优化相机模块，优化rpc模块

subModule/Hd_CameraModule_HIK_soft_GIGE/Hd_CameraModule_HIK_soft_GIGE.cpp

@@ -2,6 +2,11 @@
 #include <QDebug>
 using namespace  std;
 #include <QTextCodec>
+#include <thread>
+#include <atomic>
+#include <chrono>
+#include <mutex>
+
 QByteArray mv_Status = "connected";//0106 新增相机断联报警
 long long index = 0;     //相机序号
 void* handle;
@@ -9,6 +14,8 @@ string Username = "";
 bool m_flag = false;
 //MV_CC_DEVICE_INFO_LIST m_stDevList;//相机设备
 bool moduleStatus = true;
+static std::atomic<bool> g_reconnecting(false);
+static std::mutex g_reconnect_mutex;
 QQueue<cv::Mat> queuepic;
 //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;
@@ -168,29 +175,67 @@ void SetGain(float GainValue)
     MV_CC_SetFloatValue(handle, "Gain", GainValue);
 }
 
+//关闭设备
+void CloseDevice()
+{
+    // 如果 handle 已经为空，直接返回
+    if (handle == nullptr)
+        return;
+
+    // 使用 SDK 正确的停止/关闭/销毁流程，避免在回调或其他线程中出错
+    MV_CC_StopGrabbing(handle);
+    MV_CC_CloseDevice(handle);
+    MV_CC_DestroyHandle(handle);
+    handle = nullptr; //确保后续可以重新创建 handle
+}
+
 //0518 断线重连
 void __stdcall ReconnectDevice(unsigned int nMsgType, void* pUser)
 {
     mv_Status = "disconnect";
     qDebug() << "[Error] " << " MV camera disconnects!";
     moduleStatus = false;
+
     if (nMsgType == MV_EXCEPTION_DEV_DISCONNECT)
     {
-        //断开连接
-        CloseDevice();
-        handle = nullptr;
-        BOOL bConnected = FALSE;
-        while (1)
+        // 如果已有重连线程在运行，则直接返回
+        bool expected = false;
+        if (!g_reconnecting.compare_exchange_strong(expected, true))
         {
-            Sleep(100);
-            if (connectDevice() == true)
-            {
-                qWarning() << "[Hd_CameraModule_HIK] " << "  Hd_CameraModule_HIK create success again! ";
-                moduleStatus = true;
-                break;
-            }
-
+            qDebug() << "[Info] reconnect already in progress";
+            return;
         }
+
+        // 启动后台线程负责重连，避免在回调线程中长时间阻塞
+        std::thread([]() {
+            qDebug() << "[Info] start reconnect thread";
+
+            // 确保设备资源关闭
+            CloseDevice();
+
+            int attempt = 0;
+            int delay_ms = 500; // 初始延迟
+            while (true)
+            {
+                attempt++;
+                qDebug() << "[Info] reconnect attempt:" << attempt;
+                if (connectDevice())
+                {
+                    qWarning() << "[Hd_CameraModule_HIK] reconnect success!";
+                    moduleStatus = true;
+                    mv_Status = "connected";
+                    g_reconnecting = false;
+                    break;
+                }
+
+                // 指数退避，最大 5000ms
+                std::this_thread::sleep_for(std::chrono::milliseconds(delay_ms));
+                delay_ms = delay_ms * 2;
+                if (delay_ms > 5000) delay_ms = 5000;
+
+                // 在某些场景可能希望退出重连（例如程序关闭），如果未来需要可增加退出条件
+            }
+        }).detach();
     }
 }
 
@@ -308,14 +353,6 @@ Hd_CameraModule_HIK_hard_PCIE::Hd_CameraModule_HIK_hard_PCIE()
     //m_thread = new MyThread;
     //m_mutex = new QMutex();
 }
-//关闭设备
-void CloseDevice()
-{
-    MV_CC_StopGrabbing(handle);
-    MV_CC_CloseDevice(handle);
-    MV_CC_DestroyHandle(handle);
-    handle = nullptr; //此处注释掉的话，软件断开再连接，回调函数不出图
-}
 Hd_CameraModule_HIK_hard_PCIE::~Hd_CameraModule_HIK_hard_PCIE()
 {
     CloseDevice();
@@ -487,20 +524,8 @@ bool Hd_CameraModule_HIK_hard_PCIE::run()
     {
         m_flag = false;
         int mytime = 0;
-        if (imgShouldGetIndex < imgShouldGetVec.size()) {
-            if (imgShouldGetVec[imgShouldGetIndex] == 0) {
-                n_mutex->lock();
-                queuepic.push_back(cv::Mat(200, 200, CV_8UC3, cv::Scalar(0, 0, 255))); //返回空图
-                std::cout << "red" << std::endl;
-                n_mutex->unlock();
-                imgShouldGetIndex++;
-                return true;
-            }
-            else
-                MV_CC_SetCommandValue(handle, "TriggerSoftware");
-            imgShouldGetIndex++;
-        }
         int cnt = 0;
+        MV_CC_SetCommandValue(handle, "TriggerSoftware");
         while (true)
         {
        /*     if (moduleStatus == false || mytime++ > getImageTimeOut || ifBreak == true)
@@ -517,14 +542,14 @@ bool Hd_CameraModule_HIK_hard_PCIE::run()
                 std::cout << "\n gotImg" << std::endl;
                 break;
             }
-            if (cnt > 25000) {
+            if (cnt > 120) {
                 queuepic.push_back(cv::Mat(250, 250, CV_8UC3, cv::Scalar(0, 255, 0))); //返回空图
                 std::cout << "timeout" << std::endl;
                 n_mutex->unlock();
                 return true;
             }
             n_mutex->unlock();
-            QThread::msleep(1);
+            QThread::msleep(10);
         }
         //考虑到误触发、漏触发的图，在这里进行设置。
         //需要设置曝光时