diff --git a/HanddleAI/HandleAiUi-new/.vscode/settings.json b/HanddleAI/HandleAiUi-new/.vscode/settings.json
new file mode 100644
index 00000000..0ad7518d
--- /dev/null
+++ b/HanddleAI/HandleAiUi-new/.vscode/settings.json
@@ -0,0 +1,83 @@
+{
+    "files.associations": {
+        "algorithm": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "cctype": "cpp",
+        "charconv": "cpp",
+        "chrono": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "codecvt": "cpp",
+        "condition_variable": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "deque": "cpp",
+        "exception": "cpp",
+        "filesystem": "cpp",
+        "resumable": "cpp",
+        "forward_list": "cpp",
+        "fstream": "cpp",
+        "functional": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "ios": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "iterator": "cpp",
+        "limits": "cpp",
+        "list": "cpp",
+        "locale": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "ostream": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "set": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "xthread": "cpp",
+        "thread": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "typeinfo": "cpp",
+        "unordered_map": "cpp",
+        "utility": "cpp",
+        "valarray": "cpp",
+        "variant": "cpp",
+        "vector": "cpp",
+        "xfacet": "cpp",
+        "xhash": "cpp",
+        "xiosbase": "cpp",
+        "xlocale": "cpp",
+        "xlocbuf": "cpp",
+        "xlocinfo": "cpp",
+        "xlocmes": "cpp",
+        "xlocmon": "cpp",
+        "xlocnum": "cpp",
+        "xloctime": "cpp",
+        "xmemory": "cpp",
+        "xmemory0": "cpp",
+        "xstddef": "cpp",
+        "xstring": "cpp",
+        "xtr1common": "cpp",
+        "xtree": "cpp",
+        "xutility": "cpp"
+    }
+}
\ No newline at end of file
diff --git a/HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h b/HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h
index ed8e231c..71bafd2d 100644
--- a/HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h
+++ b/HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h
@@ -302,11 +302,8 @@ double doubleLmit(double input, int num)
 }
 void ALGO_Correction(std::shared_ptr <detData> data)
 {
-	if (data->correctionData == nullptr)
-		return;
-
 	CorrectionPoints resultPoints;
-	if (HalconCorrection(data->correctionData, resultPoints) == false)
+	if (HalconCorrection(&data->laserData, resultPoints) == false)
 	{
 		data->writeBack("short", 274, "1");
 		return;
diff --git a/HanddleAI/HandleAiUi-new/appConfig/appConfig.cpp b/HanddleAI/HandleAiUi-new/appConfig/appConfig.cpp
index 0cab7c57..8ebad305 100644
--- a/HanddleAI/HandleAiUi-new/appConfig/appConfig.cpp
+++ b/HanddleAI/HandleAiUi-new/appConfig/appConfig.cpp
@@ -14,11 +14,13 @@ void appConfig::parsingTriggerData()
 {
 	nlohmann::json triggerJson = readJsonFromPath("./config/triggerSetting.json");
 	_triggerStruct.key = triggerJson["key"];
-	_triggerStruct.frequency = triggerJson["frequency"];
+	_triggerStruct.sleepTime = triggerJson["sleepTime"];
 	_triggerStruct.initStr = triggerJson["initStr"];
 	_triggerStruct.heartCmd = triggerJson["heartCmd"];
 	_triggerStruct.readAllCmd = triggerJson["readAllCmd"];
 	_triggerStruct.modelName = triggerJson["modelName"];
+	_triggerStruct.readNum = triggerJson["readNum"];
+	_triggerStruct.writeType = triggerJson["writeType"];
 	_triggerStruct.startPos = QString::fromStdString(_triggerStruct.readAllCmd).split("_")[2].toInt();;
 }
 void appConfig::parsingCameraData()
diff --git a/HanddleAI/HandleAiUi-new/appConfig/appconfigStruct.h b/HanddleAI/HandleAiUi-new/appConfig/appconfigStruct.h
index e1111253..0632a3ca 100644
--- a/HanddleAI/HandleAiUi-new/appConfig/appconfigStruct.h
+++ b/HanddleAI/HandleAiUi-new/appConfig/appconfigStruct.h
@@ -193,11 +193,13 @@ struct lightSourceStruct
 struct triggerStruct
 {
 	std::string key;
-	std::string frequency;//per Sec
 	std::string initStr;
 	std::string heartCmd;
 	std::string readAllCmd;
 	std::string modelName;
+	int sleepTime;
+	int readNum;
+	std::string writeType;
 	int startPos;
 };
 struct cameraStruct
diff --git a/HanddleAI/HandleAiUi-new/appCoreQtFunction.h b/HanddleAI/HandleAiUi-new/appCoreQtFunction.h
index c9eb101e..89d51e2e 100644
--- a/HanddleAI/HandleAiUi-new/appCoreQtFunction.h
+++ b/HanddleAI/HandleAiUi-new/appCoreQtFunction.h
@@ -18,6 +18,10 @@ signals:
 	void addShowPerformanceWidgetData(int index, int timeCost);
 	void addCtData(int index, int value);//增加ct数据
 	void resetShowPerformanceWidget();
-	void setProductSignStatus(int pos, int status);//设置产品示意图指定位置的状态
+
+	void uiModuleLocationMapResetToDefault();
+	void uiModuleLocationMapSetProductSignStatus(int pos, int status);//设置产品示意图指定位置的状态
+	void uiModuleImageDoubleCheckQdialogShowWindows(QPixmap);
+
 };
 #pragma once
\ No newline at end of file
diff --git a/HanddleAI/HandleAiUi-new/back/detData.h b/HanddleAI/HandleAiUi-new/back/detData.h
index a0f7e187..831bfaf8 100644
--- a/HanddleAI/HandleAiUi-new/back/detData.h
+++ b/HanddleAI/HandleAiUi-new/back/detData.h
@@ -29,7 +29,7 @@ public:
     int algoThreadIndex = -1;
 
     //检测参数
-    correctionStruct* correctionData = nullptr;
+    correctionStruct laserData;
     int armPos = -1;
     int productType = -1;
 
@@ -71,6 +71,7 @@ public:
     //结果
     bool aiDetOK = true;
     bool halconOK = true;
+    int aiNgCount = 0, aiOkCount = 0, halconOkCount = 0, halconNgCount = 0;
     //存图相关
     QMutex resultMutex;//结果图锁
     std::vector<cv::Mat> resultImgs;//结果图
diff --git a/HanddleAI/HandleAiUi-new/back/manualDetThread.h b/HanddleAI/HandleAiUi-new/back/manualDetThread.h
index 2a3b1ec5..fbc0513a 100644
--- a/HanddleAI/HandleAiUi-new/back/manualDetThread.h
+++ b/HanddleAI/HandleAiUi-new/back/manualDetThread.h
@@ -17,6 +17,7 @@ public:
 	//检测参数
 	std::string imgPathStr = "";
 	int algoIndex = 0;
+	int Pos = 0;
 	manualDetThread()
 	{
 		_appConfig = &_core._appConfig;
@@ -31,12 +32,16 @@ public:
 		{
 			std::shared_ptr <detData> data = _detDataManager->insertDetData("Manual", "Manual", 0, 1);
 			data->productType = algoIndex;
+			data->armPos = Pos;
 			data->resShowIndex = 0;
 			data->oriImgMutex.lock();
 			data->oriImgs.push_back(cv::imread(file, -1));
 			data->oriImgMutex.unlock();
 			data->_productDataStruct = _appConfig->productDatas[algoIndex];
 			_threadManager->addTask(data);//添加任务
+			emit _core._qtFunc.uiModuleLocationMapSetProductSignStatus(Pos, 1);
+			Pos++;
+			//QThread::msleep(3000);
 		}
 		files.clear();
 		fileManager::getAllFiles(imgPathStr, files, "bmp");
@@ -44,17 +49,23 @@ public:
 		{
 			std::shared_ptr <detData> data = _detDataManager->insertDetData("Manual", "Manual", 0, 1);
 			data->productType = algoIndex;
+			data->armPos = Pos;
 			data->resShowIndex = 0;
 			data->oriImgMutex.lock();
 			data->oriImgs.push_back(cv::imread(file, -1));
 			data->oriImgMutex.unlock();
 			data->_productDataStruct = _appConfig->productDatas[algoIndex];
 			_threadManager->addTask(data);//添加任务
+			emit _core._qtFunc.uiModuleLocationMapSetProductSignStatus(Pos, 1);
+			Pos++;
+			//QThread::msleep(3000);
 		}
 		emit finishImgReadSignal();
 	}
 	void startDet(std::string path,int index)
 	{
+		Pos = 0;
+		emit _core._qtFunc.uiModuleLocationMapResetToDefault();
 		imgPathStr = path;
 		algoIndex = index;
 		this->start();
diff --git a/HanddleAI/HandleAiUi-new/back/threadPoolManager.cpp b/HanddleAI/HandleAiUi-new/back/threadPoolManager.cpp
index 5978947f..5c936a53 100644
--- a/HanddleAI/HandleAiUi-new/back/threadPoolManager.cpp
+++ b/HanddleAI/HandleAiUi-new/back/threadPoolManager.cpp
@@ -66,61 +66,8 @@ void detThreadManager::process()
 }
 void detThreadManager::resultHandle(std::shared_ptr <detData> data)
 {
-	//发送图片
-	if (data->resultImgs.size() > 0)
-	{	
-		int cnt = 0;
-		for(auto showMat: data->resultImgs)
-		{
-			//打包发送
-			QPixmap pixmap;
-			cvMatToQPixMap(showMat, pixmap);
-			showImgPack* pack = new showImgPack();
-			pack->img = pixmap;
-			pack->type = imgWidgetRes;
-			pack->index = data->resShowIndex+ cnt;
-			emit _core._qtFunc.sendPixmapImageWidget(pack);
-
-			historyPack _historyPack;
-			_historyPack.img = pixmap;
-			_historyPack.filePath = std::shared_ptr<std::string>(new std::string);
-			data->resImgSavePath.push_back(_historyPack.filePath);
-			emit _core._qtFunc.addHistoryDataSignal((data->aiDetOK == true && data->halconOK == true), _historyPack);
-			cnt++;
-		}
-	}
-	if(data->armPos != -1)
-	{
-		emit _core._qtFunc.addDashBoardData(0, data->halconOK);
-		emit _core._qtFunc.addDashBoardData(1, data->aiDetOK);
-	}
-
-	auto totalCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->halconEndTime - data->algoStartTime);
-	auto aiCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->handleAiEndTime - data->algoStartTime);
-	auto halconCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->halconEndTime - data->handleAiEndTime);
-	if (totalCt.count() > 0)
-		emit _core._qtFunc.addCtData(0, totalCt.count());
-	if (aiCt.count() > 0)
-		emit _core._qtFunc.addCtData(1, aiCt.count());
-	if (halconCt.count() > 0)
-		emit _core._qtFunc.addCtData(2, halconCt.count());
-	
-	//SQL
-	std::vector<sqlData> sqlDatas;
-	for (auto sqlData : data->sqlVec)
-		sqlDatas.push_back({ sqlData.first, std::to_string(sqlData.second) });
-	_core._appConfig._sqlManager.addData(data->SNcode, sqlDatas);
-
-	//写入plc
-	for (auto writeBackStr : data->writeBackData)
-		_triggerManager->sendFinsMsg(writeBackStr);
-
-	//储存结果图
-	std::async(std::launch::async, &imgSaveThreadManager::saveRes, _imgSaveThreadManager, data);
-
-	//删除 不再持有
-	detDataManager* dManager = data->dManager;
-	data->dManager->deleteDetData(data->timeCode);
+	for (auto func : resultHandleCallbacks)
+		func(data);
 }
 void detThreadManager::run()
 {
diff --git a/HanddleAI/HandleAiUi-new/back/threadPoolManager.h b/HanddleAI/HandleAiUi-new/back/threadPoolManager.h
index f8dd646a..33519cc3 100644
--- a/HanddleAI/HandleAiUi-new/back/threadPoolManager.h
+++ b/HanddleAI/HandleAiUi-new/back/threadPoolManager.h
@@ -54,11 +54,12 @@ class detThreadManager : public QThread
     Q_OBJECT
         
 public:
+    using resultHandleCallback = std::function<void(std::shared_ptr <detData>)>;
     bool initFlag = false;
     detThreadManager();
+    ~detThreadManager();
 
     QQueue<std::shared_ptr <detData>> detDataQueue;
-    autoDelete* autoDeleteThread;
     void initialization(detProcess* appCore);
     void run();
     void stop()
@@ -66,18 +67,19 @@ public:
         runFlag = false;
         this->terminate();
     }
-    void resultHandle(std::shared_ptr <detData>);
-
+    
     void addTask(std::shared_ptr <detData>);
     sncodeCls snDatas;
-    ~detThreadManager();
-
     QMutex queueMutex;
-
     QMutex insertQueueMutex;
     QQueue<std::shared_ptr  <detData>>insertQueue;
     void process();
+    void registerCallback(resultHandleCallback func)
+    {
+        resultHandleCallbacks.push_back(func);
+    }
 private:
+    std::vector< resultHandleCallback>resultHandleCallbacks;
     handleAiModelManager* _handleAiModelManager;
     triggerManager* _triggerManager;
     imgSaveThreadManager* _imgSaveThreadManager;
@@ -90,7 +92,8 @@ private:
 
     std::chrono::seconds zeroSec = std::chrono::seconds(0);
     std::unordered_map<unsigned long long, std::future<bool>>::iterator futrueIte;
-
+    
+    void resultHandle(std::shared_ptr <detData>);
     bool runFlag = true;
     QList<std::shared_ptr <detData>>imgWaitList;
     std::vector<std::shared_ptr <detData>>deleteVec;
diff --git a/HanddleAI/HandleAiUi-new/back/triggerManager.cpp b/HanddleAI/HandleAiUi-new/back/triggerManager.cpp
index e90a8726..41d8385f 100644
--- a/HanddleAI/HandleAiUi-new/back/triggerManager.cpp
+++ b/HanddleAI/HandleAiUi-new/back/triggerManager.cpp
@@ -7,7 +7,6 @@
 #include <detProcess.hpp>
 #include <lightSource.hpp>
 #define debugTesting 0
-static correctionStruct* correctionData;
 void triggerManager::initialization(detProcess* _detProcessIn)
 {
     _detProcess = _detProcessIn;
@@ -20,6 +19,10 @@ void triggerManager::initialization(detProcess* _detProcessIn)
     triggerFileName = QString::fromStdString(_core._appConfig._triggerStruct.modelName);
     IpAndPort = QString::fromStdString(_core._appConfig._triggerStruct.initStr);
     readAllCmd = QByteArray::fromStdString(_core._appConfig._triggerStruct.readAllCmd);
+    triggerFileName = QString::fromStdString(_core._appConfig._triggerStruct.modelName);
+    sleepTime = _core._appConfig._triggerStruct.sleepTime;
+    readNum = _core._appConfig._triggerStruct.readNum;
+    writeType = _core._appConfig._triggerStruct.writeType;
     m_lib = new QLibrary(triggerFileName);
     libLoadedflag = m_lib->load();
     if (!m_lib->isLoaded())
@@ -44,10 +47,15 @@ void triggerManager::connectHost()
         {
             trigger = createFun();
             destory_finstcp = releaseFun;
-            QByteArray initByte = QByteArray::fromStdString("sleeptime_20_readnum_300_writetype_ushort");
+            QByteArray initByte = 
+                QByteArray::fromStdString
+                ("sleeptime_"+std::to_string(sleepTime) 
+                    + "_readnum_" + std::to_string(readNum)
+                    + "_writetype_" + writeType);
             trigger->reciveData(vec_mat, QByteArray(IpAndPort.toUtf8()));
             emit _core._qtFunc.sendInitString(triggerFileName + "连接到" + IpAndPort);
             initFailure = trigger->initParas(initByte);
+            this->start();
         }
 
         if (initFailure == false)
@@ -198,190 +206,9 @@ void triggerManager::decodeCameraCMD(QByteArray byte)
 
     }
 #endif 
-    //相机测试
-#if 0
-    if (checkTrigger(1, 2, byte) == true)
-    {
-        std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "TEST",0, 0);
-        data->correctionData = correctionData;
-        _threadManager->addTask(data);//添加任务
-        auto camera = _cameraManager->getCamera("123");
-       if (camera != nullptr)
-           camera->captureImage(data);
-    }
-    if (checkTrigger(2, 2, byte) == true)
-    {
-        std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "TEST", 0, 0);
-        data->correctionData = correctionData;
-        _threadManager->addTask(data);//添加任务
-        auto camera = _cameraManager->getCamera("456");
-       if (camera != nullptr)
-           camera->captureImage(data);
-    }
-#endif
-    //总流程开始，机器人发送1至寄存器259
 
-    //上位机确认OK之后，清零寄存器259，并发送1至寄存器260
-    //如产品型号为Product_1且为正面，则上位机发送1至寄存器256，发送0至寄存器257
-    //之后机器人确认之后需发送测量点位总数具体值至寄存器258
-    if (checkTrigger(259, 1, byte) == true)
-    {
-        sendFinsMsg("write_short_259_0");//触发信号清零
-        sendFinsMsg("write_short_260_1");//开始检测信号
-    }
-
-    //机器人激光当前点位	264	1...9
-    //机器人到达激光点位1时，寄存器261至1，264至1，并将机器人在激光点位1坐标XYZ按照定义规则，保存进寄存器265~270
-
-    //上位机确认机器人到达点位1(264)时，确认OK后，寄存器262至1，261至0，取点完成后，发送寄存器263至1
-    if (checkTrigger(261, 1, byte) == true)//读取请求地址
-    {
-        QThread::msleep(3000);
-        int armPos = getValue(264, byte);
-
-        int xValue1 = getValue(265, byte);
-        int xValue2 = getValue(266, byte);
-        int xValue3 = getValue(267, byte);
-
-        int yValue1 = getValue(268, byte);
-        int yValue2 = getValue(269, byte);
-        int yValue3 = getValue(270, byte);
-
-        int zValue1 = getValue(271, byte);
-        int zValue2 = getValue(272, byte);
-        int zValue3 = getValue(273, byte);
-
-        double xValue = (xValue1 == 1 ? 1 : -1) * ((double)xValue2 + ((double)xValue3) / (std::pow(10, std::to_string(xValue3).length())));
-        double yValue = (yValue1 == 1 ? 1 : -1) * ((double)yValue2 + ((double)yValue3) / (std::pow(10, std::to_string(yValue3).length())));
-        double zValue = (zValue1 == 1 ? 1 : -1) * ((double)zValue2 + ((double)zValue3) / (std::pow(10, std::to_string(zValue3).length())));
-        auto cameraPtr = _cameraManager->getCamera("181964");
-        if (cameraPtr == nullptr)
-            return;
-        std::vector<double> values;
-        for (int i = 0;i < 10;i++)//弃用
-        {
-            cameraPtr->trigger();
-            double rangeData1 = cameraPtr->getCameraValue();
-        }
-        for (int i = 0;i < 100;i++)
-        {
-            cameraPtr->trigger();
-            double rangeData1 = cameraPtr->getCameraValue();
-            values.push_back(rangeData1);
-        }
-
-        double avgData = 0;
-        for (auto data : values)
-        {
-            avgData += data;
-        }
-        avgData /= values.size();
-
-        double maxData = *std::max_element(values.begin(), values.end());
-        double minData = *std::min_element(values.begin(), values.end());
-        double rangeData = avgData;
-        qDebug() << " max:" << maxData << " min:" << minData << " avg:" << avgData;
-        std::cout << " max:" << maxData << " min:" << minData << " avg:" << avgData<<std::endl;
-        qDebug() << "jiaozhun xValue:" << xValue << " yValue:" << yValue << " zValue:" << zValue <<" rangeData:"<< rangeData;
-        std::cout << "jiaozhun xValue:" << xValue << " yValue:" << yValue << " zValue:" << zValue << " rangeData:" << rangeData<<std::endl;
-        if (rangeData == 0)
-        {
-            std::cout << "激光取图错误" << std::endl;
-            return;
-        }
-
-        if (armPos == 1)//第一次
-            correctionData = new correctionStruct();
-        if (correctionData == nullptr)
-            return;
-
-        if (armPos <= 3)
-        {
-            correctionData->in_X_X0Y.push_back(xValue);
-            correctionData->in_Y_X0Y.push_back(yValue);
-            correctionData->in_Z_X0Y.push_back(zValue);
-            correctionData->in_Z_X0Y_Value.push_back(rangeData);
-        }
-        else if (armPos <= 6)
-        {
-            correctionData->in_X_X0Z.push_back(xValue);
-            correctionData->in_Y_X0Z.push_back(yValue);
-            correctionData->in_Z_X0Z.push_back(zValue);
-            correctionData->in_Y_X0Z_Value.push_back(rangeData);
-        }
-        else if (armPos <= 9)
-        {
-            correctionData->in_X_Y0Z.push_back(xValue);
-            correctionData->in_Y_Y0Z.push_back(yValue);
-            correctionData->in_Z_Y0Z.push_back(zValue);
-            correctionData->in_X_Y0Z_Value.push_back(rangeData);
-        }
-        sendFinsMsg("write_short_261_0");//清零
-        sendFinsMsg("write_short_262_1");
-        sendFinsMsg("write_short_263_1");
-        //上位机校正完成，将寄存器274置为1，并将结果按照定义XYZ规则放入310~336中
-        if (armPos == 9)
-        {
-            std::shared_ptr <detData> data = dManager->insertDetData("181964",  "TEST", 0 , 0);
-            data->productType = _core._detGlobalData.productType;
-            data->_productDataStruct = _core._appConfig.productDatas[_core._detGlobalData.productType];
-            data->imgAmountMin = 0;
-            data->correctionData = correctionData;
-            _threadManager->addTask(data);//添加任务
-            correctionData = nullptr;
-        }
-    }
-
-    //机器人到达激光点位9时，寄存器261至1，264至9，并将机器人在激光点位9坐标XYZ按照定义规则，保存进寄存器265~270
-
-    if (checkTrigger(300, 1, byte) == true)
-    {
-        _lightSourceManager->getLightSourcePtr("COM8")->setValue(lightSourceChannel::DChannel, 255);
-        QThread::msleep(2000);//延时等待机械臂停稳
-        sendFinsMsg("write_short_300_0");//触发信号清零
-        sendFinsMsg("write_short_301_1");//开始检测信号
-        int Pos = getValue(303, byte);
-        std::cout << "arm @Pos:" << Pos;
-
-        std::shared_ptr <detData> data = dManager->insertDetData("Camera1", "TEST", 1, 1);
-        data->oriShowIndex = 0;
-        data->resShowIndex = 0;
-        data->armPos = Pos;
-        data->productType = _core._detGlobalData.productType;
-        data->_productDataStruct = _core._appConfig.productDatas[_core._detGlobalData.productType];
-        auto camera = _cameraManager->getCamera("Camera1");//查找相机
-        if (camera != nullptr)
-            camera->captureImage(data);//拍照
-        data->imgSaveFileParameter.push_back(_core._detGlobalData.productTypeStr);//设置部分文件名
-        data->imgSaveFileParameter.push_back("Pos" + std::to_string(Pos));//设置部分文件名
-        data->correctionData = correctionData;
-        _threadManager->addTask(data);//添加任务
-
-        QThread::msleep(1000);//延时一秒完成拍照，后续改成拍完直接发送
-        sendFinsMsg("write_short_302_1");//开始检测信号
-        _lightSourceManager->getLightSourcePtr("COM8")->setValue(lightSourceChannel::DChannel, 0);
-    }
-
-    if (checkTrigger(361, 1, byte) == true && armIsRunning == false)
-    {
-        armIsRunning = true;
-        emit _core._qtFunc.switchStartBtnStatusSignal(false);
-    }
-    if (checkTrigger(362, 1, byte) == true && armIsRunning == true)
-    {
-        armIsRunning = false;
-        sendFinsMsg("write_short_361_0");//清零
-        sendFinsMsg("write_short_362_0");
-        emit _core._qtFunc.switchStartBtnStatusSignal(true);
-    }
-    if (checkTrigger(361, 0, byte) == true && armIsRunning == true)
-    {
-        armIsRunning = false;
-        sendFinsMsg("write_short_361_0");//清零
-        sendFinsMsg("write_short_362_0");
-        emit _core._qtFunc.switchStartBtnStatusSignal(true);
-    }
 #endif
+    checkCallbackAndTrigger(byte);
 }
 int triggerManager::getValue(int dmPos, QByteArray byte)
 {
diff --git a/HanddleAI/HandleAiUi-new/back/triggerManager.h b/HanddleAI/HandleAiUi-new/back/triggerManager.h
index 57992134..9d018fb9 100644
--- a/HanddleAI/HandleAiUi-new/back/triggerManager.h
+++ b/HanddleAI/HandleAiUi-new/back/triggerManager.h
@@ -6,8 +6,9 @@
 #include <qlibrary.h>
 #include <globalStruct.h>
 #include <backStruct.h>
+#include <functional>
 #include <appConfig/appConfig.h>
-
+using triggerCallback = std::function<void(QByteArray& byte)>;
 class cameraManager;
 class detThreadManager;
 class detDataManager;
@@ -64,7 +65,6 @@ private:
 class triggerManager : public QThread
 {
 public:
-    bool armIsRunning = false;
     QByteArray readAllCmd;
     QString triggerFileName;
     QString IpAndPort;
@@ -126,10 +126,43 @@ public:
     }
 
     int getValue(int dmPos, QByteArray byte);
+
+    //CALL BACK
+    struct triggerCallbackStruct
+    {
+        int triggerAddress;
+        int triggerValue;
+        triggerCallback func;
+        std::string funcName;
+    };
+    std::vector<triggerCallbackStruct> triggerCallbackFunc;
+    bool registerCallback(int triggerAddress, int triggerValue, triggerCallback func, std::string funcName ="")
+    {
+        triggerCallbackStruct _triggerCallbackStruct;
+        _triggerCallbackStruct.triggerAddress = triggerAddress;
+        _triggerCallbackStruct.triggerValue = triggerValue;
+        _triggerCallbackStruct.func = func;
+        _triggerCallbackStruct.funcName = funcName;
+        triggerCallbackFunc.push_back(_triggerCallbackStruct);
+        return true;
+    }
+    void checkCallbackAndTrigger(QByteArray &byte)//检查是否符合回调函数的触发条件
+    {
+        for (auto callback : triggerCallbackFunc)
+        {
+            if (checkTrigger(callback.triggerAddress, 1, byte) == true)
+            {
+                callback.func(byte);
+                std::cout << "func:" << callback.funcName << "->triggered" << std::endl;
+            }
+        }
+    }
 private:
+
+    std::string writeType;
     bool libLoadedflag = false;
     QLibrary* m_lib = nullptr;
-    detProcess* _detProcess;
+    detProcess* _detProcess;  
     lightSourceManager* _lightSourceManager;
     detThreadManager* _threadManager;
     detDataManager* dManager;
@@ -172,6 +205,8 @@ private:
     void decodeCameraCMD(QByteArray byte);
     //触发器的配置
     int startPos=-1;//数据读取的起始位
+    int sleepTime = -1;//间隔
+    int readNum = -1;//范围
     int interval = 50;//间隔
 
     ReleaseFunction destory_finstcp; //释放
diff --git a/HanddleAI/HandleAiUi-new/detProcess.hpp b/HanddleAI/HandleAiUi-new/detProcess.hpp
index 4cc8dec6..9344c851 100644
--- a/HanddleAI/HandleAiUi-new/detProcess.hpp
+++ b/HanddleAI/HandleAiUi-new/detProcess.hpp
@@ -16,30 +16,288 @@ public:
 		_cameraManager.initialization();
 		_handleAiModelManager.initialization();
 		_triggerManager.initialization(this);
+        detProcessCallbackRegister();
+
 	}
 	void run()
 	{
-		/*std::vector<std::future<void>> futures;
-		futures.push_back(std::async(std::launch::async, &handleAiModelManager::start, &_handleAiModelManager));
-		futures.push_back(std::async(std::launch::async, &cameraManager::start, &_cameraManager));
-		futures.push_back(std::async(std::launch::async, &lightSourceManager::start, &_lightSourceManager));
-		futures.push_back(std::async(std::launch::async, &triggerManager::connectHost, &_triggerManager));*/
 		std::async(std::launch::async, &handleAiModelManager::start, &_handleAiModelManager);
 		std::async(std::launch::async, &cameraManager::start, &_cameraManager);
 		std::async(std::launch::async, &lightSourceManager::start, &_lightSourceManager);
 		std::async(std::launch::async, &triggerManager::connectHost, &_triggerManager);
 	}
-	//
+	
 	detDataManager _detDataManager;//检测中的数据 不需要初始化
 	imgSaveThreadManager _imgSaveThreadManager;//存图线程 不需要初始化
 	detThreadManager _threadManager;//异步检测线程 不需要初始化
-	//
+	
 	handleAiModelManager _handleAiModelManager;//模型
 	cameraManager _cameraManager;//相机
 	lightSourceManager _lightSourceManager;//光源
 
-	triggerManager _triggerManager;//触发器
+	triggerManager _triggerManager;//MODBUS触发器
 	manualDetThread _manualDetThread;//手动触发线程
+
+	///////////////////////////////
+    void detProcessCallbackRegister()
+    {
+        _triggerManager.registerCallback(259, 1, [this](QByteArray& byteArray) {startDetection(byteArray); }, "检测启动");
+        _triggerManager.registerCallback(261, 1, [this](QByteArray& byteArray) {calibrationFunc(byteArray); }, "激光校准");
+        _triggerManager.registerCallback(300, 1, [this](QByteArray& byteArray) {captureImageAndDetection(byteArray); }, "拍照并检测");
+        _triggerManager.registerCallback(361, 1, [this](QByteArray& byteArray) {detectionStart(byteArray); }, "检测开始");
+        _triggerManager.registerCallback(361, 0, [this](QByteArray& byteArray) {detectionEnd1(byteArray); }, "检测结束1");
+        _triggerManager.registerCallback(362, 1, [this](QByteArray& byteArray) {detectionEnd2(byteArray); }, "检测结束2");
+
+        _threadManager.registerCallback([this](std::shared_ptr<detData>data) {detectionResultHandle(data); });
+    }
+    //检测程序是否在运行
+    bool armIsRunning = false;
+    //激光校准数据缓存 //SN 数据
+    correctionStruct laserDataCache;
+    //总流程开始，机器人发送1至寄存器259
+    //上位机确认OK之后，清零寄存器259，并发送1至寄存器260
+    //如产品型号为Product_1且为正面，则上位机发送1至寄存器256，发送0至寄存器257
+    //之后机器人确认之后需发送测量点位总数具体值至寄存器258
+    //检测启动 259
+    void startDetection(QByteArray& byteArray)
+    {
+        _triggerManager.sendFinsMsg("write_short_259_0");//触发信号清零
+        _triggerManager.sendFinsMsg("write_short_260_1");//开始检测信号
+        emit _core._qtFunc.uiModuleLocationMapResetToDefault();
+    }
+    //机器人激光当前点位	264	1...9
+    //机器人到达激光点位1时，寄存器261至1，264至1，并将机器人在激光点位1坐标XYZ按照定义规则，保存进寄存器265~270
+    //上位机确认机器人到达点位1(264)时，确认OK后，寄存器262至1，261至0，取点完成后，发送寄存器263至1
+    //校准函数 261
+    void calibrationFunc(QByteArray& byteArray)
+	{
+        QThread::msleep(3000);
+        int armPos = _triggerManager.getValue(264, byteArray);
+
+        int xValue1 = _triggerManager.getValue(265, byteArray);
+        int xValue2 = _triggerManager.getValue(266, byteArray);
+        int xValue3 = _triggerManager.getValue(267, byteArray);
+
+        int yValue1 = _triggerManager.getValue(268, byteArray);
+        int yValue2 = _triggerManager.getValue(269, byteArray);
+        int yValue3 = _triggerManager.getValue(270, byteArray);
+
+        int zValue1 = _triggerManager.getValue(271, byteArray);
+        int zValue2 = _triggerManager.getValue(272, byteArray);
+        int zValue3 = _triggerManager.getValue(273, byteArray);
+
+        double xValue = (xValue1 == 1 ? 1 : -1) * ((double)xValue2 + ((double)xValue3) / (std::pow(10, std::to_string(xValue3).length())));
+        double yValue = (yValue1 == 1 ? 1 : -1) * ((double)yValue2 + ((double)yValue3) / (std::pow(10, std::to_string(yValue3).length())));
+        double zValue = (zValue1 == 1 ? 1 : -1) * ((double)zValue2 + ((double)zValue3) / (std::pow(10, std::to_string(zValue3).length())));
+        auto cameraPtr = _cameraManager.getCamera("181964");
+        if (cameraPtr == nullptr)
+            return;
+        std::vector<double> values;
+        for (int i = 0; i < 10; i++)//弃用
+        {
+            cameraPtr->trigger();
+            double rangeData1 = cameraPtr->getCameraValue();
+        }
+        for (int i = 0; i < 100; i++)
+        {
+            cameraPtr->trigger();
+            double rangeData1 = cameraPtr->getCameraValue();
+            values.push_back(rangeData1);
+        }
+
+        double avgData = 0;
+        for (auto data : values)
+        {
+            avgData += data;
+        }
+        avgData /= values.size();
+
+        double maxData = *std::max_element(values.begin(), values.end());
+        double minData = *std::min_element(values.begin(), values.end());
+        double rangeData = avgData;
+        qDebug() << " max:" << maxData << " min:" << minData << " avg:" << avgData;
+        std::cout << " max:" << maxData << " min:" << minData << " avg:" << avgData << std::endl;
+        qDebug() << "jiaozhun xValue:" << xValue << " yValue:" << yValue << " zValue:" << zValue << " rangeData:" << rangeData;
+        std::cout << "jiaozhun xValue:" << xValue << " yValue:" << yValue << " zValue:" << zValue << " rangeData:" << rangeData << std::endl;
+        if (rangeData == 0)
+        {
+            std::cout << "激光取图错误" << std::endl;
+            return;
+        }
+
+        if (armPos == 1)//第一次
+            laserDataCache = correctionStruct();
+
+        if (armPos <= 3)
+        {
+            laserDataCache.in_X_X0Y.push_back(xValue);
+            laserDataCache.in_Y_X0Y.push_back(yValue);
+            laserDataCache.in_Z_X0Y.push_back(zValue);
+            laserDataCache.in_Z_X0Y_Value.push_back(rangeData);
+        }
+        else if (armPos <= 6)
+        {
+            laserDataCache.in_X_X0Z.push_back(xValue);
+            laserDataCache.in_Y_X0Z.push_back(yValue);
+            laserDataCache.in_Z_X0Z.push_back(zValue);
+            laserDataCache.in_Y_X0Z_Value.push_back(rangeData);
+        }
+        else if (armPos <= 9)
+        {
+            laserDataCache.in_X_Y0Z.push_back(xValue);
+            laserDataCache.in_Y_Y0Z.push_back(yValue);
+            laserDataCache.in_Z_Y0Z.push_back(zValue);
+            laserDataCache.in_X_Y0Z_Value.push_back(rangeData);
+        }
+        _triggerManager.sendFinsMsg("write_short_261_0");//清零
+        _triggerManager.sendFinsMsg("write_short_262_1");
+        _triggerManager.sendFinsMsg("write_short_263_1");
+        //上位机校正完成，将寄存器274置为1，并将结果按照定义XYZ规则放入310~336中
+        if (armPos == 9)
+        {
+            std::shared_ptr <detData> data = _detDataManager.insertDetData("181964", "TEST", 0, 0);
+            data->productType = _core._detGlobalData.productType;
+            data->_productDataStruct = _core._appConfig.productDatas[_core._detGlobalData.productType];
+            data->imgAmountMin = 0;
+            data->laserData = laserDataCache;
+            _threadManager.addTask(data);//添加任务
+            laserDataCache = correctionStruct();
+        }
+	}
+    //拍照并检测 300
+    void captureImageAndDetection(QByteArray& byteArray)
+    {
+        _lightSourceManager.getLightSourcePtr("COM8")->setValue(lightSourceChannel::DChannel, 255);
+        QThread::msleep(2000);//延时等待机械臂停稳
+        _triggerManager.sendFinsMsg("write_short_300_0");//触发信号清零
+        _triggerManager.sendFinsMsg("write_short_301_1");//开始检测信号
+        int Pos = _triggerManager.getValue(303, byteArray);
+        emit _core._qtFunc.uiModuleLocationMapSetProductSignStatus(Pos,1);
+        std::cout << "arm @Pos:" << Pos;
+
+        std::shared_ptr <detData> data = _detDataManager.insertDetData("Camera1", "TEST", 1, 1);
+        data->oriShowIndex = 0;
+        data->resShowIndex = 0;
+        data->armPos = Pos;
+        data->productType = _core._detGlobalData.productType;
+        data->_productDataStruct = _core._appConfig.productDatas[_core._detGlobalData.productType];
+        auto camera = _cameraManager.getCamera("Camera1");//查找相机
+        if (camera != nullptr)
+            camera->captureImage(data);//拍照
+        data->imgSaveFileParameter.push_back(_core._detGlobalData.productTypeStr);//设置部分文件名
+        data->imgSaveFileParameter.push_back("Pos" + std::to_string(Pos));//设置部分文件名
+
+        _threadManager.addTask(data);//添加任务
+
+        QThread::msleep(1000);//延时一秒完成拍照，后续改成拍完直接发送
+        _triggerManager.sendFinsMsg("write_short_302_1");//开始检测信号
+        _lightSourceManager.getLightSourcePtr("COM8")->setValue(lightSourceChannel::DChannel, 0);
+    }
+    //机械臂状态切换 361 1
+    void detectionStart(QByteArray& byteArray)
+    {
+        if (armIsRunning == false)
+        {
+            armIsRunning = true;
+            emit _core._qtFunc.switchStartBtnStatusSignal(false);
+        }
+    }
+    //机械臂状态切换 361 0
+    void detectionEnd1(QByteArray& byteArray) 
+    {
+        if(armIsRunning == true)
+        {
+            armIsRunning = false;
+            _triggerManager.sendFinsMsg("write_short_361_0");//清零
+            _triggerManager.sendFinsMsg("write_short_362_0");
+            emit _core._qtFunc.switchStartBtnStatusSignal(true);
+        }
+    }
+    //机械臂状态切换 362 1
+    void detectionEnd2(QByteArray& byteArray)
+    {
+        if (armIsRunning == true)
+        {
+            armIsRunning = false;
+            _triggerManager.sendFinsMsg("write_short_361_0");//清零
+            _triggerManager.sendFinsMsg("write_short_362_0");
+            emit _core._qtFunc.switchStartBtnStatusSignal(true);
+        }
+    }
+
+    //////////////////////////////////////////////////
+    //检测结果处理
+    void detectionResultHandle(std::shared_ptr<detData>data)
+    {
+        //发送图片
+        if (data->resultImgs.size() > 0)
+        {
+            int cnt = 0;
+            for (auto showMat : data->resultImgs)
+            {
+                //打包发送
+                QPixmap pixmap;
+                cvMatToQPixMap(showMat, pixmap);
+                showImgPack* pack = new showImgPack();
+                pack->img = pixmap;
+                pack->type = imgWidgetRes;
+                pack->index = data->resShowIndex + cnt;
+                emit _core._qtFunc.sendPixmapImageWidget(pack);
+
+                historyPack _historyPack;
+                _historyPack.img = pixmap;
+                _historyPack.filePath = std::shared_ptr<std::string>(new std::string);
+                data->resImgSavePath.push_back(_historyPack.filePath);
+                emit _core._qtFunc.addHistoryDataSignal((data->aiDetOK == true && data->halconOK == true), _historyPack);
+                cnt++;
+            }
+        }
+        //发送检测结果发送到界面
+        if (data->armPos != -1)
+        {
+            emit _core._qtFunc.addDashBoardData(0, data->halconOK);
+            emit _core._qtFunc.addDashBoardData(1, data->aiDetOK);
+            emit _core._qtFunc.uiModuleLocationMapSetProductSignStatus(data->armPos, 
+                (data->halconOK==true&& data->aiDetOK==true)?2:3);
+            if(data->halconOK == false || data->aiDetOK == false)
+            {
+                for (auto showMat : data->resultImgs)
+                {
+                    QPixmap pixmap;
+                    cvMatToQPixMap(showMat, pixmap);
+                    showImgPack* pack = new showImgPack();
+                            emit _core._qtFunc.uiModuleImageDoubleCheckQdialogShowWindows(pixmap);
+                }
+            }
+        }
+        //ct计算以及发送到界面
+        auto totalCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->halconEndTime - data->algoStartTime);
+        auto aiCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->handleAiEndTime - data->algoStartTime);
+        auto halconCt = std::chrono::duration_cast<std::chrono::milliseconds>(data->halconEndTime - data->handleAiEndTime);
+        if (totalCt.count() > 0)
+            emit _core._qtFunc.addCtData(0, totalCt.count());
+        if (aiCt.count() > 0)
+            emit _core._qtFunc.addCtData(1, aiCt.count());
+        if (halconCt.count() > 0)
+            emit _core._qtFunc.addCtData(2, halconCt.count());
+
+        //SQL
+        std::vector<sqlData> sqlDatas;
+        for (auto sqlData : data->sqlVec)
+            sqlDatas.push_back({ sqlData.first, std::to_string(sqlData.second) });
+        _core._appConfig._sqlManager.addData(data->SNcode, sqlDatas);
+
+        //写入plc
+        for (auto writeBackStr : data->writeBackData)
+            _triggerManager.sendFinsMsg(writeBackStr);
+
+        //储存结果图
+        std::async(std::launch::async, &imgSaveThreadManager::saveRes, &_imgSaveThreadManager, data);
+
+        //删除 不再持有
+        detDataManager* dManager = data->dManager;
+        data->dManager->deleteDetData(data->timeCode);
+    }
 public slots:
 	void writeArmStartSignal(int productTypeIn, QString SN)
 	{
diff --git a/HanddleAI/HandleAiUi-new/front/pages/displayPageWidget.h b/HanddleAI/HandleAiUi-new/front/pages/displayPageWidget.h
index 2e156956..ef1111d2 100644
--- a/HanddleAI/HandleAiUi-new/front/pages/displayPageWidget.h
+++ b/HanddleAI/HandleAiUi-new/front/pages/displayPageWidget.h
@@ -20,7 +20,8 @@ public:
 	ImageWidgetManager _ImageWidgetManager;
 	summaryDataManager* _summaryDataManager;
 	historyShowListWidget* historyImgs = new historyShowListWidget();
-	uiModule_LocationMap* _uiModule_LocationMap = new uiModule_LocationMap();
+	uiModuleLocationMap* _uiModuleLocationMap = new uiModuleLocationMap();
+	LogWindow* log = new LogWindow();
 	displayWidget()
 	{
 		this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
@@ -46,12 +47,13 @@ public:
 		rightItemInit1();
 		rightItemInit2();
 		QObject::connect(historyImgs, &historyShowListWidget::itemClickSignal, this, &displayWidget::historyClick);
+
 		//historyImgs->addData(true, "D:/CCD/yuantu/2024-06-04/23H/TEST/1 (1).bmp", QPixmap("D:/CCD/yuantu/2024-06-04/23H/TEST/1 (1).bmp"));
 	}
 	void rightItemInit1()
 	{
 		QVBoxLayout* hLayout = new QVBoxLayout(rightWidget1);
-		hLayout->addWidget(_uiModule_LocationMap);
+		hLayout->addWidget(_uiModuleLocationMap);
 		hLayout->addWidget(historyImgs);
 	}
 	void rightItemInit2()
@@ -61,8 +63,8 @@ public:
 		hLayout->addWidget(_summaryDataManager->widget);
 		_switchProductWidget = new switchProductWidget();
 		hLayout->addWidget(_switchProductWidget);
-		LogWindow* log = new LogWindow();
 		hLayout->addWidget(log);
+		log->setStyleSheet("background-color: rgb(50,50,50);");
 	}
 	void leftItemInit()
 	{
@@ -89,6 +91,11 @@ public:
 		//leftWidget->setMaximumWidth(width / 1.2);
 		//rightWidget->setMaximumWidth(width / 2);
 	}
+public slots:
+	void recvMainWindowStdLogMsg(QString msg)
+	{
+		log->addLog(msg);
+	}
 private slots:
 	void historyClick(QString path)
 	{
@@ -97,6 +104,7 @@ private slots:
 		emit historyClickSignal(path);
 		emit changeStackWidget(3);
 	}
+
 signals:
 	void historyClickSignal(QString);
 	void changeStackWidget(int);
diff --git a/HanddleAI/HandleAiUi-new/logger/logService.hpp b/HanddleAI/HandleAiUi-new/logger/logService.hpp
index c779442f..807914ab 100644
--- a/HanddleAI/HandleAiUi-new/logger/logService.hpp
+++ b/HanddleAI/HandleAiUi-new/logger/logService.hpp
@@ -14,7 +14,12 @@ public:
 	{
 		emit qtLogSignal(QString::fromStdString(str));
 	}
+	void sendMainWindowStdLogSignal(std::string str)
+	{
+		emit mainWindowStdLogSignal(QString::fromStdString(str));
+	}
 signals:
+	void mainWindowStdLogSignal(QString logMsg);
 	void stdLogSignal(QString logMsg);
 	void qtLogSignal(QString logMsg);
 };
@@ -27,7 +32,7 @@ public:
 	logService()
 	{
 		//STD日志
-#if enableHideConsle 1
+
 		_stdConsoleRedirector = new stdConsoleRedirector(std::cout);
 
 		//STD日志储存到文件
@@ -39,7 +44,10 @@ public:
 		_stdConsoleRedirector->registerCallback([&](const std::string& output) {
 			_logToQtWidget.sendStdLogSignal(output);
 			});
-#endif
+		//STD日志到Qt主界面
+		_stdConsoleRedirector->registerCallback([&](const std::string& output) {
+			_logToQtWidget.sendMainWindowStdLogSignal(output);
+			});
 		//QT日志
 		LogMsg::Create(LogMsg::LogMsgType::DebugMsg, logBasePath);
 		qtLogCallbacks.push_back(([&](const std::string& output) {
diff --git a/HanddleAI/HandleAiUi-new/main.cpp b/HanddleAI/HandleAiUi-new/main.cpp
index 7c5eeb2a..ed3eae34 100644
--- a/HanddleAI/HandleAiUi-new/main.cpp
+++ b/HanddleAI/HandleAiUi-new/main.cpp
@@ -89,6 +89,8 @@ void connectSignalAndSlots(MainWindow* front, appCore* _core, detProcess* _detPr
         front->_logWidget, &logWidget::recvStdLogMsg);
     QObject::connect(&_core->_logService._logToQtWidget, &logToQtWidget::qtLogSignal,
         front->_logWidget, &logWidget::recvQtLogMsg);
+    QObject::connect(&_core->_logService._logToQtWidget, &logToQtWidget::mainWindowStdLogSignal,
+        front->_displayWidget, &displayWidget::recvMainWindowStdLogMsg);
 
     ///////////TEMP
     QObject::connect(&_core->_qtFunc, &qtFunction::addCtData, front, &MainWindow::addCtData);
@@ -101,8 +103,13 @@ void connectSignalAndSlots(MainWindow* front, appCore* _core, detProcess* _detPr
     QObject::connect(&_core->_qtFunc, &qtFunction::addHistoryDataSignal, front, &MainWindow::addDetHistoryData);
     QObject::connect(&_core->_qtFunc, &qtFunction::switchStartBtnStatusSignal,
         front->_displayWidget->_switchProductWidget, &switchProductWidget::switchStartBtnStatus);
-
-
+    QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleLocationMapResetToDefault,
+        front->_displayWidget->_uiModuleLocationMap, &uiModuleLocationMap::resetToDefault);
+    QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleLocationMapSetProductSignStatus,
+        front, &MainWindow::uiModuleLocationMapSetProductSignStatus);
+    QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleImageDoubleCheckQdialogShowWindows,
+        front, [=](QPixmap map) {front->_imageDoubleCheckQdialog->showAndSetImg(map); });
+    
     QObject::connect(&_detProcess->_manualDetThread, &manualDetThread::finishImgReadSignal,
         front->_manualDetWidget, &manualDetWidget::finishImgReadSlot);
 
diff --git a/HanddleAI/HandleAiUi-new/mainwindow.h b/HanddleAI/HandleAiUi-new/mainwindow.h
index fcb3aae6..d8ed0816 100644
--- a/HanddleAI/HandleAiUi-new/mainwindow.h
+++ b/HanddleAI/HandleAiUi-new/mainwindow.h
@@ -18,6 +18,7 @@
 #include <LoginWindow.h>
 #include <QPropertyAnimation>
 #include <loadingWidget.h>
+#include <uiModule/uiModule_imageDoubleCheckQdialog.h>
 
 #include <pages/displayPageWidget.h>
 #include <pages/configSettingWidget.h>
@@ -57,6 +58,8 @@ public:
     sqlControlWidget* _sqlControlWidget;
     manualDetWidget* _manualDetWidget;
     historyWidget* _historyWidget;
+    //浜哄伐澶嶅垽绐楀彛
+    imageDoubleCheckQdialog* _imageDoubleCheckQdialog = new imageDoubleCheckQdialog();
 private:
     Ui::MainWindow* ui;
     fbBridge* fbBridgePtr;
@@ -257,7 +260,10 @@ public slots:
         }
     }
     //void resetDashBoard();//reset dashBoard
-
+    void uiModuleLocationMapSetProductSignStatus(int pos, int status)
+    {
+        _displayWidget->_uiModuleLocationMap->setProductSignStatus(pos, status);
+    }
     //void addShowPerformanceWidgetData(int index, int timeCost);
     //void resetShowPerformanceWidget();
 signals:
diff --git a/HanddleAI/HandleAiUi-new/uiModule/components/fancyLogWindow.h b/HanddleAI/HandleAiUi-new/uiModule/components/fancyLogWindow.h
index 32ab2d9d..a8fb4936 100644
--- a/HanddleAI/HandleAiUi-new/uiModule/components/fancyLogWindow.h
+++ b/HanddleAI/HandleAiUi-new/uiModule/components/fancyLogWindow.h
@@ -16,10 +16,19 @@ public:
 
     // 添加日志信息
     void addLog(const QString& message) {
-        QString logMessage = QDateTime::currentDateTime().toString("[yyyy-MM-dd hh:mm:ss] ") + message;
-        logTextEdit->append(logMessage); // 追加文本到日志框
+        QString text = "<span style='color: yellow;'>" + getCurrentDate() + "</span> "
+            "<span style='color: yellow;'>" + getCurrentTime() + "</span> "
+            "<span style='color: white;'>" + message + "</span> ";
+        logTextEdit->append(text);
+    }
+    QString getCurrentTime() {
+        QTime currentTime = QTime::currentTime();
+        return currentTime.toString("HH:mm:ss.zzz");
+    }
+    QString getCurrentDate() {
+        QDate currentDate = QDate::currentDate();
+        return currentDate.toString("yyyy-MM-dd");
     }
-
 private:
     QTextEdit* logTextEdit;
 };
diff --git a/HanddleAI/HandleAiUi-new/uiModule/uiModule_LocationMap.h b/HanddleAI/HandleAiUi-new/uiModule/uiModule_LocationMap.h
index 7296241b..50e07555 100644
--- a/HanddleAI/HandleAiUi-new/uiModule/uiModule_LocationMap.h
+++ b/HanddleAI/HandleAiUi-new/uiModule/uiModule_LocationMap.h
@@ -26,15 +26,15 @@ public:
     }
     void setYellowBord()
     {
-        setBorder(Qt::yellow, 30);
+        setBorder(Qt::yellow, 20);
     }
     void setRedBord()
     {
-        setBorder(Qt::red, 30);
+        setBorder(Qt::red, 20);
     }
     void setGreenBord()
     {
-        setBorder(Qt::green, 30);
+        setBorder(Qt::green, 20);
     }
     void disableToggleVisibility()
     {
@@ -65,13 +65,13 @@ private:
         setBrush(QBrush(color));
     }
 };
-class uiModule_LocationMap :
+class uiModuleLocationMap :
     public QGraphicsView
 {
     Q_OBJECT
 public:
     QGraphicsScene* scene;
-    uiModule_LocationMap()
+    uiModuleLocationMap()
     {
         //scene = new QGraphicsScene();
         //this->setScene(scene);
@@ -98,13 +98,8 @@ public:
         QPixmap pixmap("F:/ciscoAoiUi/bin/imgPosTip/asr1006.png");
         setImg(pixmap);
         auto cData = _core._appConfig._switchProductWidgetDataPtr.getCurrentProductData();
-
-        std::vector<productSignStruct> r;
-        for (auto it = cData.productSign.begin(); it != cData.productSign.end(); it++)
-        {
-            r.push_back(it->second);
-        }
-        loadSignRects(r);
+        loadSignRects(cData.productSign);
+        resetToDefault();
     }
     void setImg(QPixmap pixmap)
     {
@@ -116,42 +111,58 @@ public:
         scene->clear();
         setEnabled(false);
     }
-    void loadSignRects(std::vector<productSignStruct>& rects)
+    void loadSignRects(std::unordered_map<int, productSignStruct>&rects)
     {
-        for (auto& rect : rects)
+        for (auto& data : rects)
         {
-            FlashingRectItem* _FlashingRectItem = new FlashingRectItem(0,0, rect.posRect.width, rect.posRect.height);
+            FlashingRectItem* _FlashingRectItem = new FlashingRectItem(0,0, data.second.posRect.width, data.second.posRect.height);
             _FlashingRectItem->enableToggleVisibility();
             //_FlashingRectItem->disableToggleVisibility();
             _FlashingRectItem->setYellowBord();
-            _FlashingRectItem->setPos(rect.posRect.x, rect.posRect.y); // 设置矩形的位置
+            _FlashingRectItem->setPos(data.second.posRect.x, data.second.posRect.y); // 设置矩形的位置
             scene->addItem(_FlashingRectItem);
-            flashItems.push_back(_FlashingRectItem);
+            flashItems.insert(std::make_pair(data.first,_FlashingRectItem));
         }
         
     }
-
 public slots:
+    void resetToDefault()
+    {
+        for (auto& item : flashItems)
+        {
+            item.second->setYellowBord();
+            item.second->disableToggleVisibility();
+        }
+    }
     void setProductSignStatus(int pos, int status)//设置产品示意图指定位置的状态
     {
-        if (flashItems.size() < pos)
+        auto item = flashItems.find(pos);
+        if (item == flashItems.end())
             return;
+        mutex.lock();
+
         switch (status)
         {
-        case 0:
-            flashItems[pos]->setGreenBord();
-            flashItems[pos]->disableToggleVisibility();
+        case 0://未检测
+            item->second->setYellowBord();
+            item->second->disableToggleVisibility();
             break;
-        case 1:
-            flashItems[pos]->setYellowBord();
-            flashItems[pos]->enableToggleVisibility();
+        case 1://正在检测
+            item->second->setYellowBord();
+            item->second->enableToggleVisibility();
             break;
-        case 2:
-            flashItems[pos]->setRedBord();
-            flashItems[pos]->disableToggleVisibility();
+        case 2://OK
+            item->second->setGreenBord();
+            item->second->disableToggleVisibility();
+            item->second->setVisible(true);
+            break;
+        case 3://NG
+            item->second->setRedBord();
+            item->second->disableToggleVisibility();
+            item->second->setVisible(true);
             break;
         }
-
+        mutex.unlock();
     }
 protected:
     virtual void keyPressEvent(QKeyEvent* event) override
@@ -207,7 +218,7 @@ protected:
         vBar->setValue(vBar->value() - delta.y());
     }
 private:
-    std::vector< FlashingRectItem*>flashItems;
+    std::unordered_map<int, FlashingRectItem*>flashItems;
     void showImg(QPixmap img)
     {
         mutex.lock();
diff --git a/HanddleAI/HandleAiUi-new/uiModule/uiModule_historyListWidget.h b/HanddleAI/HandleAiUi-new/uiModule/uiModule_historyListWidget.h
index 0e03ead6..77025c92 100644
--- a/HanddleAI/HandleAiUi-new/uiModule/uiModule_historyListWidget.h
+++ b/HanddleAI/HandleAiUi-new/uiModule/uiModule_historyListWidget.h
@@ -161,6 +161,7 @@ public slots:
 		showDataListWidget->setItemWidget(item, widget);
 		item->setSizeHint(widget->sizeHint());
 		widget->show();
+		showDataListWidget->scrollToBottom();
 	}
 	void reset()
 	{
diff --git a/HanddleAI/HandleAiUi-new/uiModule/uiModule_imageDoubleCheckQdialog.h b/HanddleAI/HandleAiUi-new/uiModule/uiModule_imageDoubleCheckQdialog.h
index ab76d9f6..9025dd05 100644
--- a/HanddleAI/HandleAiUi-new/uiModule/uiModule_imageDoubleCheckQdialog.h
+++ b/HanddleAI/HandleAiUi-new/uiModule/uiModule_imageDoubleCheckQdialog.h
@@ -17,7 +17,7 @@ public:
 	QPushButton* closeBtn = new QPushButton(this);
 	fancyButtonText* okBtn = new fancyButtonText(120, 40, "OK", "继续");
 	fancyButtonText* ngBtn = new fancyButtonText(120, 40, "NG", "继续");
-	imageDoubleCheckQdialog(QPixmap img)
+	imageDoubleCheckQdialog()
 	{
 		QPalette paletteWhite, paletteRed, paletteGreen;
 		paletteWhite.setColor(QPalette::WindowText, Qt::white);
@@ -87,7 +87,7 @@ public:
 
 		_ImageWidgetManager->createViewer("");
 		_ImageWidgetManager->disableAllSwitchBtn();
-		_ImageWidgetManager->showImg(img, imgWidgetShowType::imgWidgetOri, 0);
+		
 		QHBoxLayout* okngBtnLayout = new QHBoxLayout();
 		okngBtnLayout->addWidget(okBtn);
 		okngBtnLayout->addWidget(ngBtn);
@@ -101,6 +101,11 @@ public:
 		layout->addLayout(imageViewLayout, 1, 0);
 		layout->addLayout(okngBtnLayout, 2, 0);
 		this->setWindowFlags(this->windowFlags() | Qt::WindowStaysOnTopHint);
+		//this->show();
+	}
+	void showAndSetImg(QPixmap img)
+	{
+		_ImageWidgetManager->showImg(img, imgWidgetShowType::imgWidgetOri, 0);
 		this->show();
 	}
 signals:
diff --git a/HanddleAI/HandleAiUi-new/uiModule/uiModule_imageView.h b/HanddleAI/HandleAiUi-new/uiModule/uiModule_imageView.h
index ea75a756..bc612453 100644
--- a/HanddleAI/HandleAiUi-new/uiModule/uiModule_imageView.h
+++ b/HanddleAI/HandleAiUi-new/uiModule/uiModule_imageView.h
@@ -47,6 +47,8 @@ public:
             "background-repeat: no-repeat;"
             "background-position: center center;"
             "}");
+        rectGroup = new QGraphicsItemGroup();
+        scene->addItem(rectGroup);
         mutex.unlock();
     }
     void setImg(QPixmap pixmap)
@@ -59,6 +61,18 @@ public:
         setEnabled(false);
     }
 protected:
+    void deleteAllRect()
+    {
+        if (rectGroup == nullptr)
+            return;
+        QList<QGraphicsItem*> items = rectGroup->childItems();
+        for (QGraphicsItem* item : items) {
+            QGraphicsRectItem* rect = qgraphicsitem_cast<QGraphicsRectItem*>(item);
+            rectGroup->removeFromGroup(rect);
+            scene->removeItem(rect);    
+            delete rect;
+        }
+    }
     virtual void wheelEvent(QWheelEvent* event) override
     {
         if (scene->children().size()==0)
@@ -67,6 +81,7 @@ protected:
         if (!numDegrees.isNull()) {
             QPoint numSteps = numDegrees / 15;
             zoom(numSteps);
+            centerOn(currentPos);
         }
         event->accept();
     }
@@ -85,15 +100,35 @@ protected:
             event->accept();
             return;
         }
+        else if (event->button() == Qt::RightButton) {
+            startPos = mapToScene(event->pos());
+            rightClicked = true;
+            rectItem = new QGraphicsRectItem(QRectF(startPos, QSizeF(0, 0)));
+            rectItem->setPen(QPen(Qt::red, 10));
+            rectGroup->addToGroup(rectItem);
+            this->update();
+            return;
+        }
         event->ignore();
     }
     virtual void mouseMoveEvent(QMouseEvent* event) override
     {
+        currentPos = mapToScene(event->pos());
+        if (rightClicked == true)
+        {
+            QPointF endPos = currentPos;
+            // 计算矩形的宽度和高度
+            qreal width = endPos.x() - startPos.x();
+            qreal height = endPos.y() - startPos.y();26;
+            rectItem->setTransformOriginPoint(startPos);
+            rectItem->setRect(startPos.x(), startPos.y(), width, height);
+        }
         if (m_isPan) {
             pan(event->pos());
             event->accept();
             return;
         }
+
         event->ignore();
     }
     virtual void mouseReleaseEvent(QMouseEvent* event) override
@@ -103,6 +138,19 @@ protected:
             event->accept();
             return;
         }
+        else if (event->button() == Qt::RightButton) {
+            rightClicked = false;
+            deleteAllRect();
+            QPointF endPos = mapToScene(event->pos());
+            // 计算矩形的宽度和高度
+            qreal width = endPos.x() - startPos.x();
+            qreal height = endPos.y() - startPos.y(); 26;
+            auto rect = this->rect();
+            double scaleRate = std::max(rect.width() / width, rect.height() / height);
+            scale(scaleRate, scaleRate);
+            centerOn(startPos.x() + width / 2, startPos.y() + height / 2);
+            return;
+        }
         event->ignore();
     }
     void zoom(QPoint factor)
@@ -150,6 +198,11 @@ protected:
         vBar->setValue(vBar->value() - delta.y());
     }
 private:
+    bool rightClicked = false;
+    QPointF currentPos;
+    QPointF startPos;
+    QGraphicsItemGroup* rectGroup;
+    QGraphicsRectItem* rectItem;
     void showImg(QPixmap img)
     {
         mutex.lock();
@@ -168,7 +221,6 @@ private:
     bool m_isPan;
     QPoint m_prevPan;
     QLabel* imgLabel;
-    QGraphicsItemGroup* rectGroup = nullptr;
     int imageWidth = 1; int imageHeight = 1;
     QMutex mutex;
 };
diff --git a/HanddleAI/HandleAiUi-new/uiModule/uiModule_switchProduct.h b/HanddleAI/HandleAiUi-new/uiModule/uiModule_switchProduct.h
index 8adfbe1f..265db182 100644
--- a/HanddleAI/HandleAiUi-new/uiModule/uiModule_switchProduct.h
+++ b/HanddleAI/HandleAiUi-new/uiModule/uiModule_switchProduct.h
@@ -81,6 +81,7 @@ public:
 		connect(startBtn, &QPushButton::clicked, this, [=]() 
 			{
 				emit startArmProgramSignal(productSelect->currentIndex(), snIntputLine->text());
+				std::cout << "按下按钮" << std::endl;
 			});
 		connect(switchBtn, &QPushButton::clicked, this, &switchProductWidget::startSwitch);
 		connect(productSelect, &QComboBox::currentTextChanged, this, &switchProductWidget::currentProductSwitch);
@@ -132,12 +133,14 @@ public slots:
 			startBtn->toDefault();
 			startBtn->setText("运行");
 			snIntputLine->setDisabled(false);
+			std::cout << "按下软件运行" << std::endl;
 		}
 		else
 		{
 			startBtn->toRed();
 			startBtn->setText("急停");
 			snIntputLine->setDisabled(true);
+			std::cout << "按下软件急停" << std::endl;
 		}
 	}
 signals:
diff --git a/lib/Hd_3DCameraLMI_module_PointLazer.exp b/lib/Hd_3DCameraLMI_module_PointLazer.exp
index b70953a7..7b720215 100644
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diff --git a/lib/Hd_3DCameraLMI_module_PointLazer.lib b/lib/Hd_3DCameraLMI_module_PointLazer.lib
index b506c2ad..36c75b14 100644
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diff --git a/lib/Hd_DalsaCamera_module.exp b/lib/Hd_DalsaCamera_module.exp
index 9c60276f..0977e762 100644
Binary files a/lib/Hd_DalsaCamera_module.exp and b/lib/Hd_DalsaCamera_module.exp differ
diff --git a/lib/Hd_DalsaCamera_module.lib b/lib/Hd_DalsaCamera_module.lib
index c271a24e..cc2d36e5 100644
Binary files a/lib/Hd_DalsaCamera_module.lib and b/lib/Hd_DalsaCamera_module.lib differ
diff --git a/lib/Hd_FinsTcp_module.exp b/lib/Hd_FinsTcp_module.exp
index 2ba9e5fa..88f19b22 100644
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diff --git a/lib/Hd_FinsTcp_module.lib b/lib/Hd_FinsTcp_module.lib
index e7784b3e..a50e177e 100644
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diff --git a/lib/Hd_MvCamera_module_GENTL.exp b/lib/Hd_MvCamera_module_GENTL.exp
index 5b9c4dde..acaaa572 100644
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diff --git a/lib/Hd_MvCamera_module_GENTL.lib b/lib/Hd_MvCamera_module_GENTL.lib
index 4010f0a3..a65c613a 100644
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diff --git a/lib/Hd_MvCamera_module_GIGE.exp b/lib/Hd_MvCamera_module_GIGE.exp
index f1841164..e8768971 100644
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diff --git a/lib/Hd_MvCamera_module_GIGE.lib b/lib/Hd_MvCamera_module_GIGE.lib
index 110ae8d7..b1396b9b 100644
Binary files a/lib/Hd_MvCamera_module_GIGE.lib and b/lib/Hd_MvCamera_module_GIGE.lib differ
diff --git a/lib/Hd_ResultsSummary_module.exp b/lib/Hd_ResultsSummary_module.exp
index 4426c915..6487150c 100644
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diff --git a/lib/Hd_ResultsSummary_module.lib b/lib/Hd_ResultsSummary_module.lib
index 8baafc1c..a61fbd40 100644
Binary files a/lib/Hd_ResultsSummary_module.lib and b/lib/Hd_ResultsSummary_module.lib differ
diff --git a/lib/Hd_SocketModule_ModbusTcp.exp b/lib/Hd_SocketModule_ModbusTcp.exp
index e9596cc0..580107ff 100644
Binary files a/lib/Hd_SocketModule_ModbusTcp.exp and b/lib/Hd_SocketModule_ModbusTcp.exp differ
diff --git a/lib/Hd_SocketModule_ModbusTcp.lib b/lib/Hd_SocketModule_ModbusTcp.lib
index b3ff8f19..5ec47732 100644
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diff --git a/testSet/ASRonce/Camera1_Pos10_14-24-38-05_Count0.jpg b/testSet/ASRonce/Camera1_Pos10_14-24-38-05_Count0.jpg
new file mode 100644
index 00000000..ac017436
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diff --git a/testSet/ASRonce/Camera1_Pos11_14-24-44-52_Count0.jpg b/testSet/ASRonce/Camera1_Pos11_14-24-44-52_Count0.jpg
new file mode 100644
index 00000000..78dc38af
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diff --git a/testSet/ASRonce/Camera1_Pos12_14-24-48-25_Count0.jpg b/testSet/ASRonce/Camera1_Pos12_14-24-48-25_Count0.jpg
new file mode 100644
index 00000000..e2a2d9d7
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diff --git a/testSet/ASRonce/Camera1_Pos1_11-44-51-01_Count0.jpg b/testSet/ASRonce/Camera1_Pos1_11-44-51-01_Count0.jpg
new file mode 100644
index 00000000..7b9590e2
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diff --git a/testSet/ASRonce/Camera1_Pos2_11-45-43-03_Count0.jpg b/testSet/ASRonce/Camera1_Pos2_11-45-43-03_Count0.jpg
new file mode 100644
index 00000000..db1a8d25
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diff --git a/testSet/ASRonce/Camera1_Pos3_11-45-56-60_Count0.jpg b/testSet/ASRonce/Camera1_Pos3_11-45-56-60_Count0.jpg
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index 00000000..b3cfa0c3
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diff --git a/testSet/ASRonce/Camera1_Pos4_11-46-00-58_Count0.jpg b/testSet/ASRonce/Camera1_Pos4_11-46-00-58_Count0.jpg
new file mode 100644
index 00000000..23dabff2
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diff --git a/testSet/ASRonce/Camera1_Pos5_11-46-04-49_Count0.jpg b/testSet/ASRonce/Camera1_Pos5_11-46-04-49_Count0.jpg
new file mode 100644
index 00000000..d0dcc2db
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diff --git a/testSet/ASRonce/Camera1_Pos6_11-46-08-60_Count0.jpg b/testSet/ASRonce/Camera1_Pos6_11-46-08-60_Count0.jpg
new file mode 100644
index 00000000..df3fe09d
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index 00000000..bc0654d5
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new file mode 100644
index 00000000..5eb11acb
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