#include <algorithmThread.h>
#include <ReadBarcode.h>
#include "camera_thread.h"
#include "myiothread.h"
#include "FrontendBackendBridge.h"
#include <myTools.h>

bool showOk = true;//显示ok缺陷的框
std::string fileSavePath("D://CCD//");
struct _2Dto3D_strcut
{
	double out_meanValue = -99;
	double out_maxValue = -99;
	double out_minValue = -99;
	Point ltPos;
	Point rdPos;
};
//////////////////////
void writeToData_xxxCsvOkNgNew(detData* rdata, QString OKNG, ngNoteCls* note)
{
	QDateTime currentDateTime = QDateTime::currentDateTime();
	std::string ymd = currentDateTime.toString("yyyy-MM-dd").toStdString();
	QString filePath = QString::fromStdString(fileSavePath + "//result//" + ymd + "//Data_" + ymd + ".csv");
	/* QString searchString = QString::fromStdString(rdata->getSN() + "_" + to_string(rdata->snCountIndex));*/
	QString searchString = QString::fromStdString(rdata->SNcode);
	QFile file(filePath);
	if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
		qDebug() << "Error opening file.";
	}

	QStringList headers;
	QList<QStringList> data;

	QTextStream in(&file);
	while (!in.atEnd()) {
		QString line = in.readLine();
		QStringList fields = line.split(',');

		if (headers.isEmpty()) {
			// 如果headers为空，则当前行为标题行
			headers = fields;
		}
		else {
			data.append(fields);
		}
	}

	file.close();

	// 在data中进行字符串检索并修改匹配的行
	int modifiedRowCount = 0;
	for (int i = data.size() - 1; i > 0; --i) {
		QStringList& row = data[i];
		//if (row.size()<3||row.isEmpty())
		//{
		//	break;
		//}
		// 在当前行中检索字符串
		try
		{
			if (row.size() >= 6)
				if (row[1].contains(searchString, Qt::CaseInsensitive)) {
					// 匹配到字符串，进行修改
					row[3] = OKNG;
					row[4] += note->getNgSummaryStr();
					row[5] += note->getOkSummaryStr();
					modifiedRowCount++;
				}
		}
		catch (...)
		{
			break;
		}
	}

	// 将修改后的数据写回文件
	QFile writeFile(filePath);
	if (!writeFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
		qDebug() << "Error opening file for writing.";
	}

	QTextStream out(&writeFile);
	// 写入标题行
	out << headers.join(",") << "\n";

	// 写入修改后的数据行
	for (const auto& row : data) {
		out << row.join(",") << "\n";
	}

	writeFile.close();

	qDebug() << "Modified rows:" << modifiedRowCount;
	qDebug() << "Data modified and saved to data_modified.csv";

	//return 0;
}
void writeToData_xxxCSVNew(detData* resData, string OKNG, ngNoteCls* note)
{
	QDateTime currentDateTime = QDateTime::currentDateTime();
	std::string ymd = currentDateTime.toString("yyyy-MM-dd").toStdString();
	int hour = currentDateTime.time().hour();

	QString filePath = QString::fromStdString(fileSavePath + "//result//" + ymd + "//Data_" + ymd + ".csv");
	//string sn(resData->SNcode + "-" + to_string(resData->snCountIndex));
	string sn(resData->SNcode);
	/*std::string str(to_string(hour) + "H//" + sn + "-" + to_string(resData->snCountIndex) + "//" + ymd
		+ "-" + to_string(hour) + "_" + resData->getSN() + "-" + to_string(resData->snCountIndex));*/
	std::string str(to_string(hour) + "H//" + sn + "//" + ymd
		+ "-" + to_string(hour) + "_" + sn);
	bool fileExist = false;
	QStringList dataList;
	if (hour < 10)
		dataList.append("0" + QString::number(hour) + "H");
	else
		dataList.append(QString::number(hour) + "H");
	dataList.append(QString::fromStdString(sn));
	dataList.append(QString::fromStdString(str));
	dataList.append(QString::fromStdString(OKNG));
	dataList.append(note->getNgSummaryStr());
	dataList.append(note->getOkSummaryStr());
	// 创建CSV文件
	QFile file(filePath);
	if (!file.exists())
	{
		// 创建目录（如果不存在）
		QDir dir;
		if (!dir.mkpath(QFileInfo(filePath).absolutePath()))
		{
			//qWarning() << "无法创建目录：" << QFileInfo(filePath).absolutePath();
			return;
		}
		fileExist = true;
	}
	// 打开CSV文件并写入数据
	if (file.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text)) {
		QTextStream stream(&file);
		if (fileExist == true)
		{
			stream << "Time,";
			stream << "SN,";
			stream << "Path,";
			stream << "Result,";
			stream << "summuryResult,";
			stream << "\n";
		}
		// 将数据写入CSV文件
		for (const QString& data : dataList) {
			stream << data << ",";
		}
		stream << "\n";

		file.close();
		qDebug() << "CSV文件写入成功";
	}
	//else 
	//    qWarning() << "无法打开CSV文件：" << filePath;

}
void algoThread::getAllFiles(string path, vector<string>& files, string format)
{
	intptr_t  hFile = 0;//恅璃曆梟 	
	struct _finddata_t fileinfo;//恅璃陓洘 	
	string p;
	if ((hFile = _findfirst(p.assign(path).append("\\*" + format).c_str(), &fileinfo)) != -1) //恅璃湔婓	
	{
		do
		{
			if ((fileinfo.attrib & _A_SUBDIR))//瓚剿岆瘁峈恅璃標			
			{
				if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)//恅璃標靡笢祥漪"."睿".."				
				{
					files.push_back(p.assign(path).append("\\").append(fileinfo.name)); //悵湔恅璃標靡					
					getAllFiles(p.assign(path).append("\\").append(fileinfo.name), files, format); //菰寥梢盪恅璃標				
				}
			}
			else
			{
				files.push_back(p.assign(path).append("\\").append(fileinfo.name));//彆祥岆恅璃標ㄛ揣湔恅璃靡			
			}
		} while (_findnext(hFile, &fileinfo) == 0);
		_findclose(hFile);
	}
}

inline string getFileName(string path)
{
	return path.substr(path.find_last_of("\\") + 1, path.find_last_of(".") - path.find_last_of("\\") - 1);
}
void drawContoursOverlap(cv::Mat& image, const std::vector<std::vector<cv::Point>>& contours) {
	cv::Mat mask = cv::Mat::zeros(image.size(), CV_8U);

	// 绘制轮廓在掩码上
	cv::drawContours(mask, contours, -1, cv::Scalar(255), cv::FILLED);

	// 将图像中与掩码不重叠的区域涂黑
	cv::Mat result;
	image.copyTo(result, mask);
	image.setTo(cv::Scalar(0, 0, 0), ~mask);
}
void drawContourOnImage(Mat seg, cv::Mat& imgInput, Size offset = Size(0, 0)) {
	if (seg.empty() || imgInput.empty()) {
		std::cerr << "Empty contour or input image." << std::endl;
		return;
	}
	cv::Mat imgWithAlpha;
	cv::cvtColor(imgInput, imgWithAlpha, cv::COLOR_BGR2BGRA);
	std::vector<std::vector<cv::Point>>contours;
	if (offset.width != 0 && offset.height != 0)
	{
		Mat offsetImg(offset.width + seg.rows, offset.height + seg.cols, CV_8UC1, Scalar(0));
		seg.copyTo(offsetImg(Rect(offset.width, offset.height, seg.rows, seg.cols)));
		offsetImg.copyTo(seg);
	}
	cv::findContours(seg, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
	for (auto& contour : contours)
	{
		cv::Scalar color(0, 255, 0, 128);
		cv::polylines(imgWithAlpha, contour, true, color);
		cv::cvtColor(imgWithAlpha, imgInput, cv::COLOR_BGRA2BGR);
	}
}
/////Specified function////////////////
void writeSpecificStatement(Mat& Paint, const wchar_t* Text, rectAndData& data, int amount, int limit, Scalar& color)
{
	wstring MM(to_wstring(max(data.defectHeight, data.defectWidth)));
	MM = MM.substr(0, MM.find_first_of(L".") + 2);
	putTextHusky(Paint, (WString2String(Text + to_wstring(amount)
		+ L"/" + to_wstring(limit) + L"|" +
		MM + L"mm")).c_str(),
		cv::Point(data.rect.x, data.rect.y - 20), color, 20);
}
/// <summary>
/// 专门給-10的3号相机查找电池位置用的
/// </summary>
/// <param name="src">图</param>
/// <param name="rectReturn">返回rect</param>
/// <returns></returns>
/// 
/////////////////////ALGOTHREAD/////////////////////////
struct offsets
{
	string camera1Top = "./temple/1_1";
	string camera1Mid = "./temple/1_2";
	string camera1Bottom = "./temple/1_3";

	string camera2Top = "./temple/2_1";
	string camera2Mid = "./temple/2_2";
	string camera2Bottom = "./temple/2_3";

	string camera3Top = "./temple/3_1";
	string camera3Mid = "./temple/3_2";
	string camera3Bottom = "./temple/3_3";

	string camera4Top = "./temple/4_1";
	string camera4Mid = "./temple/4_2";
	string camera4Bottom = "./temple/4_3";
};
struct offsets2
{
	string camera1Top = "./temple2/1_1";
	string camera1Mid = "./temple2/1_2";
	string camera1Bottom = "./temple2/1_3";

	string camera2Top = "./temple2/2_1";
	string camera2Mid = "./temple2/2_2";
	string camera2Bottom = "./temple2/2_3";

	string camera3Top = "./temple2/3_1";
	string camera3Mid = "./temple2/3_2";
	string camera3Bottom = "./temple2/3_3";

	string camera4Top = "./temple2/4_1";
	string camera4Mid = "./temple2/4_2";
	string camera4Bottom = "./temple2/4_3";
};
bool algoThread::addDetTask(detData* data)
{
	detQueueMutex.lock();
	detQueue.append(data);
	detQueueMutex.unlock();
	this->start();
	return false;
}
bool algoThread::waitForImg(detData* data,int timeOutSet=10000)
{
	int timeOut = 0;
	int sleepMs = 100;
	while (1)
	{
		int imgSize = data->imgs.size();
		int imgAmountMin = data->imgAmountMin;
		if (imgSize >= imgAmountMin)
			return true;
		timeOut+= sleepMs;
		if (timeOut > timeOutSet)
			return false;
		QThread::msleep(sleepMs);
	}
}
void algoThread::run()
{
	while (m_runFlag == true)
	{
		while (detQueue.size() > 0)
		{

			detQueueMutex.lock();
			detData* data = detQueue.dequeue();//取出数据
			detQueueMutex.unlock();
			if (waitForImg(data) == false)
			{
				qDebug() << "取图失败";
				cout << "get img err" << endl;
				break;
			}
			oriSaveThread->saveOriImg(data);//保存原图
			for (int cnt =0; cnt < data->imgs.size(); cnt++)
			{
				bridge.front.showImg("Camera", data->imgs[cnt], data->oriShowIndex + cnt);//显示原图
				//cout << "showImg" << data->oriShowIndex + cnt << endl;
			}
			int threadId = data->algoThreadIndex;//获取线程id
			//算法
			switch (threadId % 3)
			{
			case 0:
				algoCameraTop(data);
				break;
			case 1:
				algoCameraMid(data);
				break;
			case 2:
				algoCameraBottom(data);
				break;
			}
			if (data->resultImgs.size() > 0)
			{
				for (int cnt = 0; cnt < data->resultImgs.size(); cnt++)
				{
					bridge.front.showImg("Algorithm", data->resultImgs[cnt], data->oriShowIndex + cnt);//显示原图
				}
				resSaveThread->saveResImg(data);//保存结果图
			}
			if (!data->SNcode.compare(snDatas->snErrorsnError))
				data->SNcode = snDatas->waitForSn(data->timeCode);
			sqlDataStruct sqlDataStruct;//定义sql数据
			sqlDataStruct.SN = data->SNcode;//
			for (auto sqlData : data->sqlVec)//将算法中的数据导入到数据结构中
				sqlDataStruct.dataVec.push_back(sql->sqlDatasInit(sqlData.first, sqlData.second));
			sql->addData(sqlDataStruct);//将数据插入数据库
			//delete data;
			detDataController* dController = data->dController;
			data->dController->deleteDetData(data->timeCode);
		}
		QThread::msleep(10);
	}
}
void algoThread::algoCameraTop(detData* data)
{
	if (data->imgs.size() < 2)
	{
		qDebug() << "algoCamera1 img size <2";
		return;
	}
	cv::Mat leftSrc = data->imgs[0];
	cv::Mat rightSrc = data->imgs[1];
	cv::Mat leftPaint;
	cv::Mat rightPaint;
	//leftSrc.copyTo(leftPaint);
	//rightSrc.copyTo(rightPaint);
	cvtColor(leftSrc, leftPaint, COLOR_GRAY2BGR);
	cvtColor(rightSrc, rightPaint, COLOR_GRAY2BGR);
	double pix1 = 0.0058;
	string camre_distan_up;
	if (getOffSetTimes() == 0)
	{
		offsets offset;
		switch (data->algoThreadIndex)
		{
		case 0:
			camre_distan_up = offset.camera1Top;
			Indexs = 1;
			break;
		case 3:
			camre_distan_up = offset.camera2Top;
			Indexs = 2;
			break;
		case 6:
			camre_distan_up = offset.camera3Top;
			Indexs = 3;
			break;
		case 9:
			camre_distan_up = offset.camera4Top;
			Indexs = 4;
			break;
		}
	}
	else if (getOffSetTimes() == 1)
	{
		offsets2 offset;
		switch (data->algoThreadIndex)
		{
		case 0:
			camre_distan_up = offset.camera1Top;
			Indexs = 1;
			break;
		case 3:
			camre_distan_up = offset.camera2Top;
			Indexs = 2;
			break;
		case 6:
			camre_distan_up = offset.camera3Top;
			Indexs = 3;
			break;
		case 9:
			camre_distan_up = offset.camera4Top;
			Indexs = 4;
			break;
		}
	}
	///////////////////////////////////
	//algoMutex->lock();
	HObject ho_Image1;
	simpleAlgo::MatToHObject(leftSrc, ho_Image1);
	//QThread::msleep(10);
	HObject ho_Image2;
	simpleAlgo::MatToHObject(rightSrc, ho_Image2);
	//algoMutex->unlock();
	HTuple hv_Out_line1;
	HTuple hv_Out_line2;
	HTuple hv_Mean_distance1;
	HTuple hv_Make;
	HTuple hv_Path;
	HTuple hv_Diameter{46};
	HTuple hv_Model{0};
	hv_Path = camre_distan_up.c_str();
	_952_15_Distance_UP( ho_Image1,  ho_Image2,  hv_Path,  hv_Model,
		hv_Diameter, & hv_Out_line1, & hv_Out_line2, & hv_Mean_distance1,
		& hv_Make);
	double distance_up = -99;
	if (hv_Make.D() != -1)
	{
		cv::line(leftPaint, cv::Point(hv_Out_line1[1].D(), hv_Out_line1[0].D()), cv::Point(hv_Out_line1[3].D(), hv_Out_line1[2].D()), Scalar(0, 255, 0), 3);
		cv::line(leftPaint, cv::Point(hv_Out_line1[5].D(), hv_Out_line1[4].D()), cv::Point(hv_Out_line1[7].D(), hv_Out_line1[6].D()), Scalar(0, 255, 0), 3);
		distance_up = hv_Mean_distance1.D();
		//cv::putText(leftPaint, "hv_Mean_distance1:" + to_string(hv_Mean_distance1.D()), cv::Point(100, 100), 1, 10, Scalar(0, 255, 0), 10);
		cv::line(rightPaint, cv::Point(hv_Out_line2[1].D(), hv_Out_line2[0].D()), cv::Point(hv_Out_line2[3].D(), hv_Out_line2[2].D()), Scalar(0, 255, 0), 3);
		cv::line(rightPaint, cv::Point(hv_Out_line2[5].D(), hv_Out_line2[4].D()), cv::Point(hv_Out_line2[7].D(), hv_Out_line2[6].D()), Scalar(0, 255, 0), 3);
		//cv::putText(rightPaint, "hv_Mean_distance2:" + to_string(hv_Mean_distance2.D()), cv::Point(100, 100), 1, 5, Scalar(0, 255, 0), 10);
		cout << "distance_up"<< Indexs<< " " << distance_up << endl;
		cv::putText(leftPaint, "distance_up:" + to_string(distance_up), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
		cv::putText(rightPaint, "distance_up:" + to_string(distance_up), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
		if (!data->SNcode.compare(snDatas->snErrorsnError))
			data->SNcode = snDatas->waitForSn(data->timeCode);
		int res = avgDatasPtr->insertData(data->SNcode, avgDataCls::top, distance_up);
		if (res == 3)
		{
			double batterylenth = avgDatasPtr->getAvg(data->SNcode);
			cv::putText(leftPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
			cv::putText(rightPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
			data->sqlVec.push_back({ "batteryLenth",(int)(batterylenth * 1000) });
		}
	}
	else
	{
		cout << "algo error "<<data->algoThreadName.toStdString() << endl;
	}
	
	
	data->resultImgs.push_back(leftPaint);
	data->resultImgs.push_back(rightPaint);
	
	
}
void algoThread::algoCameraMid(detData* data)
{
	if (data->imgs.size() < 2)
	{
		qDebug() << "algoCamera1 img size <2";
		return;
	}
	cv::Mat leftSrc = data->imgs[0];
	cv::Mat rightSrc = data->imgs[1];
	cv::Mat leftPaint;
	cv::Mat rightPaint;
	cvtColor(leftSrc, leftPaint, COLOR_GRAY2BGR);
	cvtColor(rightSrc, rightPaint, COLOR_GRAY2BGR);
	double Pix2 = 0.0058;
	string camre_distan_zhong;
	if (getOffSetTimes() == 0)
	{
		offsets offset;
		switch (data->algoThreadIndex)
		{
		case 1:
			camre_distan_zhong = offset.camera1Mid;
			Indexs = 1;
			break;
		case 4:
			camre_distan_zhong = offset.camera2Mid;
			Indexs = 2;
			break;
		case 7:
			camre_distan_zhong = offset.camera3Mid;
			Indexs = 3;
			break;
		case 10:
			camre_distan_zhong = offset.camera4Mid;
			Indexs = 4;
			break;
		}
	}
	else if (getOffSetTimes() == 1)
	{
		offsets2 offset;
		switch (data->algoThreadIndex)
		{
		case 1:
			camre_distan_zhong = offset.camera1Mid;
			Indexs = 1;
			break;
		case 4:
			camre_distan_zhong = offset.camera2Mid;
			Indexs = 2;
			break;
		case 7:
			camre_distan_zhong = offset.camera3Mid;
			Indexs = 3;
			break;
		case 10:
			camre_distan_zhong = offset.camera4Mid;
			Indexs = 4;
			break;
		}
	}
	///////////////////////////////////
	HObject ho_Image1;
	simpleAlgo::MatToHObject(leftSrc, ho_Image1);
	//QThread::msleep(10);
	HObject ho_Image2;
	simpleAlgo::MatToHObject(rightSrc, ho_Image2);
	double Pix3 = 0.0058;
	HTuple hv_Out_line1;
	HTuple hv_Out_line2;
	HTuple hv_Mean_distance1;
	HTuple hv_Make;
	HTuple hv_Path;
	HTuple hv_Diameter{46};
	HTuple hv_Model{0};
	hv_Path= camre_distan_zhong.c_str();
	_952_15_Distance_Zhong( ho_Image1,ho_Image2,hv_Path,
		hv_Model,hv_Diameter, &hv_Out_line1, & hv_Out_line2,
		& hv_Mean_distance1, &hv_Make);
	double distance_Zhong = -99;
	if (hv_Make.D() != -1)
	{
		cv::line(leftPaint, cv::Point(hv_Out_line1[1].D(), hv_Out_line1[0].D()), cv::Point(hv_Out_line1[3].D(), hv_Out_line1[2].D()), Scalar(0, 255, 0), 3);
		cv::line(leftPaint, cv::Point(hv_Out_line1[5].D(), hv_Out_line1[4].D()), cv::Point(hv_Out_line1[7].D(), hv_Out_line1[6].D()), Scalar(0, 255, 0), 3);
		//cv::putText(leftPaint, "hv_Mean_distance1:" + to_string(hv_Mean_distance1.D()), cv::Point(100, 100), 1, 10, Scalar(0, 255, 0), 10);
		distance_Zhong = hv_Mean_distance1.D();
		cv::line(rightPaint, cv::Point(hv_Out_line2[1].D(), hv_Out_line2[0].D()), cv::Point(hv_Out_line2[3].D(), hv_Out_line2[2].D()), Scalar(0, 255, 0), 3);
		cv::line(rightPaint, cv::Point(hv_Out_line2[5].D(), hv_Out_line2[4].D()), cv::Point(hv_Out_line2[7].D(), hv_Out_line2[6].D()), Scalar(0, 255, 0), 3);
		//cv::putText(rightPaint, "hv_Mean_distance2:" + to_string(hv_Mean_distance2.D()), cv::Point(100, 100), 1, 5, Scalar(0, 255, 0), 10);
		cout << "distance_Zhong"<< Indexs<<" " << distance_Zhong << endl;
		cv::putText(leftPaint, "distance_zhong:" + to_string(distance_Zhong), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
		cv::putText(rightPaint, "distance_zhong:" + to_string(distance_Zhong), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
		if (!data->SNcode.compare(snDatas->snErrorsnError))
			data->SNcode = snDatas->waitForSn(data->timeCode);
		int res = avgDatasPtr->insertData(data->SNcode, avgDataCls::mid, distance_Zhong);
		if (res == 3)
		{
			double batterylenth = avgDatasPtr->getAvg(data->SNcode);
			cv::putText(leftPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
			cv::putText(rightPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
			data->sqlVec.push_back({ "batteryLenth",(int)(batterylenth * 1000) });
		}
	}
	
	data->resultImgs.push_back(leftPaint);
	data->resultImgs.push_back(rightPaint);
}
void algoThread::algoCameraBottom(detData* data)
{
	if (data->imgs.size() < 2)
	{
		qDebug() << "algoCamera1 img size <2";
		return;
	}
	cv::Mat leftSrc = data->imgs[0];
	cv::Mat rightSrc = data->imgs[1];
	cv::Mat leftPaint;
	cv::Mat rightPaint;
	cvtColor(leftSrc, leftPaint, COLOR_GRAY2BGR);
	cvtColor(rightSrc, rightPaint, COLOR_GRAY2BGR);
	double Pix3 = 0.0058;
	string camre_distan_Down;
	if (getOffSetTimes() == 0)
	{
		offsets offset;
		switch (data->algoThreadIndex)
		{
		case 2:
			camre_distan_Down = offset.camera1Bottom;
			Indexs = 1;
			break;
		case 5:
			camre_distan_Down = offset.camera2Bottom;
			Indexs = 2;
			break;
		case 8:
			camre_distan_Down = offset.camera3Bottom;
			Indexs = 3;
			break;
		case 11:
			camre_distan_Down = offset.camera4Bottom;
			Indexs = 4;
			break;
		}
	}
	else if (getOffSetTimes() == 1)
	{
		offsets2 offset;
		switch (data->algoThreadIndex)
		{
		case 2:
			camre_distan_Down = offset.camera1Bottom;
			Indexs = 1;
			break;
		case 5:
			camre_distan_Down = offset.camera2Bottom;
			Indexs = 2;
			break;
		case 8:
			camre_distan_Down = offset.camera3Bottom;
			Indexs = 3;
			break;
		case 11:
			camre_distan_Down = offset.camera4Bottom;
			Indexs = 4;
			break;
		}
	}
	///////////////////////////////////
	HObject ho_Image1;
	simpleAlgo::MatToHObject(leftSrc, ho_Image1);
	//QThread::msleep(10);
	HObject ho_Image2;
	simpleAlgo::MatToHObject(rightSrc, ho_Image2);
	HTuple hv_Out_line1;
	HTuple hv_Out_line2;
	HTuple hv_Mean_distance1;
	HTuple hv_Make;
	HTuple hv_Path;
	HTuple hv_Diameter{46};
	HTuple hv_Model{0};
	hv_Path = camre_distan_Down.c_str();
	_952_15_Distance_Down( ho_Image1,ho_Image2, hv_Path,
		hv_Model,hv_Diameter, &hv_Out_line1, &hv_Out_line2,
		& hv_Mean_distance1,& hv_Make);
	double distance_Dowm=-99;
	if (hv_Make.D() != -1)
	{
		cv::line(leftPaint, cv::Point(hv_Out_line1[1].D(), hv_Out_line1[0].D()), cv::Point(hv_Out_line1[3].D(), hv_Out_line1[2].D()), Scalar(0, 255, 0), 3);
		cv::line(leftPaint, cv::Point(hv_Out_line1[5].D(), hv_Out_line1[4].D()), cv::Point(hv_Out_line1[7].D(), hv_Out_line1[6].D()), Scalar(0, 255, 0), 3);
		//cv::putText(leftPaint, "hv_Mean_distance1:" + to_string(hv_Mean_distance1.D()), cv::Point(100, 100), 1, 10, Scalar(0, 255, 0), 10);
		distance_Dowm =hv_Mean_distance1.D();
		cv::line(rightPaint, cv::Point(hv_Out_line2[1].D(), hv_Out_line2[0].D()), cv::Point(hv_Out_line2[3].D(), hv_Out_line2[2].D()), Scalar(0, 255, 0), 3);
		cv::line(rightPaint, cv::Point(hv_Out_line2[5].D(), hv_Out_line2[4].D()), cv::Point(hv_Out_line2[7].D(), hv_Out_line2[6].D()), Scalar(0, 255, 0), 3);
		//cv::putText(rightPaint, "hv_Mean_distance2:" + to_string(hv_Mean_distance2.D()), cv::Point(100, 100), 1, 5, Scalar(0, 255, 0), 10);
		cout << "distance_Dowm"<< Indexs<<" " << distance_Dowm << endl;
		cv::putText(leftPaint, "distance_Dowm:" + to_string(distance_Dowm), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
		cv::putText(rightPaint, "distance_Dowm:" + to_string(distance_Dowm), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
		if (!data->SNcode.compare(snDatas->snErrorsnError))
			data->SNcode = snDatas->waitForSn(data->timeCode);
		int res = avgDatasPtr->insertData(data->SNcode, avgDataCls::btm, distance_Dowm);
		if (res == 3)
		{
			double batterylenth = avgDatasPtr->getAvg(data->SNcode);
			cv::putText(leftPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
			cv::putText(rightPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
			data->sqlVec.push_back({ "batteryLenth",(int)(batterylenth * 1000) });
		}
	}
	
	data->resultImgs.push_back(leftPaint);
	data->resultImgs.push_back(rightPaint);
	
	
}