    detParams _detParams;
+    void onConfigReloaded() {
+        HDevEngineCpp::HDevEngine myEngine;
+        myEngine.SetProcedurePath("./halconAlgo/AlgoLibrary_602.hdpl");
+    }
+    bool initCustom() {
+
+#pragma region 注册触发器回调
+
+        _station_1.init("Camera1", "包膜后大面外观检测-左上-相机5（上大面1）",18800,1,1, &_baoMoHouDaMianDetParams[0], _serviceManager, bridge, BaoMoHou_ShangDaMian);
+        _station_3.init("Camera3", "包膜后大面外观检测-右上-相机7（上大面2）", 19200, 1, 1, &_baoMoHouDaMianDetParams[1], _serviceManager, bridge, BaoMoHou_ShangDaMian);
+
+        _station_2.init("Camera2", "包膜后大面外观检测-左下-相机6（下大面四角1）", 19000, 1, 1, &_baoMoHouDaMianDetParams[2], _serviceManager, bridge, BaoMoHou_XiaDaMian);
+        _station_4.init("Camera4", "包膜后大面外观检测-右下-相机8（下大面四角2）",19400, 1,1, &_baoMoHouDaMianDetParams[3], _serviceManager, bridge, BaoMoHou_XiaDaMian);
+#pragma endregion
+        return true;
+    }
+};
+
+
+
+
+
+#pragma once

src/mission/BaoMo/581-BaoMo-Cam5678/CMakeLists.txt

@@ -0,0 +1,77 @@
+# 获取获取当前目录名
+get_filename_component(CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+string(TIMESTAMP RUN_TIME)
+message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
+
+set(DLL_NAMES "opencv" "halcon" "handdleAI")
+foreach(child ${DLL_NAMES})         
+    LIST(APPEND ENV_INCLUDE ${${child}_include})
+    LIST(APPEND ENV_LIB ${${child}_lib})
+    LIST(APPEND ENV_TARGET ${${child}_target_link})         
+endforeach()
+message("   ENV_INCLUDE : " ${ENV_INCLUDE} )
+message("   ENV_LIB : " ${ENV_LIB} )
+message("   ENV_TARGET : " ${ENV_TARGET} )
+include_directories(
+    ${PROJECT_ROOT_PATH}/src/core
+    ${PROJECT_ROOT_PATH}/src/core/handleAi
+    ${PROJECT_ROOT_PATH}/src/core/service
+    ${PROJECT_ROOT_PATH}/src/core/sql
+    ${ENV_INCLUDE}
+    )
+
+link_directories (
+    ${ENV_LIB}
+
+    )
+add_compile_options(/utf-8)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_AUTOMOC ON)
+SET(CMAKE_AUTOUIC OFF)
+set(CMAKE_AUTORCC ON)
+ 
+FILE(GLOB HEAD_FILES "*.h" )
+FILE(GLOB SRC_FILES "./*.cpp")
+FILE(GLOB UI_FILES "./*.ui")
+
+
+#find_package(Qt5 COMPONENTS Core REQUIRED)
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Core Gui Network REQUIRED)
+find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core Gui Network REQUIRED)
+
+add_library(${CURRENT_FOLDER} SHARED
+    ${HEAD_FILES}
+    ${SRC_FILES}
+    ${UI_FILES}
+    ${PROJECT_ROOT_PATH}/include/interface.h
+    )
+
+
+
+set_target_properties(${CURRENT_FOLDER} PROPERTIES
+    RUNTIME_OUTPUT_DIRECTORY  ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    LIBRARY_OUTPUT_DIRECTORY  ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
+    ARCHIVE_OUTPUT_DIRECTORY  ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
+    )
+
+
+target_link_libraries(${CURRENT_FOLDER} PRIVATE
+    ${ENV_TARGET}
+    Qt${QT_VERSION_MAJOR}::Core
+    Qt${QT_VERSION_MAJOR}::Gui 
+    Qt${QT_VERSION_MAJOR}::Network
+    )
+
+
+# target_compile_definitions(${CURRENT_FOLDER} PRIVATE HD_AIDEMO_MODULE_LIBRARY)
+
+
+
+
+string(TIMESTAMP RUN_TIME)
+message( " modelx end : " ${CURRENT_FOLDER}:${RUN_TIME})
+message( " header files "${HEAD_FILES})

src/mission/BaoMo/581-BaoMo-Cam91011/581-BaoMo-Cam91011.h

@@ -18,12 +18,10 @@ static bool ALGO_BaoMoHouCeMian(std::shared_ptr <detData> data, baoMoHouDaMianDe
 
 class _581_BaoMo : public mission {
 public:
-    using baoMoHouDaMianTrigger = _581_Union_triggerTemplate<baoMoHouDaMianDetParams>;
-    baoMoHouDaMianTrigger _station_1;
-    baoMoHouDaMianTrigger _station_2;
+    _581_Union_triggerTemplate <baoMoHouDaMianDetParams> _station_1;
+    _581_Union_triggerTemplate <baoMoHouDaMianDetParams> _station_2;
 
-	using generalTrigger = _581_Union_triggerTemplate<detParams>;
-    generalTrigger _station_3;
+    _581_Union_triggerTemplate<detParams> _station_3;
 
     std::vector < baoMoHouDaMianDetParams> _baoMoHouDaMianDetParams = std::vector < baoMoHouDaMianDetParams>(2);
 	detParams _detParams;
@@ -43,17 +41,10 @@ public:
     bool initCustom() {
         
 #pragma region 注册触发器回调
-        //baoMoHouDaMianTrigger::resultHandleCallback resultCallback_BaoMoHouCeMian =
-        //    ([=](yh_581_address address, _581_BaoMoResult, std::shared_ptr <detData>) {
-        //    _serviceManager->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送结果
-        //        });
+
         _station_1.init("Camera1","包膜后侧面贴胶错位检测-外-相机9",19600,2,1,&_baoMoHouDaMianDetParams[0], _serviceManager, bridge, ALGO_BaoMoHouCeMian);
         _station_2.init("Camera2", "包膜后侧面贴胶错位检测-内-相机10",19800,2,1, &_baoMoHouDaMianDetParams[1], _serviceManager, bridge, ALGO_BaoMoHouCeMian);
 
-        //generalTrigger::resultHandleCallback resultCallback_general =
-        //    ([=](yh_581_address address, _581_Result, std::shared_ptr <detData>) {
-        //    _serviceManager->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送结果
-        //        });
         _station_3.init("Camera3", "包膜后外观检测大面相机11(下大面)",20000,2,1, &_detParams, _serviceManager, bridge, generalAlgoTest);
 #pragma endregion
         return true;

src/mission/BaoMo/581-BaoMo-Cam91011/CMakeLists.txt

@@ -0,0 +1,77 @@
+# 获取获取当前目录名
+get_filename_component(CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+string(TIMESTAMP RUN_TIME)
+message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
+
+set(DLL_NAMES "opencv" "halcon" "handdleAI")
+foreach(child ${DLL_NAMES})         
+    LIST(APPEND ENV_INCLUDE ${${child}_include})
+    LIST(APPEND ENV_LIB ${${child}_lib})
+    LIST(APPEND ENV_TARGET ${${child}_target_link})         
+endforeach()
+message("   ENV_INCLUDE : " ${ENV_INCLUDE} )
+message("   ENV_LIB : " ${ENV_LIB} )
+message("   ENV_TARGET : " ${ENV_TARGET} )
+include_directories(
+    ${PROJECT_ROOT_PATH}/src/core
+    ${PROJECT_ROOT_PATH}/src/core/handleAi
+    ${PROJECT_ROOT_PATH}/src/core/service
+    ${PROJECT_ROOT_PATH}/src/core/sql
+    ${ENV_INCLUDE}
+    )
+
+link_directories (
+    ${ENV_LIB}
+
+    )
+add_compile_options(/utf-8)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_AUTOMOC ON)
+SET(CMAKE_AUTOUIC OFF)
+set(CMAKE_AUTORCC ON)
+ 
+FILE(GLOB HEAD_FILES "*.h" )
+FILE(GLOB SRC_FILES "./*.cpp")
+FILE(GLOB UI_FILES "./*.ui")
+
+
+#find_package(Qt5 COMPONENTS Core REQUIRED)
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Core Gui Network REQUIRED)
+find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core Gui Network REQUIRED)
+
+add_library(${CURRENT_FOLDER} SHARED
+    ${HEAD_FILES}
+    ${SRC_FILES}
+    ${UI_FILES}
+    ${PROJECT_ROOT_PATH}/include/interface.h
+    )
+
+
+
+set_target_properties(${CURRENT_FOLDER} PROPERTIES
+    RUNTIME_OUTPUT_DIRECTORY  ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    LIBRARY_OUTPUT_DIRECTORY  ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
+    ARCHIVE_OUTPUT_DIRECTORY  ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
+    )
+
+
+target_link_libraries(${CURRENT_FOLDER} PRIVATE
+    ${ENV_TARGET}
+    Qt${QT_VERSION_MAJOR}::Core
+    Qt${QT_VERSION_MAJOR}::Gui 
+    Qt${QT_VERSION_MAJOR}::Network
+    )
+
+
+# target_compile_definitions(${CURRENT_FOLDER} PRIVATE HD_AIDEMO_MODULE_LIBRARY)
+
+
+
+
+string(TIMESTAMP RUN_TIME)
+message( " modelx end : " ${CURRENT_FOLDER}:${RUN_TIME})
+message( " header files "${HEAD_FILES})

src/mission/BaoMo/CMakeLists.txt

@@ -0,0 +1,11 @@
+# CMakeList.txt: 遍历文件夹 添加子项目
+
+set(OUR_LIBS "")
+SUBDIRENAMES(OUR_LIBS ${CMAKE_CURRENT_SOURCE_DIR} "" OFF)
+message("OUR_LIBS :" ${OUR_LIBS})
+
+
+# 遍历子库
+foreach(dll ${OUR_LIBS})
+    add_subdirectory(${dll})
+endforeach(dll ${})