init files

BaseModules/Hd_CameraModule_3DKeyence3/Hd_CameraModule_3DKeyence3.cpp

@@ -0,0 +1,901 @@
+#include "Hd_CameraModule_3DKeyence3.h"
+#include <exception>
+
+#include <QTextCodec>
+#include <qqueue.h>
+#include <qmutex.h>
+
+#pragma execution_character_set("utf-8")
+
+const int MAX_LJXA_XDATANUM = 3200;
+const unsigned int BUFFER_FULL_COUNT = 30000;
+
+int _imageAvailable[MAX_LJXA_DEVICENUM] = { 0 };
+unsigned short* _luminanceBuf[MAX_LJXA_DEVICENUM] = { 0 };
+unsigned short* _heightBuf[MAX_LJXA_DEVICENUM] = { 0 };
+int _lastImageSizeHeight[MAX_LJXA_DEVICENUM];
+
+int imgIndex = 0;
+QMutex* m_mutex;
+QQueue< cv::Mat> heightMatS;//高度图
+QQueue<cv::Mat> luminanceMatS;//灰度图
+//data == "rest_newProductIn"时要结束run；机台报警，取图超时，复位后重新拍的情况。
+bool ifBreak = false;
+//ifRunning减少ifBreak的判断；"rest_newProductIn"时，Logic_camera_thread框架会结束未处理完的相相机取图
+bool ifRunning = false;
+QString byteArrayToUnicode(const QByteArray array) {
+
+    // state用于保存转换状态，它的成员invalidChars，可用来判断是否转换成功
+    // 如果转换成功，则值为0，如果值大于0，则说明转换失败
+    QTextCodec::ConverterState state;
+    // 先尝试使用utf-8的方式把QByteArray转换成QString
+    QString text = QTextCodec::codecForName("UTF-8")->toUnicode(array.constData(), array.size(), &state);
+    // 如果转换时无效字符数量大于0，说明编码格式不对
+    if (state.invalidChars > 0)
+    {
+        // 再尝试使用GBK的方式进行转换，一般就能转换正确(当然也可能是其它格式，但比较少见了)
+        text = QTextCodec::codecForName("GBK")->toUnicode(array);
+    }
+    return text;
+}
+
+
+struct myPBGLOBAL_callBack
+{
+    void (*callBackFun)(QObject*, const std::vector<cv::Mat>&);
+    QObject* m_QObject;
+    QString cameraIndex;
+};
+QQueue< myPBGLOBAL_callBack> QQueue_myPBGLOBAL_callBack;
+//注册回调 string对应自身的参数协议 （自定义）
+void Hd_CameraModule_3DKeyence3::registerCallBackFun(PBGLOBAL_CALLBACK_FUN callBackFun, QObject* m_QObject, const QString& cameraIndex)
+{
+    myPBGLOBAL_callBack m_myPBGLOBAL_callBack;
+    m_myPBGLOBAL_callBack.callBackFun = callBackFun;
+    m_myPBGLOBAL_callBack.m_QObject = m_QObject;
+    m_myPBGLOBAL_callBack.cameraIndex = cameraIndex;
+    QQueue_myPBGLOBAL_callBack.enqueue(m_myPBGLOBAL_callBack);
+}
+
+
+std::mutex mtx;
+bool JumpFlag = false;
+int yCounts;
+void myCallbackFunc(LJX8IF_PROFILE_HEADER* pProfileHeaderArray, WORD* pHeightProfileArray, WORD* pLuminanceProfileArray, DWORD dwLuminanceEnable, DWORD dwProfileDataCount, DWORD dwCount, DWORD dwNotify, DWORD dwUser)
+{
+    try
+    {
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "  --> Enter callback function";
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "dwProfileDataCount = " << dwProfileDataCount;
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "dwCount = " << dwCount;
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "dwNotify = " << dwNotify;
+        if ((dwNotify != 0) || (dwNotify & 0x10000) != 0) return;
+        if (dwCount == 0) return;
+        if (_imageAvailable[dwUser] == 1) return;
+
+        std::lock_guard<std::mutex> lock(mtx);
+
+        // _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)
+        {
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << "JumpFlag";
+            return;
+        }
+        if (_heightBuf[dwUser] == NULL)
+        {
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_heightBuf[dwUser] == NULL";
+            return;
+        }
+        if (pHeightProfileArray == NULL)
+        {
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << "pHeightProfileArray== NULL";
+            return;
+        }
+
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_heightBuf[dwUser]: " << _heightBuf[dwUser];
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "pHeightProfileArray: " << pHeightProfileArray;
+
+        //判断内存是否重叠
+        if (_heightBuf[dwUser] <= pHeightProfileArray || (unsigned short*)_heightBuf[dwUser] >= (WORD*)pHeightProfileArray + dwProfileDataCount * dwCount * 2)
+        {
+            memcpy(&_heightBuf[dwUser][0], pHeightProfileArray, dwProfileDataCount * dwCount * 2);
+        }
+        else
+        {
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << "first memcpy _heightBuf error";
+            if (_heightBuf[dwUser] != NULL)
+            {
+                free(_heightBuf[dwUser]);
+                _heightBuf[dwUser] = NULL;
+            }
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << "  memcpy _heightBuf again ";
+            _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];
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "pLuminanceProfileArray: " << pLuminanceProfileArray;
+        if (dwLuminanceEnable == 1)
+        {
+            if (_luminanceBuf[dwUser] == NULL)
+            {
+                qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_luminanceBuf[dwUser]== NULL";
+                return;
+            }
+            if (_luminanceBuf[dwUser] <= pLuminanceProfileArray || (unsigned short*)_luminanceBuf[dwUser] >= (WORD*)pLuminanceProfileArray + dwProfileDataCount * dwCount * 2)
+                memcpy(&_luminanceBuf[dwUser][0], pLuminanceProfileArray, dwProfileDataCount * dwCount * 2);
+            else
+                qDebug() << __FUNCTION__ << " line:" << __LINE__ << "memcpy _luminanceBuf error";
+        }
+        _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
+    }
+    catch (std::exception e)
+    {
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "  --> execute callback function error";
+    }
+}
+
+int Hd_CameraModule_3DKeyence3::LJXA_ACQ_OpenDevice(int lDeviceId, LJX8IF_ETHERNET_CONFIG* EthernetConfig, int HighSpeedPortNo)
+{
+    int errCode = LJX8IF_EthernetOpen(lDeviceId, EthernetConfig);
+
+    _ethernetConfig[lDeviceId] = *EthernetConfig;
+    _highSpeedPortNo[lDeviceId] = HighSpeedPortNo;
+
+    qDebug() << __FUNCTION__ << " line:" << __LINE__ << "  Open device ! errCode:" << errCode;
+    return errCode;
+}
+
+void Hd_CameraModule_3DKeyence3::LJXA_ACQ_CloseDevice(int lDeviceId)
+{
+    LJX8IF_FinalizeHighSpeedDataCommunication(lDeviceId);
+    LJX8IF_CommunicationClose(lDeviceId);
+    qDebug() << __FUNCTION__ << " line:" << __LINE__ << "  Close device!";
+}
+
+
+bool Hd_CameraModule_3DKeyence3::decodeInitData(QByteArray byte,QVector<QByteArray> &vector_data)
+{
+    while (!byte.isEmpty())
+    {
+        int type = 0;
+        QByteArray m_type = byte.mid(0,4);
+        memcpy((void*)&type,(void*)m_type.data(), 4);
+        byte.remove(0,4);
+
+        int len = 0;
+        QByteArray m_len = byte.mid(0,4);
+        memcpy((void*)&len,(void*)m_len.data(), 4);
+        byte.remove(0,4);
+
+        QByteArray mm_data = byte.mid(0,len);
+        vector_data.append(mm_data);
+        byte.remove(0,len);
+    }
+    return true;
+}
+
+Hd_CameraModule_3DKeyence3* create(int settype)
+{
+    qDebug() << __FUNCTION__ << "  line:" << __LINE__ << "Hd_CameraModule_All create success!";
+    return new Hd_CameraModule_3DKeyence3(settype);
+}
+
+void destory(Hd_CameraModule_3DKeyence3* ptr)
+{
+    if (ptr)
+    {
+        delete  ptr;
+        ptr = nullptr;
+    }
+    qDebug() << "[INFO] " << "Hd_CameraModule_3DLMI3  destory success!";
+}
+
+//int myIDS[10000] = { 0 };
+
+//类创建
+Hd_CameraModule_3DKeyence3::Hd_CameraModule_3DKeyence3(int settype, QObject* parent) : PbGlobalObject(settype, parent)
+{
+    m_mutex = new QMutex();
+    ifRunning = true;
+    //QFuture<void> myF= QtConcurrent::run(this, &Hd_CameraModule_3DLMI3::threadCheckCallBack);
+    if (type1 < 15)
+        famliy = PGOFAMLIY::CAMERA2D;
+    else if (type1 == 15)
+        famliy = PGOFAMLIY::CAMERA2_5D;
+    else if (type1 < 100)
+        famliy = PGOFAMLIY::CAMERA3D;
+    //id = myIDS[type1]++;
+    qDebug() << "famliy::" << famliy;
+}
+
+
+Hd_CameraModule_3DKeyence3::~Hd_CameraModule_3DKeyence3()
+{
+    //myIDS[type1]--;
+    //ifFirst = true;
+    ifRunning = false;
+    //m_flag = false;
+    Sleep(10);
+    if (isopen)
+    {
+        isopen = false;
+
+        // Stop HighSpeed
+        errCode = LJX8IF_StopHighSpeedDataCommunication(deviceId);
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "  Stop HighSpeed errCode:" << errCode;
+
+        LJXA_ACQ_CloseDevice(deviceId);
+        qDebug() << __FUNCTION__ << "line:" << __LINE__ << " CloseDevice success!";
+        if (heightImage)
+        {
+            free(heightImage);
+
+        }
+        if (luminanceImage)
+        {
+            free(luminanceImage);
+        }
+    }
+
+    // Free memory
+    if (_heightBuf[deviceId] != NULL)
+    {
+        free(_heightBuf[deviceId]);
+    }
+
+    if (_luminanceBuf[deviceId] != NULL)
+    {
+        free(_luminanceBuf[deviceId]);
+    }
+
+    if (startReq_ptr)
+    {
+        delete startReq_ptr;
+        startReq_ptr = nullptr;
+    }
+
+    if (profileInfo_ptr)
+    {
+        delete profileInfo_ptr;
+        profileInfo_ptr = nullptr;
+    }
+
+    if (setParam_Ptr)
+    {
+        delete setParam_Ptr;
+        setParam_Ptr = nullptr;
+    }
+
+    if (getParam_Ptr)
+    {
+        delete getParam_Ptr;
+        getParam_Ptr = nullptr;
+    }
+    if (m_mutex)
+    {
+        delete m_mutex;
+        m_mutex = nullptr;
+    }
+    qDebug() << __FUNCTION__ << "line:" << __LINE__ << " delete success!";
+    /*if(m_thread)
+    {
+        m_thread->exit();
+        m_thread->wait(1);
+        delete m_thread;
+        m_thread = nullptr;
+    }*/
+
+    qDebug() << __FUNCTION__ << "line:" << __LINE__ << " delete success!";
+}
+
+
+//模块名称
+QString moduleName;
+
+//setParameter之后再调用，返回当前参数
+    //相机：获取默认参数；
+    //通信：获取初始化示例参数
+QMap<QString, QString> Hd_CameraModule_3DKeyence3::parameters()
+{
+    if (ifFirst == true)
+    {
+        ifFirst = false;
+
+        moduleName = "Hd_CameraModule_3DKeyence3#" + QString::number(id);
+
+        QJsonObject ExampleObj = load_camera_Example();
+        QJsonObject cameraObj;
+        QJsonArray  ExampleArray = ExampleObj.value("相机模块列表").toArray();
+        for (int i = 0; i < ExampleArray.size(); i++)
+        {
+            QString name = ExampleArray[i].toObject().value("模块名称").toString();
+            if (moduleName.split("#")[0] == name)
+                cameraObj = ExampleArray[i].toObject();
+        } //参数设置的数据
+        QMap<QString, QString> myParasValueMap;
+        myParasValueMap.insert("相机key", "输入SN");
+        //默认参数显示到界面
+        QJsonArray ParameterArray = cameraObj.value("相机参数").toArray();
+        for (int T = 0; T < ParameterArray.size(); T++)
+        {
+            QJsonObject ParameterObj = ParameterArray[T].toObject();
+            QString ParameterKey = ParameterObj.value("参数名").toString();
+            QString ParameterValue;
+            QJsonArray ParameterValueArray = ParameterObj.value("相机参数值").toArray();
+            for (int P = 0; P < ParameterValueArray.size(); P++)
+            {
+                if (P > 0)ParameterValue.append(",");
+                ParameterValue.append(ParameterValueArray[P].toString());
+            }
+            myParasValueMap.insert(ParameterKey, ParameterValue);
+        }
+        return myParasValueMap;
+    }
+    else return ParasValueMap;
+}
+
+
+QJsonObject Hd_CameraModule_3DKeyence3::load_camera_Example()
+{
+    QDir dir = QApplication::applicationDirPath();
+    QString currPath = dir.path();
+    currPath = "../runtime/Bin_DEVICE";
+    QString json_cfg_file_path = currPath + "/camera_Example.json";
+
+    QJsonObject json_object;
+    try
+    {
+        QJsonParseError jsonError;
+        if (json_cfg_file_path.isEmpty())
+        {
+            qCritical() << __FUNCTION__ << " line:" << __LINE__ << " JsonPath is null!";
+            return json_object;
+        }
+
+        QFile JsonFile;
+        JsonFile.setFileName(json_cfg_file_path);
+        //if (!JsonFile.isReadable())
+        //{
+        //    qCritical() << __FUNCTION__ << " line:" << __LINE__ << " camera_Example.json not isReadable!";
+        //    //return json_object;
+        //}
+        JsonFile.open(QIODevice::ReadOnly);
+
+        QByteArray m_Byte = JsonFile.readAll();
+        if (m_Byte.isEmpty())
+        {
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << json_cfg_file_path + " Content is empty";
+            JsonFile.close();
+            return json_object;
+        }
+
+        QJsonDocument jsonDocument(QJsonDocument::fromJson(m_Byte, &jsonError));
+
+        if (!jsonDocument.isNull() && jsonError.error == QJsonParseError::NoError)
+        {
+            if (jsonDocument.isObject())
+            {
+                json_object = jsonDocument.object();
+                JsonFile.close();
+                return json_object;
+            }
+        }
+        else
+        {
+            qCritical() << __FUNCTION__ << " line:" << __LINE__ << json_cfg_file_path + " is error!";
+        }
+        JsonFile.close();
+
+    }
+    catch (QString ev)
+    {
+        qCritical() << __FUNCTION__ << " line:" << __LINE__ << " ev:" << ev;
+    }
+    return json_object;
+}
+
+
+//初始化参数；通信/相机的初始化参数
+bool Hd_CameraModule_3DKeyence3::setParameter(const QMap<QString, QString>& ParameterMap)
+{
+    ParasValueMap = ParameterMap;
+    //if (m_module.moduleName.isEmpty())
+    //m_module.moduleName = getmoduleName();// = ParasValueMap.value()
+    //if(id=)
+    moduleName = "Hd_CameraModule_3DKeyence3#" + QString::number(id);
+    return true;
+}
+
+//初始化(加载模块待内存)
+bool Hd_CameraModule_3DKeyence3::init()
+{
+    ////传入initParas函数，格式为：相机key+参数名1#参数值1#参数值2+参数名2#参数值1...
+    QString initByte = ParasValueMap.value("相机key");
+    foreach(QString key, ParasValueMap.keys())
+    {
+        if (key == "相机key")
+            continue;
+        initByte += "+" + key + "#";
+        QString ParameterValue = ParasValueMap.value(key);
+        initByte += ParameterValue.replace(",", "#");
+    }
+
+    if (initParas(initByte.toLocal8Bit()))
+    {
+        qDebug() << __FUNCTION__ << " line: " << __LINE__ << " key: " << ParasValueMap.value("相机key") << " initParas   success! ";
+        /*Base* myPtr = m_module.module_ptr;
+        connect(myPtr, &Base::trigged, [=](bool ifConnect) {
+            qDebug() << __FUNCTION__ << " line: " << __LINE__ << " key: " << ParasValueMap.value("相机key") << " m_module.module_ptr, &Base::trigged! ifConnect" << ifConnect;
+            emit trigged(ifConnect);
+            });*/
+    }
+    else
+    {
+        qCritical() << __FUNCTION__ << "  line: " << __LINE__ << " moduleName: " << ParasValueMap.value("相机key") << " initParas failed! ";
+        return false;
+    }
+    //}
+    //else
+    //{
+    //    delete m_lib;
+    //    m_lib = nullptr;
+    //    return false;
+    //}
+    return true;
+}
+
+//设置数据
+    //相机：第一张图的参数，QStringList：00 曝光值 增益值；
+    //相机：第N张图的参数，QStringList：非00 曝光值 增益值；
+    //完成后发送信号trigged(bool);
+bool Hd_CameraModule_3DKeyence3::setData(const std::vector<cv::Mat>& mats, const QStringList& data)
+{
+    //foreach(QString kidData,data)
+        //if (kidData.contains("SetExposureTime"))
+    {
+        std::vector<cv::Mat> ImgS;
+        QByteArray bData;
+        for (int i = 0; i < data.size(); i++)
+            //if(i>0)
+            //    bData +=","+ data[i].toLocal8Bit();
+            //else
+            bData += data[i].toLocal8Bit();
+        qDebug() << "Hd_CameraModule_3DKeyence3::setData::" << bData;
+        writeData(ImgS, bData);
+        //if (m_module.module_ptr)
+         //   m_module.module_ptr->writeData(ImgS, bData);
+        //return true;
+    }
+    foreach(QString kidData, data)
+        if (kidData.contains("SetExposureTime") || kidData.contains("rest_newProductIn"))
+            return true;
+    bool runResult = run(); //m_module.module_ptr->run();
+    //emit trigged(runResult);
+    return runResult;
+}
+//获取数据
+bool Hd_CameraModule_3DKeyence3::data(std::vector<cv::Mat>& ImgS, QStringList& QStringListdata)
+{
+    //std::vector<cv::Mat> ImgS;
+    QByteArray data;
+    //m_module.module_ptr->readData(ImgS, data);
+    readData(ImgS, data);
+    if (!data.isEmpty())QStringListdata.append(byteArrayToUnicode(data));
+    return true;
+}
+
+bool Hd_CameraModule_3DKeyence3::readData(std::vector<cv::Mat> &mats,QByteArray &data)
+{
+    Q_UNUSED(data);
+
+    m_mutex->lock();
+    if (luminanceMatS.empty() || heightMatS.empty())
+    {
+        qDebug() << " [Error] " << " srcImage is null";
+        m_mutex->unlock();
+        return false;
+    }
+    cv::Mat mheightMat2 = cv::Mat();
+    heightMatS.dequeue().copyTo(mheightMat2);
+    cv::Mat mluminanceMat2 = cv::Mat();
+    luminanceMatS.dequeue().copyTo(mluminanceMat2);
+    mats.push_back(mheightMat2.clone());
+    mats.push_back(mluminanceMat2.clone());
+
+    m_mutex->unlock();
+    /*for (int i = 0; i < vector_mat.size(); i++)
+    {
+        cv::Mat img = cv::Mat();
+        vector_mat[i].copyTo(img);
+        mats.push_back(img);
+    }*/
+    //mats = vector_mat;
+    qCritical() << " [info] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData,deviceId" << deviceId << " imgIndex" << imgIndex;
+    return true;
+}
+
+bool Hd_CameraModule_3DKeyence3::writeData(std::vector<cv::Mat> &mat,QByteArray &data)
+{
+    //2024.02.18更新，相机对应的读SN信号时，表示新产品进入，设置初始值
+    if (data == "rest_newProductIn")
+    {
+        //根据实际项目，设置初始值：曝光、增益，ROI区域等
+        /*{
+            if (expourseTimeList.size() > 0)
+                SetExposureTime(expourseTimeList[0]);
+            if (gainList.size() > 0)
+                SetGain(gainList[0]);
+        }
+        getImageNum = 0;*/
+        if (luminanceMatS.size() > 0 || heightMatS.size() > 0)
+        {
+            m_mutex->lock();
+            luminanceMatS.clear();
+            heightMatS.clear();
+            m_mutex->unlock();
+            std::cout << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << camera_name.toStdString() << std::endl;
+            qWarning() << __FUNCTION__ << "  line: " << __LINE__ << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << camera_name;
+        }
+        if (ifRunning == true)
+        {
+            ifBreak = true;
+            Sleep(10);
+        }
+        imgIndex = 0;
+        //getImageNum = 0;
+        return true;
+    }
+    
+
+    return true;
+}
+
+//传入initParas函数，格式为：相机key+参数名1#参数值1#参数值2+参数名2#参数值1...
+bool Hd_CameraModule_3DKeyence3::initParas(QByteArray& initData)
+{
+    QByteArrayList valueList = initData.split('+');
+    camera_name = valueList[0];
+    deviceId = valueList[0].toInt();  //相机头序号
+    if (valueList.size() > 1)
+        for (int i = 1; i < valueList.size(); i++)
+        {
+            /*if (valueList[i].contains("是否为标准通信流程"))
+            {
+                if (valueList[i].contains("true"))
+                    ifStandard = true;
+            }
+            if (valueList[i].contains("取图超时"))
+            {
+                QByteArrayList valueL = valueList[i].split('#');
+                if (valueL.size() > 1)
+                    getImageTimeOut = valueL[1].toInt();
+                if (getImageTimeOut < 50)
+                    getImageTimeOut = 1000;
+            }*/
+            if (valueList[i].contains("ip"))
+            {
+                //ip#192.168.0.1
+                QByteArrayList valueL = valueList[i].split('#');
+                if (valueL.size() == 2)
+                {
+                    QByteArrayList valueL1 = valueL[1].split('.');
+                    if (valueL1.size() == 4)
+                    {
+                        EthernetConfig.abyIpAddress[0] = valueL.at(0).toInt();
+                        EthernetConfig.abyIpAddress[1] = valueL.at(1).toInt();
+                        EthernetConfig.abyIpAddress[2] = valueL.at(2).toInt();
+                        EthernetConfig.abyIpAddress[3] = valueL.at(3).toInt();
+                    }
+                }
+            }
+            if (valueList[i].contains("port"))
+            {
+                //port#24691
+                QByteArrayList valueL = valueList[i].split('#');
+                if (valueL.size() == 2)
+                {
+                    EthernetConfig.wPortNo = valueL[1].toInt();
+                }
+            }
+            if (valueList[i].contains("xImageSize"))
+            {
+                //xImageSize#1600
+                QByteArrayList valueL = valueList[i].split('#');
+                if (valueL.size() == 2)
+                {
+                    xImageSize = valueL[1].toInt();
+                }
+            }
+            if (valueList[i].contains("yImageSize"))
+            {
+                //yImageSize#2000
+                QByteArrayList valueL = valueList[i].split('#');
+                if (valueL.size() == 2)
+                {
+                    yImageSize = valueL[1].toInt();
+                }
+            }
+            if (valueList[i].contains("y_pitch_um"))
+            {
+                //y_pitch_um#40
+                QByteArrayList valueL = valueList[i].split('#');
+                if (valueL.size() == 2)
+                {
+                    y_pitch_um = valueL[1].toInt();
+                }
+            }
+            if (valueList[i].contains("取图超时"))
+            {
+                //timeout_ms#2900
+                QByteArrayList valueL = valueList[i].split('#');
+                if (valueL.size() == 2)
+                {
+                    timeout_ms = valueL[1].toInt();
+                }
+            }
+        }
+
+    yCounts = yImageSize;
+    qDebug() << __FUNCTION__ << " line:" << __LINE__ << " camera_name:" << camera_name << " paras init is success!";
+
+    // 初始化申请空间 20230214
+    startReq_ptr    = new LJX8IF_HIGH_SPEED_PRE_START_REQ;
+    profileInfo_ptr = new LJX8IF_PROFILE_INFO;
+    startReq_ptr->bySendPosition = 2;
+
+    setParam_Ptr = new LJXA_ACQ_SETPARAM;
+    getParam_Ptr = new LJXA_ACQ_GETPARAM;
+
+    setParam_Ptr->y_linenum = yImageSize;
+    setParam_Ptr->y_pitch_um = y_pitch_um;
+    setParam_Ptr->timeout_ms = timeout_ms;
+    setParam_Ptr->use_external_batchStart = use_external_batchStart;
+
+    // Allocate user memory
+    heightImage = (unsigned short*)malloc(sizeof(unsigned short) * xImageSize * yImageSize);
+    luminanceImage = (unsigned short*)malloc(sizeof(unsigned short) * xImageSize * yImageSize);
+
+    errCode = LJXA_ACQ_OpenDevice(deviceId, &EthernetConfig, HighSpeedPortNo);
+    if ( errCode != LJX8IF_RC_OK )
+    {
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Failed to open device ";
+        //Free user memory
+        if ( heightImage   )
+        {
+            free(heightImage);
+        }
+
+        if ( luminanceImage )
+        {
+            free(luminanceImage);
+        }
+        return false;
+    }
+
+    isopen = true;
+
+    // Allocate memory
+    _heightBuf[deviceId] = (unsigned short*)malloc(yImageSize * MAX_LJXA_XDATANUM * 2);
+    if (_heightBuf[deviceId] == NULL)
+    {
+        return LJX8IF_RC_ERR_NOMEMORY;
+    }
+
+    _luminanceBuf[deviceId] = (unsigned short*)malloc(yImageSize * MAX_LJXA_XDATANUM * 2);
+    if (_luminanceBuf[deviceId] == NULL)
+    {
+        return LJX8IF_RC_ERR_NOMEMORY;
+    }
+
+    // Initialize
+    if (!InitHighSpeed())
+    {
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "  InitHighSpeed error！ " ;
+    }
+    return true;
+}
+bool Hd_CameraModule_3DKeyence3::InitHighSpeed()
+{
+    try
+    {
+        if ( startReq_ptr == nullptr )
+        {
+            startReq_ptr = new LJX8IF_HIGH_SPEED_PRE_START_REQ;
+            startReq_ptr->bySendPosition = 2;
+            qWarning() << __FUNCTION__ << "  line: " << __LINE__ << " startReq_ptr is null! ";
+        }
+        if ( profileInfo_ptr == nullptr )
+        {
+            profileInfo_ptr = new LJX8IF_PROFILE_INFO;
+            qWarning() << __FUNCTION__ << "  line: " << __LINE__ << " profileInfo_ptr is null! ";
+        }
+        errCode = LJX8IF_InitializeHighSpeedDataCommunicationSimpleArray(deviceId, &_ethernetConfig[deviceId], _highSpeedPortNo[deviceId], &myCallbackFunc, yImageSize, deviceId); // 初始化高速通讯
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "   errCode:" << errCode;
+        errCode = LJX8IF_PreStartHighSpeedDataCommunication(deviceId, startReq_ptr, profileInfo_ptr);              // 预开始启动高速通信，作用 做预连接
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "   errCode:" << errCode;
+
+        // zUnit
+        errCode = LJX8IF_GetZUnitSimpleArray(deviceId, &zUnit);
+        if (errCode != 0 || zUnit == 0)
+        {
+            qCritical() << __FUNCTION__ << "  line:" << __LINE__ << " Failed to acquire zunit! ";
+            return false;
+        }
+        errCode = LJX8IF_StartHighSpeedDataCommunication(deviceId);           // 正式开始高速通讯
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << " errCode: " << errCode;
+    }
+    catch (const QString ev)
+    {
+        qDebug() << __FUNCTION__ << " line:" << __LINE__ << "  ev: " <<  ev;
+        return false;
+    }
+    return true;
+   
+}
+bool Hd_CameraModule_3DKeyence3::run()
+{
+    ifRunning = true;
+    ifBreak = false;
+    if ( !isopen )
+    {
+        qCritical()  << __FUNCTION__ << " line:" << __LINE__ << " device is not opened! ";
+        return false;
+    }
+
+    try
+    {
+            JumpFlag = false;
+            errCode = LJX8IF_StartHighSpeedDataCommunication(deviceId);           // 正式开始高速通讯
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << " errCode: " << errCode;
+            if (errCode != 0x80A1 && errCode != 0x0000)
+            {
+                qDebug() << __FUNCTION__ << " line:" << __LINE__ << "   Restart HighSpeedDataCommunication";
+                errCode = LJX8IF_StopHighSpeedDataCommunication(deviceId);
+                qDebug() << __FUNCTION__ << " line:" << __LINE__ << "   Stop HSC errCode:" << errCode;
+                errCode = LJX8IF_FinalizeHighSpeedDataCommunication(deviceId);
+                qDebug() << __FUNCTION__ << " line:" << __LINE__ << "   Fini HSC errCode:" << errCode;
+                errCode = LJX8IF_InitializeHighSpeedDataCommunicationSimpleArray(deviceId, &_ethernetConfig[deviceId], _highSpeedPortNo[deviceId], &myCallbackFunc, yImageSize, deviceId); // 初始化高速通讯
+                qDebug() << __FUNCTION__ << " line:" << __LINE__ << "   Init HSC errCode:" << errCode;
+                errCode = LJX8IF_PreStartHighSpeedDataCommunication(deviceId, startReq_ptr, profileInfo_ptr);              // 预开始启动高速通信，作用 做预连接
+                qDebug() << __FUNCTION__ << " line:" << __LINE__ << "   PreStart HSC errCode:" << errCode;
+                errCode = LJX8IF_StartHighSpeedDataCommunication(deviceId);           // 正式开始高速通讯
+                qDebug() << __FUNCTION__ << " line:" << __LINE__ << "   Start HSC errCode: " << errCode;
+            }
+
+            // Allocate memory
+            if (_heightBuf[deviceId])
+            {
+                free(_heightBuf[deviceId]);
+                _heightBuf[deviceId] = NULL;
+            }
+
+            if (_luminanceBuf[deviceId])
+            {
+                free(_luminanceBuf[deviceId]);
+                _luminanceBuf[deviceId] = NULL;
+            }
+            int yDataNum = setParam_Ptr->y_linenum;
+            _heightBuf[deviceId] = (unsigned short*)malloc(yDataNum * MAX_LJXA_XDATANUM * 2);
+            _luminanceBuf[deviceId] = (unsigned short*)malloc(yDataNum * MAX_LJXA_XDATANUM * 2);
+
+            if (_heightBuf[deviceId] == NULL)
+            {
+                return false;
+            }
+
+            if (_luminanceBuf[deviceId] == NULL)
+            {
+                return false;
+            }
+
+            int errCode;
+            //Start HighSpeed
+            _imageAvailable[deviceId] = 0;
+            _lastImageSizeHeight[deviceId] = 0;
+
+            //StartMeasure(Batch Start)
+            if (use_external_batchStart > 0)
+            {
+
+            }
+            else
+            {
+                errCode = LJX8IF_StartMeasure(deviceId);  // 启动软件触发,等同于软件中点击开始批处理操作
+                qCritical() << __FUNCTION__ << " line:" << __LINE__ << "  Measure Start(Batch Start) ! errCode:" << errCode;
+            }
+
+            qDebug() << __FUNCTION__ << "  line:" << __LINE__ << " acquring image...! ";
+            DWORD start = timeGetTime();
+            while (true)
+            {
+                DWORD ts = timeGetTime() - start;
+                if ((DWORD)timeout_ms < ts || ifBreak == true)
+                {
+                    qCritical() << __FUNCTION__ << "  line:" << __LINE__ << "   timeout_ms " << ts;
+                    JumpFlag = true;
+                    break;
+                }
+                if (_imageAvailable[deviceId])
+                {
+                    qCritical() << " [info] " << __FUNCTION__ << " line:" << __LINE__ <<" deviceId::" << deviceId << " checkImg getImg time" << ts<<" imgIndex" << imgIndex++ ;
+                    break;
+                }
+                Sleep(1);
+            }
+            Sleep(1);
+            if (_imageAvailable[deviceId] != 1)
+            {
+                qCritical() << __FUNCTION__ << "  line:" << __LINE__ << "_imageAvailable[deviceId] != 1";
+                //Free memory
+                if (_heightBuf[deviceId] != NULL)
+                {
+                    free(_heightBuf[deviceId]);
+                    _heightBuf[deviceId] = NULL;
+                }
+
+                if (_luminanceBuf[deviceId] != NULL)
+                {
+                    free(_luminanceBuf[deviceId]);
+                    _luminanceBuf[deviceId] = NULL;
+                }
+                // KeyModify   20230301 清理控制器里的缓存数据，此处是考虑超时情况下，对数据的清理操作。
+                errCode = LJX8IF_ClearMemory(deviceId);
+                qCritical() << __FUNCTION__ << "  line:" << __LINE__ << "   errCode:" << errCode;
+                return false;
+            }
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << "test";
+            _getParam[deviceId].luminance_enabled = profileInfo_ptr->byLuminanceOutput;
+            _getParam[deviceId].x_pointnum = profileInfo_ptr->wProfileDataCount;
+            _getParam[deviceId].y_linenum_acquired = _lastImageSizeHeight[deviceId];
+            _getParam[deviceId].x_pitch_um = profileInfo_ptr->lXPitch / 100.0f;
+            _getParam[deviceId].y_pitch_um = y_pitch_um;
+            _getParam[deviceId].z_pitch_um = zUnit / 100.0f;
+
+            *getParam_Ptr = _getParam[deviceId];
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << " getPara Finished: ";
+            int xDataNum = _getParam[deviceId].x_pointnum;
+
+            unsigned short* dwHeightBuf = (unsigned short*)&_heightBuf[deviceId][0];
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << " dwHeightBuf Init Finished: ";
+            memcpy(heightImage, dwHeightBuf, xDataNum * yImageSize * 2);
+
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Height Img memcpy Finished: ";
+            if (_getParam[deviceId].luminance_enabled > 0)
+            {
+                unsigned short* dwLuminanceBuf = (unsigned short*)&_luminanceBuf[deviceId][0];
+                memcpy(luminanceImage, dwLuminanceBuf, xDataNum * yImageSize * 2);
+            }
+
+            // Free memory
+            if (_heightBuf[deviceId] != NULL)
+            {
+                free(_heightBuf[deviceId]);
+                _heightBuf[deviceId] = NULL;
+            }
+
+            if (_luminanceBuf[deviceId] != NULL)
+            {
+                free(_luminanceBuf[deviceId]);
+                _luminanceBuf[deviceId] = NULL;
+            }
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Free memory Finished: ";
+
+            m_mutex->lock();
+            //vector_mat.clear();
+            luminanceMatS.enqueue(cv::Mat(yImageSize, xImageSize, CV_16U, luminanceImage));
+            heightMatS.enqueue(cv::Mat(yImageSize, xImageSize, CV_16U, heightImage));
+            m_mutex->unlock();
+            qDebug() << __FUNCTION__ << " line:" << __LINE__ << " success to acquire 3d image! camera_name: " << camera_name;
+            return true;
+        }
+        catch (QString ev)
+        {
+            qCritical() << __FUNCTION__ << "  line: " << __LINE__ << "  ev: " << ev;
+            return false;
+        }
+}