V20260829-2.6.1

完成框架目录和模块重构；新增核心、单例、工具、加密及框架 SDK；统一任务、相机和 RPC 接口，并增加离线检测、相机标定、备份恢复、版本管理、崩溃守护和心跳监控功能。

subModule/Hd_CameraModule_3DKeyence/CMakeLists.txt

@@ -5,10 +5,10 @@ message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
 
 set(DLL_NAMES "keyence3D" "opencv")
 foreach(child ${DLL_NAMES})
-            
+
     LIST(APPEND ENV_INCLUDE ${${child}_include})
     LIST(APPEND ENV_LIB ${${child}_lib})
-    LIST(APPEND ENV_TARGET ${${child}_target_link})         
+    LIST(APPEND ENV_TARGET ${${child}_target_link})
 endforeach()
 message("   ENV_INCLUDE : " ${ENV_INCLUDE} )
 message("   ENV_LIB : " ${ENV_LIB} )
@@ -25,7 +25,7 @@ link_directories (
 
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
-SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD 17)
 SET(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 set(CMAKE_AUTOMOC ON)
@@ -49,7 +49,7 @@ add_library(${CURRENT_FOLDER} SHARED
 
 
 
-set_target_properties(${CURRENT_FOLDER} PROPERTIES LINKER_LANGUAGE C
+set_target_properties(${CURRENT_FOLDER} PROPERTIES LINKER_LANGUAGE CXX
     RUNTIME_OUTPUT_DIRECTORY  ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
     LIBRARY_OUTPUT_DIRECTORY  ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
     ARCHIVE_OUTPUT_DIRECTORY  ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}

subModule/Hd_CameraModule_3DKeyence/Hd_CameraModule_3DKeyence.cpp

@@ -1,4 +1,4 @@
-#include "Hd_CameraModule_3DKeyence.h"
+#include "Hd_CameraModule_3DKeyence.h"
 #include <exception>
 #include <qthread.h>
 #include <QTextCodec>
@@ -59,18 +59,18 @@ void myCallbackFunc(LJX8IF_PROFILE_HEADER* pProfileHeaderArray, WORD* pHeightPro
             return;
         }*/
         QMutexLocker lock(bufferMutex);
-        if (dwCount == 0)   
+        if (dwCount == 0)
         {
             return;
         }
-        if (_imageAvailable[dwUser] == 1) 
+        if (_imageAvailable[dwUser] == 1)
         {
             return;
         }
 
-        
 
-        // _heightBuf 代表的含义:程序里的高度缓存区，pHeightProfileArray 回调函数里的数据 
+
+        // _heightBuf 代表的含义:程序里的高度缓存区，pHeightProfileArray 回调函数里的数据
         // 此处崩溃的可能性：xImageSize 配置文件中设置的值和3D相机调试软件设置的值不一致，会崩溃。
         if (JumpFlag)
         {
@@ -109,7 +109,7 @@ void myCallbackFunc(LJX8IF_PROFILE_HEADER* pProfileHeaderArray, WORD* pHeightPro
             _heightBuf[dwUser] = (unsigned short*)malloc(yCounts * MAX_LJXA_XDATANUM * 2);
             memcpy(&_heightBuf[dwUser][0], pHeightProfileArray, dwProfileDataCount * dwCount * 2);
             qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Second memcpy _heightBuf success ";
-            
+
         }
 
         qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_luminanceBuf[dwUser]: " << _luminanceBuf[dwUser];
@@ -132,7 +132,7 @@ void myCallbackFunc(LJX8IF_PROFILE_HEADER* pProfileHeaderArray, WORD* pHeightPro
                     qCritical() << __FUNCTION__ << " line:" << __LINE__ << "Get luminanceBuf failed!";
                 }
             }
-                
+
         }
         _imageAvailable[dwUser] = 1;                 // 图像获取成功  dwUser  和 deviceId   一致
         _lastImageSizeHeight[dwUser] = dwCount;      // 扫描的行数，  dwCount 和 yImageSize 一致
@@ -283,7 +283,7 @@ bool Hd_CameraModule_3DKeyence::readData(std::vector<cv::Mat> &mats,QByteArray &
     QMutexLocker locker(m_mutex);
     if (luminanceMatS.empty() || heightMatS.empty())
     {
-        qDebug() << " [Error] " << " srcImage is null";
+        qDebug() << " srcImage is null";
         return false;
     }
     for (int i = 0; i < imgTarget; i++) {
@@ -297,13 +297,13 @@ bool Hd_CameraModule_3DKeyence::readData(std::vector<cv::Mat> &mats,QByteArray &
         }
     }
     imgTakeNum = 0;
-    qCritical() << " [info] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData,deviceId" << deviceId << " imgIndex" << imgIndex;
+    qCritical() << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData,deviceId" << deviceId << " imgIndex" << imgIndex;
     return true;
 }
 
 bool Hd_CameraModule_3DKeyence::writeData(std::vector<cv::Mat> &mat,QByteArray &data)
 {
-    if (data == "clearCahce") {
+    if (data == "clearCache") {
         QMutexLocker locker(m_mutex);
         heightMatS.clear();
         luminanceMatS.clear();
@@ -337,7 +337,7 @@ bool Hd_CameraModule_3DKeyence::writeData(std::vector<cv::Mat> &mat,QByteArray &
     //    //getImageNum = 0;
     //    return true;
     //}
-    
+
 
     return true;
 }
@@ -347,7 +347,7 @@ bool Hd_CameraModule_3DKeyence::initParas(QByteArray& initData)
 {
     QByteArrayList valueList = initData.split('#');
     if (valueList.size() < 6) {
-        qDebug() << "[Error] " << " Hd_CameraModule_HIK initParas fail--params error!参数数量不满足";
+        qDebug() << " Hd_CameraModule_HIK initParas fail--params error!参数数量不满足";
         lastError = "参数数量不满足";
         return false;
     }
@@ -474,14 +474,14 @@ bool Hd_CameraModule_3DKeyence::InitHighSpeed()
         return false;
     }
     return true;
-   
+
 }
 
 
 
 bool Hd_CameraModule_3DKeyence::run()
 {
-    
+
     ifRunning = true;
     ifBreak = false;
     if ( !isopen )
@@ -492,7 +492,7 @@ bool Hd_CameraModule_3DKeyence::run()
 
     try
     {
-        _imageAvailable[deviceId] = 0;
+
         while (imgTakeNum != imgTarget)
         {
             int sleepMs = 10;
@@ -554,7 +554,7 @@ bool Hd_CameraModule_3DKeyence::run()
                 luminanceMat = cv::Mat(_lastImageSizeHeight[deviceId], xImageSize, CV_16UC1, luminanceImage);
             else
                 luminanceMat = cv::Mat(yImageSize, xImageSize, CV_16UC1, luminanceImage);
-            
+
             cv::normalize(luminanceMat, luminanceMat, 0, 255, cv::NORM_MINMAX,CV_8U);
             luminanceMatS.enqueue(luminanceMat);
 
@@ -571,6 +571,7 @@ bool Hd_CameraModule_3DKeyence::run()
             _lastImageSizeHeight[deviceId] = 0;
             imgTakeNum++;
         }
+        _imageAvailable[deviceId] = 0;
         qDebug() << camera_name <<"Finish";
         return true;
     }

subModule/Hd_CameraModule_3DKeyence/Hd_CameraModule_3DKeyence.h

@@ -1,4 +1,4 @@
-#ifndef Hd_CameraModule_3DKeyence_H
+#ifndef Hd_CameraModule_3DKeyence_H
 #define Hd_CameraModule_3DKeyence_H
 
 #include <QtCore/qglobal.h>

subModule/Hd_CameraModule_3DKeyence/readme.txt

@@ -1,3 +1,3 @@
 基恩士3D相机
 初始化格式 IP#DEVICE-ID（手动按照初始化的顺序从0开始递增）#图像宽(X)#图像高(Y)#取图次数#超时时间
-192.168.31.1#0#3200#850#1#1000
+192.168.31.1#0#3200#850#1#1000