From 1b7451ba07f882b5fe55bfd2ab7c5d19cf3313d3 Mon Sep 17 00:00:00 2001
From: RCi <15089880081@163.com>
Date: Tue, 14 Oct 2025 01:27:20 +0800
Subject: [PATCH] =?UTF-8?q?=E6=8E=92=E9=9A=9C=E5=A2=9E=E5=8A=A0=E5=85=A8?=
 =?UTF-8?q?=E9=83=A8=E8=A7=A6=E5=8F=91=E4=BB=A5=E5=8F=8A=E5=85=A8=E9=83=A8?=
 =?UTF-8?q?=E6=B8=85=E9=9B=B6=E6=8C=89=E9=92=AE=E3=80=82=20=E4=BF=AE?=
 =?UTF-8?q?=E6=94=B9=E4=B8=89=E5=8D=8F=E5=A4=B4=E6=96=87=E4=BB=B6=E4=BC=A0?=
 =?UTF-8?q?=E5=8F=82=E7=B1=BB=E5=9E=8B=E3=80=82=20=E4=BC=98=E5=8C=96?=
 =?UTF-8?q?=E5=AD=98=E5=9B=BE=E6=89=93=E5=8D=B0=E6=97=A5=E5=BF=97=E6=95=B0?=
 =?UTF-8?q?=E9=87=8F=E3=80=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 include/sxGlobal.h                            |  10 +-
 src/Core/back/imgSaveThreadManager.h          | 200 ++++++-----
 src/Core/back/triggerManager.cpp              |   2 +-
 src/core/back/CLIManager.h                    |  72 +++-
 .../581_YuHan_hanhou/581_YuHan_hanhou.cpp     |   5 +-
 .../581_YuHan_hanhou/581_YuHan_hanhou.h       |  73 ++---
 .../581_YuHan_hanqian/581_YuHan_hanqian.h     |  16 +-
 .../581_ZhongHan_hanhou.cpp                   |   8 +
 .../581_ZhongHan_hanhou/581_ZhongHan_hanhou.h | 189 +++++++++++
 .../581_ZhongHan_hanhou/CMakeLists.txt        |  78 +++++
 .../581_ZhongHan_hanqian.cpp                  |   8 +
 .../581_ZhongHan_hanqian.h                    | 310 ++++++++++++++++++
 .../581_ZhongHan_hanqian/CMakeLists.txt       |  78 +++++
 .../Hd_VirtualCamera/Hd_VirtualCamera.cpp     |   2 +-
 14 files changed, 896 insertions(+), 155 deletions(-)
 create mode 100644 src/mission/581_ZhongHan_hanhou/581_ZhongHan_hanhou.cpp
 create mode 100644 src/mission/581_ZhongHan_hanhou/581_ZhongHan_hanhou.h
 create mode 100644 src/mission/581_ZhongHan_hanhou/CMakeLists.txt
 create mode 100644 src/mission/581_ZhongHan_hanqian/581_ZhongHan_hanqian.cpp
 create mode 100644 src/mission/581_ZhongHan_hanqian/581_ZhongHan_hanqian.h
 create mode 100644 src/mission/581_ZhongHan_hanqian/CMakeLists.txt

diff --git a/include/sxGlobal.h b/include/sxGlobal.h
index 5a3c7d4..d57c51c 100644
--- a/include/sxGlobal.h
+++ b/include/sxGlobal.h
@@ -25,7 +25,7 @@
 struct sx_581_address {
     int triggerAddr = -1;
     int triggerValue = -1;
-    int snAddr = -1;
+    int snAddr;
     QByteArray completeAddr = "-1";
     QByteArray resultAddr = "-1";
     int valueOffsetAddr = -1;
@@ -83,7 +83,7 @@ template <typename paramTemplte>
 //例触发地址有4个，输入信号为 1 0 0 1 则按顺序触发1和4的地址拍照检测，2和3不做处理
 class _581_SX_Single_triggerTemplate {
 public:
-    paramTemplte _detParams;
+    paramTemplte* _detParams;
     detCallbackChain<paramTemplte, sx_581_address>* generalDet;
     std::string cameraName;
     QString viewerName;
@@ -102,7 +102,7 @@ public:
     /// <param name="_processAlgoCallback">算法函数</param>
     /// <param name="resultHandlerIn"></param>
     void init(std::string cameraNameIn, QString viewerNameIN, std::vector<sx_581_address> addressIN, int oneTriggerCaptrueTimes,
-        paramTemplte& detParamsIn, ServiceManager* _serviceManagerIn, qtFuncBridge* bridgeIn,
+        paramTemplte* detParamsIn, ServiceManager* _serviceManagerIn, qtFuncBridge* bridgeIn,
         typename detCallbackChain<paramTemplte, sx_581_address>::processAlgoCallback _processAlgoCallback,
         QString saveObjectNameIN = "") {
         viewerName = viewerNameIN;
@@ -112,12 +112,12 @@ public:
         bridge = bridgeIn;
         address = addressIN;
         saveObjectName = saveObjectNameIN;
-        generalDet = new detCallbackChain<paramTemplte, sx_581_address>(_serviceManager, &_detParams, bridge);
+        generalDet = new detCallbackChain<paramTemplte, sx_581_address>(_serviceManager, _detParams, bridge);
         generalDet->registerProcessAlgoCallback(_processAlgoCallback);
         //单次触发器条件
         for (int i = 0; i < addressIN.size(); i++) {
             //注册单触发器 触发地址置1时触发
-            _serviceManager->_triggerManager->registerCallback(address[i].triggerAddr, 1, [this, i](int triggerPos, int triggerValue, QByteArray& byteArray) {
+            _serviceManager->_triggerManager->registerCallback(address[i].triggerAddr, address[i].triggerValue, [this, i](int triggerPos, int triggerValue, QByteArray& byteArray) {
                 evaluate(i, byteArray);}, "");
         }
         
diff --git a/src/Core/back/imgSaveThreadManager.h b/src/Core/back/imgSaveThreadManager.h
index 47d08ef..a882cff 100644
--- a/src/Core/back/imgSaveThreadManager.h
+++ b/src/Core/back/imgSaveThreadManager.h
@@ -5,109 +5,99 @@
 #include <backStruct.h>
 #include <detData.h>
 
-enum imgSaveThreadType
-{
+enum imgSaveThreadType {
 	oriImg,
 	resImg,
 	segImg,
 	clsImg,
 	tiffOriImg
 };
-class imgSaveThread : public QThread
-{
+struct saveJob {
+	saveJob(std::string jobNameIn) :jobName(jobNameIn) {}
+	std::string jobName;
+	QQueue<std::pair<std::string, cv::Mat>> imgQueue;
+};
+class imgSaveThread : public QThread {
+
 public:
-	enum type{
+	enum type {
 		normal,
 		priority
 	};
 	QMutex mutex;
-	std::vector<int> compressionParams{ cv::IMWRITE_PNG_COMPRESSION ,9};
-	QQueue<std::pair<std::string, cv::Mat>>priorityQueue;
-	QQueue<std::pair<std::string, cv::Mat>>imgQueue;
-	void run()
-	{
-		while (true)
-		{
-			QQueue<std::pair<std::string, cv::Mat>> localQueue;
+	std::vector<int> compressionParams{ cv::IMWRITE_PNG_COMPRESSION ,9 };
+	QQueue< std::shared_ptr<saveJob>>priorityQueue;
+	QQueue< std::shared_ptr<saveJob>>defaultQueue;
+	int imgRemainCount = 0;
+	void run() {
 
+		while (true) {
+			QQueue<std::pair<std::string, cv::Mat>> localQueue;
+			std::shared_ptr<saveJob> job = nullptr;
 			// 优先处理 priorityQueue
 			{
 				QMutexLocker locker(&mutex);
 				if (!priorityQueue.isEmpty()) {
-					localQueue.swap(priorityQueue);
+					job = priorityQueue.dequeue();
 				}
-				else if (!imgQueue.isEmpty()) {
-					localQueue.swap(imgQueue);
+				else if (!defaultQueue.isEmpty()) {
+					job = defaultQueue.dequeue();
 				}
 			}
 
 			// 没有任务就跳出
-			if (localQueue.isEmpty()) {
+			if (job == nullptr) {
 				break;
 			}
 
+			qDebug() << "saveJob start" << QString::fromStdString(job->jobName) << "remain" << imgRemainCount;
+			localQueue.swap(job->imgQueue);
+			imgRemainCount -= job->imgQueue.size();
 			// 批量保存
 			while (!localQueue.isEmpty()) {
 				auto data = std::move(localQueue.dequeue());
-				qDebug() << "saving img " << QString::fromStdString(data.first);
 #if saveImgEnable
 				cv::imwrite(data.first, data.second);
 #endif
-				
 			}
+
+			qDebug() << "saveJob end " << QString::fromStdString(job->jobName);
 		}
 	}
 
-	void addData(std::string str, cv::Mat& mat,type type_ = normal)
-	{
-		try
-		{
-			if (mat.data == nullptr || &mat == nullptr)
-			{
-				qDebug() << "在存图线程中发现无效图像";
-				return;
-			}
-		}
-		catch(...)
-		{
-			qDebug() << "在存图线程中发现无效图像";
-			return;
-			}
-		mutex.lock();
-		cv::Mat img;
-		mat.copyTo(img);
+	void addJob(std::shared_ptr<saveJob> job, type type_ = normal) {
+
+		QMutexLocker locker(&mutex);
 		switch (type_) {
 		case normal:
-			imgQueue.append(std::make_pair(str, img));
+			defaultQueue.append(job);
 			break;
 		case priority:
-			priorityQueue.append(std::make_pair(str, img));
+			priorityQueue.append(job);
 			break;
 		}
-		qDebug() << "img enqueue" << QString::fromStdString(str)<<"current size"<< priorityQueue.size()<<","<< imgQueue.size();
-		mutex.unlock();
+		imgRemainCount += job->imgQueue.size();
+		qDebug() << "savejob enqueue" << QString::fromStdString(job->jobName) << "queue size" << priorityQueue.size() << "|" << defaultQueue.size() << " imgRemain" << imgRemainCount;
 		this->start();
 	}
-	int queueSize()
-	{
-		mutex.lock();
-		int size = imgQueue.size();
-		mutex.unlock();
+
+	int queueSize() {
+		QMutexLocker locker(&mutex);
+		int size = defaultQueue.size();
 		return size;
 	}
 };
-class imgSaveThreadManager
-{
+class imgSaveThreadManager {
 public:
 	imgSaveThreadManager(std::string pathIn) {
 		path = QString::fromStdString(pathIn);
 	}
 	~imgSaveThreadManager() {};
-	void setPath(QString pathIn){
+	void setPath(QString pathIn) {
 		path = pathIn;
 	}
 	imgSaveThread saveThread;
-	QString genDirName(std::shared_ptr<detData> data, imgSaveThreadType type, saveMode mode){
+	QString genDirName(std::shared_ptr<detData> data, imgSaveThreadType type, saveMode mode) {
 		// 一级目录（根路径）
 		const QString basePath = path;
 
@@ -137,18 +127,18 @@ public:
 		// 拼接路径
 		QDir dir(basePath);
 		dir = QDir(dir.filePath(imgTypeDir));
-		if (data->saveObjectName != "") 
+		if (data->saveObjectName != "")
 			dir = QDir(dir.filePath(data->saveObjectName));
 		dir = QDir(dir.filePath(dateDir));
 		dir = QDir(dir.filePath(hourDir));
 		dir = QDir(dir.filePath(resultDir));
-		if (mode != oneFile) 
+		if (mode != oneFile)
 			dir = QDir(dir.filePath(detailName));
 		return dir.path() + "/";
 	}
 
-	std::vector<std::string> genFileNames(std::shared_ptr <detData> data, imgSaveThreadType type, std::string format = "")
-	{
+	std::vector<std::string> genFileNames(std::shared_ptr <detData> data, imgSaveThreadType type, std::string format = "") {
+
 		std::vector<std::string> resultFileNames;
 		std::string fileName;
 		if (data->SNcode.length() != 0 && data->SNcode.length() < 50)
@@ -162,7 +152,7 @@ public:
 		case oriImg:
 			for (int i = 0; i < data->oriImgs.size(); i++)
 			{
-				if (i < data->oriFormat.size() )
+				if (i < data->oriFormat.size())
 					resultFileNames.push_back(fileName + getCurrentDateTime() + "_Count" + std::to_string(i) + "." + data->oriFormat[i]);
 				else
 					resultFileNames.push_back(fileName + getCurrentDateTime() + "_Count" + std::to_string(i) + ".bmp");
@@ -183,36 +173,84 @@ public:
 		}
 		return resultFileNames;
 	}
+	void packageData(QQueue<std::pair<std::string, cv::Mat>>& jobQueue, std::vector<std::string> fileNames, std::vector<cv::Mat>& mats) {
+		if (fileNames.size() != mats.size())
+			qWarning() << "检测到存图文件名数量与图片数量不符";
 
-	void saveOri(std::shared_ptr <detData> data) {	
-		QString fileSavePath = genDirName(data, oriImg, data->_saveMode);//获取文件夹名
-		createDirectoryIfNotExists(fileSavePath);//不存在此文件夹则创建
-		std::vector<std::string>fileNames = genFileNames(data, oriImg);
+		for (int index = 0; index < fileNames.size() && index < mats.size(); index++) {
+			try {
 
-		for (int index = 0; index < fileNames.size(); index++)
-			saveThread.addData(fileSavePath.toLocal8Bit().toStdString() + fileNames[index], data->oriImgs[index]);
-		int queueSize = saveThread.queueSize();
-		if (queueSize > 10)
-			qDebug() << "queueSize " << queueSize;
+				if (mats[index].data == nullptr || &mats[index] == nullptr) {
+					qDebug() << "在存图线程中发现无效图像";
+					continue;
+				}
+			}
+			catch (...) {
+				qDebug() << "在存图线程中发现无效图像";
+				continue;
+			}
+
+			cv::Mat img;
+			mats[index].copyTo(img);
+			jobQueue.enqueue(std::make_pair(fileNames[index], img));
+		}
 	}
-	void saveRes(std::shared_ptr <detData> data){
-		QString fileSavePath = genDirName(data, resImg,data->_saveMode);//获取文件夹名
+	void packageData(QQueue<std::pair<std::string, cv::Mat>>& jobQueue, std::vector<std::string> fileNames, std::vector<std::pair<std::string, cv::Mat>>& mats) {
+		if (fileNames.size() != mats.size())
+			qWarning() << "检测到存图文件名数量与图片数量不符";
+
+		for (int index = 0; index < fileNames.size() && index < mats.size(); index++) {
+			try {
+
+				if (mats[index].second.data == nullptr || &mats[index].second == nullptr) {
+					qDebug() << "在存图线程中发现无效图像";
+					continue;
+				}
+			}
+			catch (...) {
+				qDebug() << "在存图线程中发现无效图像";
+				continue;
+			}
+
+			cv::Mat img;
+			mats[index].second.copyTo(img);
+			jobQueue.enqueue(std::make_pair(fileNames[index], img));
+		}
+
+	}
+	void saveOri(std::shared_ptr <detData> data) {
+
+		if (data->oriImgs.size() != 0) {
+
+			QString fileSavePath = genDirName(data, oriImg, data->_saveMode);//获取文件夹名
+			createDirectoryIfNotExists(fileSavePath);//不存在此文件夹则创建
+			std::vector<std::string>fileNames = genFileNames(data, oriImg);//按规则为文件创建命名
+			std::shared_ptr<saveJob> job (new saveJob("[ORI_JOB]+ data->SNcode"));
+			packageData(job->imgQueue, fileNames, data->oriImgs);//打包数据
+			saveThread.addJob(job);
+		}
+	}
+	void saveRes(std::shared_ptr <detData> data) {
+
+		QString fileSavePath = genDirName(data, resImg, data->_saveMode);//获取文件夹名
 		createDirectoryIfNotExists(fileSavePath);//不存在此文件夹则创建
+		std::shared_ptr<saveJob> job(new saveJob("[RES_JOB]"+ data->SNcode));
 		//结果图保存
-		std::vector<std::string>resFileNames = genFileNames(data, resImg);
-		for (int index = 0; index < resFileNames.size(); index++)
-			saveThread.addData(fileSavePath.toLocal8Bit().toStdString() + resFileNames[index], data->resultImgs[index], imgSaveThread::priority);
-		
-		//seg
-		std::vector<std::string>segFileNames = genFileNames(data, segImg);
-		for (int index = 0; index < segFileNames.size(); index++)
-			saveThread.addData(fileSavePath.toLocal8Bit().toStdString() + segFileNames[index], data->segOriginImgs[index]);
-
-		//cls
-		std::vector<std::string>clsFileNames = genFileNames(data, clsImg);
-		for (int index = 0; index < clsFileNames.size(); index++)
-			saveThread.addData(fileSavePath.toLocal8Bit().toStdString() + clsFileNames[index], data->clsOriginImgs[index].second);
-
+		if (data->resultImgs.size() != 0) {
+			std::vector<std::string>fileNames = genFileNames(data, resImg);//按规则为文件创建命名
+			packageData(job->imgQueue, fileNames, data->resultImgs);//打包数据
+		}
+		//SEG原图
+		if (data->segOriginImgs.size() != 0) {
+			std::vector<std::string>fileNames = genFileNames(data, segImg);//按规则为文件创建命名
+			packageData(job->imgQueue, fileNames, data->segOriginImgs);//打包数据
+		}
+		//CLS原图
+		if (data->clsOriginImgs.size() != 0) {
+			std::vector<std::string>fileNames = genFileNames(data, clsImg);//按规则为文件创建命名
+			packageData(job->imgQueue, fileNames, data->clsOriginImgs);//打包数据
+		}
+		saveThread.addJob(job, imgSaveThread::priority);
 		//额外储存NG文件夹
 		//std::string additionalSaveNgImgPath = genDirName(data, additionalSaveNgImg);
 		//std::vector<std::string>additionalSaveNgImgNames = genFileNames(data, additionalSaveNgImg);
@@ -237,7 +275,7 @@ public:
 	}
 private:
 	QString path = "";
-	
+
 };
 
 #pragma once
\ No newline at end of file
diff --git a/src/Core/back/triggerManager.cpp b/src/Core/back/triggerManager.cpp
index 28ac239..f117204 100644
--- a/src/Core/back/triggerManager.cpp
+++ b/src/Core/back/triggerManager.cpp
@@ -79,7 +79,7 @@ bool triggerManager::connectHost(){
             initFailure = trigger->initParas(QByteArray());
 #endif
       
-            emit bridge->loadingWindow_appendInitLog(triggerFileName + "连接到" + IpAndPort,QColor("white"));
+            emit bridge->loadingWindow_appendInitLog(triggerFileName + "连接到" + IpAndPort,"white");
             
         }
 
diff --git a/src/core/back/CLIManager.h b/src/core/back/CLIManager.h
index 8e8254d..e2db966 100644
--- a/src/core/back/CLIManager.h
+++ b/src/core/back/CLIManager.h
@@ -54,22 +54,24 @@ public:
 
 	}
 	void initBasicPreset(mission* _missionIn) {
+		//初始化单触发测试按钮
 		for (auto& data : _serviceManager->_triggerManager->triggerCallbackFuncs) {
 			for (auto& callbacks : data.second) {
 				if (callbacks.funcName.find(avoid) != std::string::npos) {
 					continue;
 				}
 				QString uuid = QUuid::createUuid().toString();;
-				auto commands = basicTriggerPresetGenerate(callbacks.triggerAddress);
+				auto commands = basicTriggerPresetGenerate(callbacks.triggerAddress, callbacks.triggerValue);
 				QString tips;
 				for(auto& cmd : commands) {
 					tips += cmd + "\n";
 				}	
 				emit bridge->runCommand_addBtn(
-					QString::fromStdString(callbacks.funcName),tips,uuid);
+					QString::fromStdString(callbacks.funcName + "_" + std::to_string(callbacks.triggerAddress) + "_" + std::to_string(callbacks.triggerValue)), tips, uuid);
 				presets[uuid] = commands;
 			}
 		}
+		//初始化联合触发测试按钮
 		for (auto& data : _serviceManager->_triggerManager->unionTriggerCallbackFuncs) {
 			for (auto& callbacks : data.second) {
 				if (callbacks.funcName.find(avoid) != std::string::npos) {
@@ -86,19 +88,65 @@ public:
 				presets[uuid] = commands;
 			}
 		}
-		
-		QString uuid = QUuid::createUuid().toString();;
-		QStringList commands = { "reloadConfig" };
-		QString tips = "reloadConfig";
-		emit bridge->runCommand_addBtn(
-			QString::fromStdString("重新加载算法文件"), tips, uuid);
-		presets[uuid] = commands;
-		_mission = _missionIn;
+		//初始化重新加载配置文件按钮
+		{
+			QString uuid = QUuid::createUuid().toString();;
+			QStringList commands = { "reloadConfig" };
+			QString tips = "reloadConfig";
+			emit bridge->runCommand_addBtn(
+				QString::fromStdString("重新加载算法文件"), tips, uuid);
+			presets[uuid] = commands;
+			_mission = _missionIn;
+		}
+		//初始化全触发按钮
+		{
+			QStringList commands;
+			QString tips;
+			QStringList setZeroCommands;
+			QString setZeroTips;
+			for (auto& data : _serviceManager->_triggerManager->triggerCallbackFuncs) {
+				for (auto& callbacks : data.second) {
+					if (callbacks.funcName.find(avoid) != std::string::npos) {
+						continue;
+					}
+					commands.append("fins#write_short_D" + QString::number(callbacks.triggerAddress) + "_" + QString::number(callbacks.triggerValue));
+					tips += "fins#write_short_D" + QString::number(callbacks.triggerAddress) + "_" + QString::number(callbacks.triggerValue) + "\n";
+					setZeroCommands.append("fins#write_short_D" + QString::number(callbacks.triggerAddress) + "_0");
+					setZeroTips += "fins#write_short_D" + QString::number(callbacks.triggerAddress) + "_0" + "\n";
+				}
+			}
+			for (auto& data : _serviceManager->_triggerManager->unionTriggerCallbackFuncs) {
+				for (auto& unionCallbacks : data.second) {
+					if (unionCallbacks.funcName.find(avoid) != std::string::npos) {
+						continue;
+					}
+					for (auto& callbacks : unionCallbacks.triggerAddressAndValue) {
+						commands.append("fins#write_short_D" + QString::number(callbacks.first) + "_" + QString::number(callbacks.second));
+						tips += "fins#write_short_D" + QString::number(callbacks.second) + "_" + QString::number(callbacks.second) + "\n";
+						setZeroCommands.append("fins#write_short_D" + QString::number(callbacks.first) + "_0");
+						setZeroTips += "fins#write_short_D" + QString::number(callbacks.first) + "_0" + "\n";
+					}
+				}
+			}
+			QString allTriggerUuid = QUuid::createUuid().toString();
+			commands.append("waitMs#500");
+			commands.append(setZeroCommands);
+			presets[allTriggerUuid] = commands;
+			tips.append("waitMs#500\n");
+			tips.append(setZeroTips);
+			emit bridge->runCommand_addBtn("全部触发", tips, allTriggerUuid);
+
+			QString allClearUuid = QUuid::createUuid().toString();
+			emit bridge->runCommand_addBtn("全部清零", setZeroTips, allClearUuid);
+			presets[allClearUuid] = setZeroCommands;
+		}
+
 	}
-	QStringList basicTriggerPresetGenerate(int& triggerAddress) {
+	QStringList basicTriggerPresetGenerate(int& triggerAddress,int triggerValue) {
 		QString triggerAddressStr = QString::number(triggerAddress);
+		QString triggerValueStr = QString::number(triggerValue);
 		return {
-			"fins#write_short_D"+ triggerAddressStr +"_1",
+			"fins#write_short_D"+ triggerAddressStr +"_" + triggerValueStr,
 			"waitMs#500",
 			"fins#write_short_D" + triggerAddressStr + "_0",
 		};
diff --git a/src/mission/581_YuHan_hanhou/581_YuHan_hanhou.cpp b/src/mission/581_YuHan_hanhou/581_YuHan_hanhou.cpp
index 8b7200a..181ab1c 100644
--- a/src/mission/581_YuHan_hanhou/581_YuHan_hanhou.cpp
+++ b/src/mission/581_YuHan_hanhou/581_YuHan_hanhou.cpp
@@ -292,11 +292,8 @@ bool hanHouDown(std::shared_ptr <detData> data, yuHanHanHouParams* _detParams, s
 }
 
 
-
-
-
 mission* createMission() {
-	return new _581_YuHan_hanqian();
+	return new _581_YuHan_hanhou();
 }
 void destroyMission(mission* _mission) {
 	delete _mission;
diff --git a/src/mission/581_YuHan_hanhou/581_YuHan_hanhou.h b/src/mission/581_YuHan_hanhou/581_YuHan_hanhou.h
index 534b313..3b54e5d 100644
--- a/src/mission/581_YuHan_hanhou/581_YuHan_hanhou.h
+++ b/src/mission/581_YuHan_hanhou/581_YuHan_hanhou.h
@@ -30,7 +30,7 @@ bool hanHouDown(std::shared_ptr <detData> data, yuHanHanHouParams* _detParams, s
 namespace hanhou45{
 
 }
-class _581_YuHan_hanqian : public mission {
+class _581_YuHan_hanhou : public mission {
 public:
     _581_SX_Single_triggerTemplate< yuHanHanHouParams> lv_top90_1;
     _581_SX_Single_triggerTemplate< yuHanHanHouParams> lv_down90_2;
@@ -41,39 +41,26 @@ public:
     _581_SX_Single_triggerTemplate< yuHanHanHouParams> lv_down45_6;
     _581_SX_Single_triggerTemplate< yuHanHanHouParams> tong_top45_7;
     _581_SX_Single_triggerTemplate< yuHanHanHouParams> tong_down45_8;
-    std::vector < yuHanHanHouParams> tongDetParams;
-	std::vector < yuHanHanHouParams> lvDetParams;
+	std::vector < yuHanHanHouParams> tongDetParams = std::vector < yuHanHanHouParams>(4);
+	std::vector < yuHanHanHouParams> lvDetParams = std::vector < yuHanHanHouParams>(4);
 	bool initOnce = false;
     void onConfigReloaded() {
         HDevEngineCpp::HDevEngine myEngine;
         myEngine.SetProcedurePath("./halconAlgoFiles/AlgoLibrary_602.hdpl");
 
-		/*tongDetParams.segHanYinZhuaQu = _serviceManager->_handleAiModelManager->getSegModel("segTongHanYinZhuaQu_GPU1");
-		tongDetParams.segYuHanDingWei = _serviceManager->_handleAiModelManager->getSegModel("segTongYuHanDingWei_GPU1");
-		tongDetParams.segHanHou = _serviceManager->_handleAiModelManager->getSegModel("segTongHanHou_GPU1");
-		tongDetParams.clsHanHou = _serviceManager->_handleAiModelManager->getClsModel("clsTongHanHou_GPU1");
-
-
-		lvDetParams.segHanYinZhuaQu = _serviceManager->_handleAiModelManager->getSegModel("segLvHanYinZhuaQu_GPU0");
-		lvDetParams.segYuHanDingWei = _serviceManager->_handleAiModelManager->getSegModel("segLvYuHanDingWei_GPU0");
-		lvDetParams.segHanHou = _serviceManager->_handleAiModelManager->getSegModel("segLvHanHou_GPU0");
-		lvDetParams.clsHanHou = _serviceManager->_handleAiModelManager->getClsModel("clsLvHanHou_GPU0");*/
 		if (initOnce == false) {
-			for (int i = 0; i < 4; i++) {
-				yuHanHanHouParams tong;
-				tong.segHanYinZhuaQu = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-hanYinZhuaQu-T.BHD", 64, 0);
-				tong.segYuHanDingWei = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-yuHanDingWei-T.BHD", 64, 0);
-				tong.segHanHou = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-yuHanhanHou-T.BHD", 64, 0);
-				tong.clsHanHou = handdleAI::CreateClsObjV3("./handleaiModels/yuhan_hanhou/cls-yuHanhanHou-T.BHD", 0, 1);
-				tongDetParams.push_back(tong);
+			for (auto& params : tongDetParams) {
+				params.segHanYinZhuaQu = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-hanYinZhuaQu-T.BHD", 64, 0);
+				params.segYuHanDingWei = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-yuHanDingWei-T.BHD", 64, 0);
+				params.segHanHou = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-yuHanhanHou-T.BHD", 64, 0);
+				params.clsHanHou = handdleAI::CreateClsObjV3("./handleaiModels/yuhan_hanhou/cls-yuHanhanHou-T.BHD", 0, 1);
+			}
 
-				yuHanHanHouParams lv;
-				lv.segHanYinZhuaQu = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-hanYinZhuaQu-L.BHD", 64, 1);
-				lv.segYuHanDingWei = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-yuHanDingWei-L.BHD", 64, 1);
-				lv.segHanHou = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-yuHanhanHou-L.BHD", 64, 1);
-				lv.clsHanHou = handdleAI::CreateClsObjV3("./handleaiModels/yuhan_hanhou/cls-yuHanhanHou-L.BHD", 1, 1);
-				lv.isTong = false;
-				lvDetParams.push_back(lv);
+			for (auto& params : lvDetParams) {
+				params.segHanYinZhuaQu = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-hanYinZhuaQu-L.BHD", 64, 1);
+				params.segYuHanDingWei = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-yuHanDingWei-L.BHD", 64, 1);
+				params.segHanHou = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanhou/seg-yuHanhanHou-L.BHD", 64, 1);
+				params.clsHanHou = handdleAI::CreateClsObjV3("./handleaiModels/yuhan_hanhou/cls-yuHanhanHou-L.BHD", 1, 1);
 			}
 			initOnce = true;
 		}
@@ -81,26 +68,26 @@ public:
     bool initCustom() {
 #pragma region 注册触发器回调
 		if (_configMap["hanhou"] == "OUT") {
-			lv_top90_1.init("Camera1", "极耳尺寸-外-铝-相机1(顶部90°)", { { 522, 1,540,"523","530",820} }, 1, lvDetParams[0], _serviceManager, bridge, hanHouCeLiang);
-			lv_down90_2.init("Camera2", "极耳尺寸-外-铝-相机2(底部90°)", { { 524, 1,540,"525","532",-1} }, 1, lvDetParams[1], _serviceManager, bridge, hanHouDown);
-			tong_top90_3.init("Camera3", "极耳尺寸-外-铜-相机3(顶部90°)", { { 526,1,540,"527","534",800} }, 1, tongDetParams[0], _serviceManager, bridge, hanHouCeLiang);
-			tong_down90_4.init("Camera4", "极耳尺寸-外-铜-相机4(底部90°)", { { 528, 1,540,"529","536",-1} }, 1, tongDetParams[1], _serviceManager, bridge, hanHouDown);
+			lv_top90_1.init("Camera1", "极耳尺寸-外-铝-相机1(顶部90°)", { { 522, 1,540,"523","530",820} }, 1, &lvDetParams[0], _serviceManager, bridge, hanHouCeLiang);
+			lv_down90_2.init("Camera2", "极耳尺寸-外-铝-相机2(底部90°)", { { 524, 1,540,"525","532",-1} }, 1, &lvDetParams[1], _serviceManager, bridge, hanHouDown);
+			tong_top90_3.init("Camera3", "极耳尺寸-外-铜-相机3(顶部90°)", { { 526,1,540,"527","534",800} }, 1, &tongDetParams[0], _serviceManager, bridge, hanHouCeLiang);
+			tong_down90_4.init("Camera4", "极耳尺寸-外-铜-相机4(底部90°)", { { 528, 1,540,"529","536",-1} }, 1, &tongDetParams[1], _serviceManager, bridge, hanHouDown);
 
-			lv_top45_5.init("Camera5", "底部撕裂-外-铝-相机5(顶部45°)", { { 562,1,540,"563","570",-1} }, 1, lvDetParams[2], _serviceManager, bridge, hanHouDown);
-			lv_down45_6.init("Camera6", "底部撕裂-外-铝-相机6(底部45°)", { { 564, 1,540,"565","572",-1} }, 1, lvDetParams[3], _serviceManager, bridge, hanHouDown);
-			tong_top45_7.init("Camera7", "底部撕裂-外-铜-相机7(顶部45°)", { { 566, 1,540,"567","574",-1} }, 1, tongDetParams[2], _serviceManager, bridge, hanHouDown);
-			tong_down45_8.init("Camera8", "底部撕裂-外-铜-相机8(底部45°)", { { 568, 1,540,"569","576",-1} }, 1, tongDetParams[3], _serviceManager, bridge, hanHouDown);
+			lv_top45_5.init("Camera5", "底部撕裂-外-铝-相机5(顶部45°)", { { 562,1,540,"563","570",-1} }, 1, &lvDetParams[2], _serviceManager, bridge, hanHouDown);
+			lv_down45_6.init("Camera6", "底部撕裂-外-铝-相机6(底部45°)", { { 564, 1,540,"565","572",-1} }, 1, &lvDetParams[3], _serviceManager, bridge, hanHouDown);
+			tong_top45_7.init("Camera7", "底部撕裂-外-铜-相机7(顶部45°)", { { 566, 1,540,"567","574",-1} }, 1, &tongDetParams[2], _serviceManager, bridge, hanHouDown);
+			tong_down45_8.init("Camera8", "底部撕裂-外-铜-相机8(底部45°)", { { 568, 1,540,"569","576",-1} }, 1, &tongDetParams[3], _serviceManager, bridge, hanHouDown);
 		}
 		else {
-			lv_top90_1.init("Camera1", "极耳尺寸-内-铝-相机1(顶部90°)", { { 602, 1,580,"603","610",860} }, 1, lvDetParams[0], _serviceManager, bridge, hanHouCeLiang);
-			lv_down90_2.init("Camera2", "极耳尺寸-内-铝-相机2(底部90°)", { { 604, 1,580,"605","612",-1} }, 1, lvDetParams[1], _serviceManager, bridge, hanHouDown);
-			tong_top90_3.init("Camera3", "极耳尺寸-内-铜-相机3(顶部90°)", { { 606,1,580,"607","614",840} }, 1, tongDetParams[0], _serviceManager, bridge, hanHouCeLiang);
-			tong_down90_4.init("Camera4", "极耳尺寸-内-铜-相机4(底部90°)", { { 608, 1,580,"609","616",-1} }, 1, tongDetParams[1], _serviceManager, bridge, hanHouDown);
+			lv_top90_1.init("Camera1", "极耳尺寸-内-铝-相机1(顶部90°)", { { 602, 1,580,"603","610",860} }, 1, &lvDetParams[0], _serviceManager, bridge, hanHouCeLiang);
+			lv_down90_2.init("Camera2", "极耳尺寸-内-铝-相机2(底部90°)", { { 604, 1,580,"605","612",-1} }, 1, &lvDetParams[1], _serviceManager, bridge, hanHouDown);
+			tong_top90_3.init("Camera3", "极耳尺寸-内-铜-相机3(顶部90°)", { { 606,1,580,"607","614",840} }, 1, &tongDetParams[0], _serviceManager, bridge, hanHouCeLiang);
+			tong_down90_4.init("Camera4", "极耳尺寸-内-铜-相机4(底部90°)", { { 608, 1,580,"609","616",-1} }, 1, &tongDetParams[1], _serviceManager, bridge, hanHouDown);
 
-			lv_top45_5.init("Camera5", "底部撕裂-内-铝-相机5(顶部45°)", { { 642,1,580,"643","650",-1} }, 1, lvDetParams[2], _serviceManager, bridge, hanHouDown);
-			lv_down45_6.init("Camera6", "底部撕裂-内-铝-相机6(底部45°)", { { 644, 1,580,"645","652",-1} }, 1, lvDetParams[3], _serviceManager, bridge, hanHouDown);
-			tong_top45_7.init("Camera7", "底部撕裂-内-铜-相机7(顶部45°)", { { 646, 1,580,"647","654",-1} }, 1, tongDetParams[2], _serviceManager, bridge, hanHouDown);
-			tong_down45_8.init("Camera8", "底部撕裂-内-铜-相机8(底部45°)", { { 648, 1,580,"649","656",-1} }, 1, tongDetParams[3], _serviceManager, bridge, hanHouDown);
+			lv_top45_5.init("Camera5", "底部撕裂-内-铝-相机5(顶部45°)", { { 642,1,580,"643","650",-1} }, 1, &lvDetParams[2], _serviceManager, bridge, hanHouDown);
+			lv_down45_6.init("Camera6", "底部撕裂-内-铝-相机6(底部45°)", { { 644, 1,580,"645","652",-1} }, 1, &lvDetParams[3], _serviceManager, bridge, hanHouDown);
+			tong_top45_7.init("Camera7", "底部撕裂-内-铜-相机7(顶部45°)", { { 646, 1,580,"647","654",-1} }, 1, &tongDetParams[2], _serviceManager, bridge, hanHouDown);
+			tong_down45_8.init("Camera8", "底部撕裂-内-铜-相机8(底部45°)", { { 648, 1,580,"649","656",-1} }, 1, &tongDetParams[3], _serviceManager, bridge, hanHouDown);
 		}
 #pragma endregion
         return true;
diff --git a/src/mission/581_YuHan_hanqian/581_YuHan_hanqian.h b/src/mission/581_YuHan_hanqian/581_YuHan_hanqian.h
index 759538a..46ae801 100644
--- a/src/mission/581_YuHan_hanqian/581_YuHan_hanqian.h
+++ b/src/mission/581_YuHan_hanqian/581_YuHan_hanqian.h
@@ -242,15 +242,15 @@ public:
     }
     bool initCustom() {
 #pragma region 注册触发器回调
-		in_lv_top_1.init("Camera1", "极耳翻折-铝-内-相机1（顶部）", { { 682, 1,760,"683","670",-1} }, 1, lvDetParams[0], _serviceManager, bridge, jiErFanZhe);
-		in_lv_down_2.init("Camera2", "极耳翻折-铝-内-相机2（底部）", { { 684, 1,760,"685","672",-1} }, 1, lvDetParams[1], _serviceManager, bridge, jiErFanZhe);
-		in_tong_top_3.init("Camera3", "极耳翻折-铜-内-相机3（顶部）", { { 686,1,760,"687","674",-1} }, 1, tongDetParams[0], _serviceManager, bridge, jiErFanZhe);
-		in_tong_down_4.init("Camera4", "极耳翻折-铜-内-相机4（底部）", { { 688, 1,760,"689","676",-1} }, 1, tongDetParams[1], _serviceManager, bridge, jiErFanZhe);
+		in_lv_top_1.init("Camera1", "极耳翻折-铝-内-相机1（顶部）", { { 682, 1,760,"683","670",-1} }, 1, &lvDetParams[0], _serviceManager, bridge, jiErFanZhe);
+		in_lv_down_2.init("Camera2", "极耳翻折-铝-内-相机2（底部）", { { 684, 1,760,"685","672",-1} }, 1, &lvDetParams[1], _serviceManager, bridge, jiErFanZhe);
+		in_tong_top_3.init("Camera3", "极耳翻折-铜-内-相机3（顶部）", { { 686,1,760,"687","674",-1} }, 1, &tongDetParams[0], _serviceManager, bridge, jiErFanZhe);
+		in_tong_down_4.init("Camera4", "极耳翻折-铜-内-相机4（底部）", { { 688, 1,760,"689","676",-1} }, 1, &tongDetParams[1], _serviceManager, bridge, jiErFanZhe);
 
-		out_lv_top_5.init("Camera5", "极耳翻折-铝-外-相机5（顶部）", { { 702,1,720,"703","710",-1} }, 1, lvDetParams[2], _serviceManager, bridge, jiErFanZhe);
-		out_lv_down_6.init("Camera6", "极耳翻折-铝-外-相机6（底部）", { { 704, 1,720,"705","712",-1} }, 1, lvDetParams[3], _serviceManager, bridge, jiErFanZhe);
-		out_tong_top_7.init("Camera7", "极耳翻折-铜-外-相机7（顶部）", { { 706, 1,720,"707","714",-1} }, 1, tongDetParams[2], _serviceManager, bridge, jiErFanZhe);
-		out_tong_down_8.init("Camera8", "极耳翻折-铜-外-相机8（底部）", { { 708, 1,720,"709","716",-1} }, 1, tongDetParams[3], _serviceManager, bridge, jiErFanZhe);
+		out_lv_top_5.init("Camera5", "极耳翻折-铝-外-相机5（顶部）", { { 702,1,720,"703","710",-1} }, 1, &lvDetParams[2], _serviceManager, bridge, jiErFanZhe);
+		out_lv_down_6.init("Camera6", "极耳翻折-铝-外-相机6（底部）", { { 704, 1,720,"705","712",-1} }, 1, &lvDetParams[3], _serviceManager, bridge, jiErFanZhe);
+		out_tong_top_7.init("Camera7", "极耳翻折-铜-外-相机7（顶部）", { { 706, 1,720,"707","714",-1} }, 1, &tongDetParams[2], _serviceManager, bridge, jiErFanZhe);
+		out_tong_down_8.init("Camera8", "极耳翻折-铜-外-相机8（底部）", { { 708, 1,720,"709","716",-1} }, 1, &tongDetParams[3], _serviceManager, bridge, jiErFanZhe);
 #pragma endregion
         return true;
     }
diff --git a/src/mission/581_ZhongHan_hanhou/581_ZhongHan_hanhou.cpp b/src/mission/581_ZhongHan_hanhou/581_ZhongHan_hanhou.cpp
new file mode 100644
index 0000000..07fbb71
--- /dev/null
+++ b/src/mission/581_ZhongHan_hanhou/581_ZhongHan_hanhou.cpp
@@ -0,0 +1,8 @@
+#include <581_ZhongHan_hanhou.h>
+
+mission* createMission() {
+	return new _581_ZhongHan_hanhou();
+}
+void destroyMission(mission* _mission) {
+	delete _mission;
+}
\ No newline at end of file
diff --git a/src/mission/581_ZhongHan_hanhou/581_ZhongHan_hanhou.h b/src/mission/581_ZhongHan_hanhou/581_ZhongHan_hanhou.h
new file mode 100644
index 0000000..60ef0ab
--- /dev/null
+++ b/src/mission/581_ZhongHan_hanhou/581_ZhongHan_hanhou.h
@@ -0,0 +1,189 @@
+#include <missionBase.hpp>
+#include <sxGlobal.h>
+#pragma region 算法
+#include <simpleAlgo.h>
+#include <hdevengine/HDevEngineCpp.h>
+#include <opencvPaintAlgo.hpp>
+using namespace HDevEngineCpp;
+#pragma endregion
+class zhongHanParams {
+public:
+	handdleAI::pSegmentation* seg_hanHouDingWei = nullptr;
+	bool isTong = true;
+};
+bool zhongHan_hanHouCeLiang(std::shared_ptr <detData> data, zhongHanParams* _detParams, sx_581_address address) {
+	try
+	{
+#if 0
+		/*↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓调试用↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓*/
+		plcResult = "1";
+		QString resultTag = "OK";
+		cv::Mat resultImage = img2D.clone();
+		putTextHusky(resultImage, utf8_to_gbk("OK").c_str(), cv::Point(0, 50), cv::Scalar(0, 255, 0), 500);
+		cv::resize(resultImage, resultImage, cv::Size(), 0.5, 0.5);
+		resMat.push_back(resultImage);
+		if (resMat.size() > 0)
+		{
+			addImgToSaveStruct(resMat[0], "0", getResSaveFormat(SN, resultTag));//保存结果图
+		}
+		return true;
+		/*↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑调试用↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑*/
+
+
+
+#endif
+		QByteArray plcResult = "2";
+		//img2D = cv::imread("D:\\终焊CCD存图\\焊后正面测量CCD\\2025-07-28\\原图\\21H\\errSN\\ORI0_errSN_DA1806128_0_21-34-01-10.bmp", -1);
+		cv::Mat sourceImg = data->oriImgs[0];
+		cv::Rect cutRect;
+		if (_detParams->isTong == true) {
+			cutRect = cv::Rect(2000, 0, 3000, 3648);
+		}
+		if (_detParams->isTong == true) {
+			cutRect = cv::Rect(400, 0, 3000, 3648);
+		}
+		cv::Mat cutImage = sourceImg(cutRect & (cv::Rect(0, 0, sourceImg.cols, sourceImg.rows)));
+
+		cv::Mat Paint;
+		cutImage.copyTo(Paint);
+		if (Paint.channels() == 1)
+			cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+		cv::Mat segProcessMat;
+		float resizeRate = 5.0;
+		cv::resize(cutImage, segProcessMat, cv::Size(), 1 / resizeRate, 1 / resizeRate);
+		cv::Mat segResult = _detParams->seg_hanHouDingWei->Evaluate(segProcessMat);
+		data->segOriginImgs.push_back(segProcessMat);
+		data->segOriginImgs.push_back(cutImage);
+
+		HDevEngineCpp::HDevProcedure proc("_2_Cal_Welding_Distance");
+		HDevEngineCpp::HDevProcedureCall procedureCall(proc);
+		HalconCpp::HObject in_Image = MatToHObject(cutImage); 
+		HalconCpp::HObject in_ImageSeg = MatToHObject(segResult);
+
+		HTuple in_Resolution(0.0346699);
+		HTuple in_FilePath("./halconFiles/");
+		procedureCall.SetInputIconicParamObject("in_Image", in_Image);
+		procedureCall.SetInputIconicParamObject("in_ImageSeg", in_ImageSeg);
+		procedureCall.SetInputCtrlParamTuple("in_Resolution", in_Resolution);
+		procedureCall.SetInputCtrlParamTuple("in_FilePath", in_FilePath);
+		procedureCall.Execute();
+		HTuple out_BaseLineCor, out_LineCor,
+			out_Distance1, out_Distance2, out_Distance3, out_Distance4,
+			out_ColorType, out_Flag;
+		out_BaseLineCor = procedureCall.GetOutputCtrlParamTuple("out_BaseLineCor");
+		out_LineCor = procedureCall.GetOutputCtrlParamTuple("out_LineCor");
+		out_Distance1 = procedureCall.GetOutputCtrlParamTuple("out_Distance1");
+		out_Distance2 = procedureCall.GetOutputCtrlParamTuple("out_Distance2");
+		out_ColorType = procedureCall.GetOutputCtrlParamTuple("out_ColorType");
+		out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag");
+		TextRendererZH textPainter(Paint.cols, Paint.rows, 120);
+		if (out_Flag.D() == 1)
+		{
+			{
+				int out_BaseLineCor_L = out_BaseLineCor.Length();
+				for (auto i = 0; i < out_BaseLineCor_L / 4; i++)
+					cv::line(Paint, cv::Point(out_BaseLineCor[i * 4 + 1].D(), out_BaseLineCor[i * 4].D()),
+						cv::Point(out_BaseLineCor[i * 4 + 3].D(), out_BaseLineCor[i * 4 + 2].D()),
+						cv::Scalar(0, 255, 0), 20);
+
+				int out_LineCor_L = out_LineCor.Length();
+				for (auto i = 0; i < out_LineCor_L / 4; i++)
+					cv::line(Paint, cv::Point(out_LineCor[i * 4 + 1].D(), out_LineCor[i * 4].D()),
+						cv::Point(out_LineCor[i * 4 + 3].D(), out_LineCor[i * 4 + 2].D()),
+						cv::Scalar(0, 255, 0), 20);
+			}
+			//1
+			{
+				textPainter.putText(Paint, "水平间距:" + std::to_string(out_Distance1[0].D()), cv::Point(50, 25), cv::Scalar(0, 255, 0));
+				textPainter.putText(Paint, "竖直间距:" + std::to_string(out_Distance1[1].D()), cv::Point(50, 25), cv::Scalar(0, 255, 0));
+				data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + QByteArray::number(out_Distance1[1].D()));
+			}
+			//2
+			{
+				textPainter.putText(Paint, "水平间距:" + std::to_string(out_Distance2[0].D()), cv::Point(50, 450), cv::Scalar(0, 255, 0));
+				textPainter.putText(Paint, "竖直间距:" + std::to_string(out_Distance2[1].D()), cv::Point(50, 675), cv::Scalar(0, 255, 0));
+				data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + QByteArray::number(out_Distance2[1].D()));
+			}
+		}
+		else
+		{
+			textPainter.putText(Paint, "NG", cv::Point(100, 50), cv::Scalar(0, 255, 0));
+			data->halconOK = false;
+			plcResult = "2";
+		}
+		plcResult = "1";//强制OK
+		data->resultImgs.push_back(Paint);
+		sourceImg.release();
+		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult);//结果反馈
+		return true;
+	}
+	CATCH_EXCEPTIONS
+
+	qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode);
+	cv::Mat Paint;
+	data->oriImgs[0].copyTo(Paint);
+	if (Paint.channels() == 1)
+		cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+	TextRendererZH textPainter(Paint.cols, Paint.rows, 15);
+	textPainter.putText(Paint, "NG", cv::Point(1000, 50), cv::Scalar(0, 255, 0));
+	cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
+	data->resultImgs.push_back(Paint);
+	data->service->_triggerManager->writeShort("D" + address.resultAddr + "_2");//结果反馈
+	return true;
+}
+class _581_ZhongHan_hanhou : public mission {
+public:
+    _581_SX_Single_triggerTemplate< zhongHanParams> lv_top_1;
+    _581_SX_Single_triggerTemplate< zhongHanParams> lv_left45_2;
+    _581_SX_Single_triggerTemplate< zhongHanParams> lv_right45_3;
+	_581_SX_Single_triggerTemplate< zhongHanParams> _3D_1;
+
+    _581_SX_Single_triggerTemplate< zhongHanParams> tong_top_5;
+    _581_SX_Single_triggerTemplate< zhongHanParams> tong_left45_6;
+    _581_SX_Single_triggerTemplate< zhongHanParams> tong_right45_7;
+	_581_SX_Single_triggerTemplate< zhongHanParams> _3D_2;
+	zhongHanParams tongDetParams;
+	zhongHanParams lvDetParams;
+	bool initOnce = false;
+    void onConfigReloaded() {
+        HDevEngineCpp::HDevEngine myEngine;
+        myEngine.SetProcedurePath("./halconAlgoFiles/AlgoLibrary_628_1.hdpl");
+
+		if (initOnce == false) {
+			//for (auto& params : tongDetParams) {
+			//	params.segDingWei = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanqian/60_2_hanqian_dingwei_seg.BHD", 64, 0);
+			//	params.segJiErFanZhe = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanqian/60_2_hanqian_segT.BHD", 64, 0);
+			//	params.clsJiErFanZhe = handdleAI::CreateClsObjV3("./handleaiModels/yuhan_hanqian/60_2_hanqian_clsT.BHD", 0, 1);
+			//}
+			//for (auto& params : lvDetParams) {
+			//	params.segDingWei = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanqian/60_2_hanqian_dingwei_seg.BHD", 64, 1);
+			//	params.segJiErFanZhe = handdleAI::CreateSegObjS("./handleaiModels/yuhan_hanqian/60_2_hanqian_segL.BHD", 64, 1);
+			//	params.clsJiErFanZhe = handdleAI::CreateClsObjV3("./handleaiModels/yuhan_hanqian/60_2_hanqian_clsL.BHD", 1, 1);
+			//	params.isTong = false;
+			//}
+			tongDetParams.isTong = true;
+			lvDetParams.isTong = false;
+			initOnce = true;
+		}
+    }
+    bool initCustom() {
+#pragma region 注册触发器回调
+		lv_top_1.init("Camera1", "焊印检测-内-铜-相机1（90°）", { { 5360, 1,5340,"5362","5364",-1} }, 1, &lvDetParams, _serviceManager, bridge, zhongHan_hanHouCeLiang);
+		lv_left45_2.init("Camera2", "翻折撕裂-内-铜-相机2（45°）", { { 5370, 1,5340,"5372","5374",-1} }, 1, &lvDetParams, _serviceManager, bridge, zhongHan_hanHouCeLiang);
+		lv_right45_3.init("Camera3", "翻折撕裂-内-铜-相机3（45°）", { { 5380,1,5340,"5382","5384",-1} }, 1, &tongDetParams, _serviceManager, bridge, zhongHan_hanHouCeLiang);
+		_3D_1.init("Camera4", "焊后检测-3D相机1" , { { 5400, 1,5340,"5402","5404",-1} }, 1, & tongDetParams, _serviceManager, bridge, zhongHan_hanHouCeLiang);
+
+		tong_top_5.init("Camera5", "焊印检测-外-铝-相机5（90°）", { { 5440, 1,5420,"5442","5444",-1} }, 1, &tongDetParams, _serviceManager, bridge, zhongHan_hanHouCeLiang);
+		tong_left45_6.init("Camere6", "翻折撕裂-外-铝-相机6（45°）", { { 5450,1,5420,"5452","5454",-1} }, 1, &lvDetParams, _serviceManager, bridge, zhongHan_hanHouCeLiang);
+		tong_right45_7.init("Camera7", "翻折撕裂-外-铝-相机7（45°）", { { 5460, 1,5420,"5462","5464",-1} }, 1, &lvDetParams, _serviceManager, bridge, zhongHan_hanHouCeLiang);
+		_3D_2.init("Camera8", "焊后检测-3D相机2", { { 5480, 1,5420,"5482","5484",-1} }, 1, &tongDetParams, _serviceManager, bridge, zhongHan_hanHouCeLiang);
+#pragma endregion
+        return true;
+    }
+};
+
+
+
+
+
+#pragma once
\ No newline at end of file
diff --git a/src/mission/581_ZhongHan_hanhou/CMakeLists.txt b/src/mission/581_ZhongHan_hanhou/CMakeLists.txt
new file mode 100644
index 0000000..bba2e81
--- /dev/null
+++ b/src/mission/581_ZhongHan_hanhou/CMakeLists.txt
@@ -0,0 +1,78 @@
+# 获取获取当前目录名
+get_filename_component(CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+string(TIMESTAMP RUN_TIME)
+message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
+
+set(DLL_NAMES "opencv" "halcon" "handdleAI")
+foreach(child ${DLL_NAMES})         
+    LIST(APPEND ENV_INCLUDE ${${child}_include})
+    LIST(APPEND ENV_LIB ${${child}_lib})
+    LIST(APPEND ENV_TARGET ${${child}_target_link})         
+endforeach()
+message("   ENV_INCLUDE : " ${ENV_INCLUDE} )
+message("   ENV_LIB : " ${ENV_LIB} )
+message("   ENV_TARGET : " ${ENV_TARGET} )
+include_directories(
+    ${PROJECT_ROOT_PATH}/src/core
+    ${PROJECT_ROOT_PATH}/src/core/handleAi
+    ${PROJECT_ROOT_PATH}/src/core/back
+    ${PROJECT_ROOT_PATH}/src/core/sql
+    ${ENV_INCLUDE}
+    )
+
+link_directories (
+    ${ENV_LIB}
+
+    )
+add_compile_options(/utf-8)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_AUTOMOC ON)
+SET(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+ 
+FILE(GLOB HEAD_FILES "*.h" )
+FILE(GLOB SRC_FILES "./*.cpp")
+FILE(GLOB UI_FILES "./*.ui")
+
+
+#find_package(Qt5 COMPONENTS Core REQUIRED)
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Core Gui Network Sql REQUIRED)
+find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core Gui Network Sql REQUIRED)
+
+add_library(${CURRENT_FOLDER} SHARED
+    ${HEAD_FILES}
+    ${SRC_FILES}
+    ${UI_FILES}
+    ${PROJECT_ROOT_PATH}/include/qtBridge.h
+    )
+
+
+
+set_target_properties(${CURRENT_FOLDER} PROPERTIES
+    RUNTIME_OUTPUT_DIRECTORY  ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    LIBRARY_OUTPUT_DIRECTORY  ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
+    ARCHIVE_OUTPUT_DIRECTORY  ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
+    )
+
+
+target_link_libraries(${CURRENT_FOLDER} PRIVATE
+    ${ENV_TARGET}
+    Qt${QT_VERSION_MAJOR}::Core
+    Qt${QT_VERSION_MAJOR}::Gui 
+    Qt${QT_VERSION_MAJOR}::Network
+    Qt${QT_VERSION_MAJOR}::Sql
+    )
+
+
+# target_compile_definitions(${CURRENT_FOLDER} PRIVATE HD_AIDEMO_MODULE_LIBRARY)
+
+
+
+
+string(TIMESTAMP RUN_TIME)
+message( " modelx end : " ${CURRENT_FOLDER}:${RUN_TIME})
+message( " header files "${HEAD_FILES})
diff --git a/src/mission/581_ZhongHan_hanqian/581_ZhongHan_hanqian.cpp b/src/mission/581_ZhongHan_hanqian/581_ZhongHan_hanqian.cpp
new file mode 100644
index 0000000..2ffa3c3
--- /dev/null
+++ b/src/mission/581_ZhongHan_hanqian/581_ZhongHan_hanqian.cpp
@@ -0,0 +1,8 @@
+#include <581_ZhongHan_hanqian.h>
+
+mission* createMission() {
+	return new _581_YuHan_hanqian();
+}
+void destroyMission(mission* _mission) {
+	delete _mission;
+}
\ No newline at end of file
diff --git a/src/mission/581_ZhongHan_hanqian/581_ZhongHan_hanqian.h b/src/mission/581_ZhongHan_hanqian/581_ZhongHan_hanqian.h
new file mode 100644
index 0000000..b8bd5e4
--- /dev/null
+++ b/src/mission/581_ZhongHan_hanqian/581_ZhongHan_hanqian.h
@@ -0,0 +1,310 @@
+#include <missionBase.hpp>
+#include <sxGlobal.h>
+#include <simpleAlgo.h>
+#include <hdevengine/HDevEngineCpp.h>
+#include <Halcon.h>
+#include <HalconCpp.h>
+#include <qmutex.h>
+#include <qqueue.h>
+#include <opencvPaintAlgo.hpp>
+using namespace HDevEngineCpp;
+using namespace HalconCpp;
+struct hanQianDingWeiSubresult {
+	double Out_Vale_L_1 = -1;//铝(负)极的包膜距离(mm)
+	double Out_Vale_L_2 = -1;//铝(负)极连接片中心的和上极耳水平边缘距离(mm)
+	double Out_Vale_L_3 = -1;//铝(负)极连接片中心的和下极耳水平边缘距离(mm)
+	double extremum_Value = -1;
+
+	cv::Point circleCenter;
+	double radius = 1;
+	std::vector<double> lines;
+
+	bool algoFailed = false;
+};
+class zhongHanHanQianParams {
+public:
+	QMutex* mutex = new QMutex();
+	QQueue<hanQianDingWeiSubresult> resultQueue;
+	QQueue<HalconCpp::HObject> mats;
+	~zhongHanHanQianParams() {
+		delete mutex;
+	}
+
+	int waitMs = 3000;
+	void insertImg(HObject& input) {
+		QMutexLocker locker(mutex);
+		if (mats.size() > 0) {
+			qWarning() << "焊前定位有遗留的图像，已清除";
+			mats.clear();
+		}
+		mats.enqueue(input);//发送检测数据到主线程
+	}
+	bool waitImage(HObject& out) {
+		int cnt = 0;
+		while (mats.size() == 0 && cnt < waitMs) {
+			QThread::msleep(2);
+			cnt += 2;
+		}
+		if (mats.size() != 0) {
+			QMutexLocker locker(mutex);
+			out = mats.dequeue();
+			return true;
+		}
+		return false;
+	}
+	void insertResult(hanQianDingWeiSubresult input) {
+		QMutexLocker locker(mutex);
+		if (resultQueue.size() > 0) {
+			qWarning() << "焊前定位有遗留的结果，已清除";
+			resultQueue.clear();
+		}
+		resultQueue.enqueue(input);//发送检测数据到主线程
+	}
+	bool waitResult(hanQianDingWeiSubresult& out) {
+		int cnt = 0;
+		while (resultQueue.size() == 0 && cnt < waitMs) {
+			QThread::msleep(2);
+			cnt += 2;
+		}
+		if (resultQueue.size() != 0) {
+			QMutexLocker locker(mutex);
+			out = resultQueue.dequeue();
+			resultQueue.clear();
+			return true;
+		}
+		return false;
+	}
+};
+
+bool hanQianCeLiang_Main(std::shared_ptr <detData> data, zhongHanHanQianParams* _detParams, sx_581_address address) {
+	try{
+		QByteArray plcResult = "2";
+#if 0
+			/*img2D = cv::imread("./testImages/CU_1.png", -1);
+			sourceImg = img2D.clone();*/
+			img2D = cv::imread("./testImages/CU.bmp", -1);
+			sourceImg = img2D(cutROI & cv::Rect(0, 0, img2D.cols, img2D.rows)).clone();
+#endif
+		cv::Mat sourceImg = data->oriImgs[0];
+		cv::Mat Paint;
+		sourceImg.copyTo(Paint);
+		if (Paint.channels() == 1)
+			cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+
+		HDevEngineCpp::HDevProcedure proc("_2_Cal_ZH_LJP_Distance");
+		HDevProcedureCall procedureCall(proc);
+
+		//vs+halcon联调debug
+		/*myEngine.StartDebugServer();
+		procedureCall.SetWaitForDebugConnection(true);*/
+
+		HalconCpp::HObject ho_Image_T;
+		HalconCpp::HObject ho_Image_L;
+		HalconCpp::HTuple in_Resolution = 0.0337797;
+		HalconCpp::HTuple in_FilePath = "./halconFiles/ZH_HanYin/";
+		HalconCpp::HTuple in_LineType = "602";
+		ho_Image_T = MatToHObject(sourceImg);
+		//等待副线程传入图像
+		bool getImgResult = _detParams->waitImage(ho_Image_L);
+
+		procedureCall.SetInputIconicParamObject("in_Image1", ho_Image_T);
+		procedureCall.SetInputIconicParamObject("in_Image2", ho_Image_L);
+		procedureCall.SetInputCtrlParamTuple("in_Resolution", in_Resolution);
+		procedureCall.SetInputCtrlParamTuple("in_FilePath", in_FilePath);
+		procedureCall.SetInputCtrlParamTuple("in_LineType", in_LineType);
+		procedureCall.Execute();//执行halcon程序
+
+		HalconCpp::HTuple out_Distance;
+		HalconCpp::HTuple out_LinePoint;
+		HalconCpp::HTuple out_Circle;
+		HalconCpp::HTuple out_Flag;
+		HalconCpp::HTuple out_NGTails;
+		out_Distance = procedureCall.GetOutputCtrlParamTuple("out_Distance");//获取输出控制类变量
+		out_LinePoint = procedureCall.GetOutputCtrlParamTuple("out_LinePoint");//获取输出控制类变量
+		out_Circle = procedureCall.GetOutputCtrlParamTuple("out_Circle");//获取输出控制类变量
+		out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag");//获取输出控制类变量
+		out_NGTails = procedureCall.GetOutputCtrlParamTuple("out_NGTails");
+
+		int flag = out_Flag.D();
+		TextRendererZH textPainter(Paint.cols, Paint.rows, 120);
+		if (flag == 1)
+		{
+			double Out_Vale_T_1 = out_Distance[0].D();//铜(正)极的包膜距离(mm)
+			double Out_Vale_T_2 = out_Distance[1].D();//铜(正)极连接片中心的和上极耳水平边缘距离(mm)
+			double Out_Vale_T_3 = out_Distance[2].D();//铜(正)极连接片中心的和下极耳水平边缘距离(mm)
+
+			double Out_Vale_L_1 = out_Distance[3].D();//铝(负)极的包膜距离(mm)
+			double Out_Vale_L_2 = out_Distance[4].D();//铝(负)极连接片中心的和上极耳水平边缘距离(mm)
+			double Out_Vale_L_3 = out_Distance[5].D();//铝(负)极连接片中心的和下极耳水平边缘距离(mm)
+
+			double extremum_Value = out_Distance[6].D();
+
+			//发送到另一算法线程
+			hanQianDingWeiSubresult _calResult;
+			_calResult.Out_Vale_L_1 = Out_Vale_L_1;
+			_calResult.Out_Vale_L_2 = Out_Vale_L_2;
+			_calResult.Out_Vale_L_3 = Out_Vale_L_3;
+			_calResult.extremum_Value = extremum_Value;
+			if (out_Circle.Length() > 4) {
+				_calResult.circleCenter = cv::Point(out_Circle[4].D(), out_Circle[3].D());
+				_calResult.radius = out_Circle[5].D();
+			}
+
+			if (out_LinePoint.Length() > 38) {
+				for (int i = 20; i < 40; i++) {
+					_calResult.lines.push_back(out_LinePoint[i].D());
+				}
+			}
+
+			_detParams->insertResult(_calResult);
+			textPainter.putText(Paint, "铜(正)极的包膜距离:" + std::to_string(Out_Vale_T_1), cv::Point(50, 50), cv::Scalar(0, 255, 0));
+			data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(Out_Vale_T_1));//数据1
+			textPainter.putText(Paint, "铜(正)极连接片中心的和上极耳水平边缘距离:" + std::to_string(Out_Vale_T_2), cv::Point(50, 200), cv::Scalar(0, 255, 0));
+			textPainter.putText(Paint, "铜(正)极连接片中心的和下极耳水平边缘距离:" + std::to_string(Out_Vale_T_3), cv::Point(50, 350), cv::Scalar(0, 255, 0));
+			textPainter.putText(Paint, "铜(正)极和铝(负)极的中心距离:" + std::to_string(extremum_Value), cv::Point(50, 600), cv::Scalar(0, 255, 0));
+			data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + "_" + QByteArray::number(extremum_Value));//数据2
+			for (int i = 0; i < 5; i++){
+				cv::line(Paint, cv::Point(out_LinePoint[i * 4 + 1].D(), out_LinePoint[i * 4].D()),
+					cv::Point(out_LinePoint[i * 4 + 3].D(), out_LinePoint[i * 4 + 2].D()),
+					cv::Scalar(0, 255, 0), 10, cv::LINE_4);
+			}
+
+			if (out_Circle.Length() > 2){
+				cv::drawMarker(Paint, cv::Point(out_Circle[1].D(), out_Circle[0].D()), cv::Scalar(0, 255, 0), cv::MARKER_CROSS, 200, 5);
+				cv::circle(Paint, cv::Point(out_Circle[1].D(), out_Circle[0].D()), out_Circle[2].D(), cv::Scalar(0, 255, 0), 5);
+			}
+		}
+		else{
+			std::string errTails = out_NGTails.S().Text();
+			hanQianDingWeiSubresult _calResult;
+			_calResult.algoFailed = true;
+			_detParams->insertResult(_calResult);
+			textPainter.putText(Paint, "NG" + errTails, cv::Point(0, 50), cv::Scalar(0, 255, 0));
+			data->halconOK = false;
+		}
+		cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
+		plcResult = "1";//强制OK
+		data->resultImgs.push_back(Paint);
+		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult);//结果反馈
+		return true;
+	}
+	CATCH_EXCEPTIONS
+
+	qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode);
+	cv::Mat Paint;
+	data->oriImgs[0].copyTo(Paint);
+	if (Paint.channels() == 1)
+		cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+	TextRendererZH textPainter(Paint.cols, Paint.rows, 15);
+	textPainter.putText(Paint, "NG", cv::Point(1000, 50), cv::Scalar(0, 255, 0));
+	cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
+	data->resultImgs.push_back(Paint);
+	data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//结果反馈
+	return true;
+}
+bool hanQianCeLiang_Sub(std::shared_ptr <detData> data, zhongHanHanQianParams* _detParams, sx_581_address address) {
+	try {
+		//测试算法用	
+		QByteArray plcResult = "2";
+		{
+#if 0
+			//img2D = cv::imread("./testImages/AL_1.png", -1);
+			//sourceImg = img2D.clone();
+			img2D = cv::imread("./testImages/AL.bmp", -1);
+			sourceImg = img2D(cutROI & cv::Rect(0, 0, img2D.cols, img2D.rows)).clone();
+#endif
+		}
+		cv::Mat sourceImg = data->oriImgs[0];
+		cv::Mat Paint;
+		sourceImg.copyTo(Paint);
+		if (Paint.channels() == 1)
+			cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+
+		HObject image = MatToHObject(sourceImg);
+		//发送图片
+		_detParams->insertImg(image);
+
+		TextRendererZH textPainter(Paint.cols, Paint.rows, 120);
+		//等待结果
+		hanQianDingWeiSubresult _calResult;
+		bool waitResultResult = _detParams->waitResult(_calResult);
+
+		if (waitResultResult == false) {
+			data->halconOK = false;
+			textPainter.putText(Paint, "NG:TimeOut", cv::Point(0, 50), cv::Scalar(0, 255, 0));
+			plcResult = "2";
+			data->resultImgs.push_back(Paint);
+			return false;
+		}
+
+		if (_calResult.algoFailed == false) {
+			textPainter.putText(Paint, "铝(负)极的包膜距离:" + std::to_string(_calResult.Out_Vale_L_1), cv::Point(50, 50), cv::Scalar(0, 255, 0));
+			data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(_calResult.Out_Vale_L_1));//数据1
+			textPainter.putText(Paint, "铝(负)极连接片中心的和上极耳水平边缘距离:" + std::to_string(_calResult.Out_Vale_L_2), cv::Point(50, 200), cv::Scalar(0, 255, 0));
+			textPainter.putText(Paint, "铝(负)极连接片中心的和下极耳水平边缘距离:" + std::to_string(_calResult.Out_Vale_L_3), cv::Point(50, 350), cv::Scalar(0, 255, 0));
+			textPainter.putText(Paint, "铜(正)极和铝(负)极的中心距离:" + std::to_string(_calResult.extremum_Value), cv::Point(50, 600), cv::Scalar(0, 255, 0));
+			data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + "_" + QByteArray::number(_calResult.extremum_Value));//数据2
+			for (int i = 0; i < 5; i++) {
+				cv::line(Paint, cv::Point(_calResult.lines[i * 4 + 1], _calResult.lines[i * 4]),
+					cv::Point(_calResult.lines[i * 4 + 3], _calResult.lines[i * 4 + 2]),
+					cv::Scalar(0, 255, 0), 10, cv::LINE_4);
+			}
+			cv::drawMarker(Paint, cv::Point(_calResult.circleCenter.x, _calResult.circleCenter.y), cv::Scalar(0, 255, 0), cv::MARKER_CROSS, 200, 5);
+			cv::circle(Paint, cv::Point(_calResult.circleCenter.x, _calResult.circleCenter.y), _calResult.radius, cv::Scalar(0, 255, 0), 5);
+		}
+		else {
+			data->halconOK = false;
+			textPainter.putText(Paint, "NG:algoError", cv::Point(0, 50), cv::Scalar(0, 255, 0));
+			plcResult = "2";
+		}
+		cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
+		plcResult = "1";//强制OK
+		data->resultImgs.push_back(Paint);
+		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult);//结果反馈
+		return true;
+	}
+	CATCH_EXCEPTIONS
+
+	qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode);
+	cv::Mat Paint;
+	data->oriImgs[0].copyTo(Paint);
+	if (Paint.channels() == 1)
+		cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+	TextRendererZH textPainter(Paint.cols, Paint.rows, 15);
+	textPainter.putText(Paint, "NG", cv::Point(1000, 50), cv::Scalar(0, 255, 0));
+	cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
+	data->resultImgs.push_back(Paint);
+	data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//结果反馈
+	return true;
+}
+
+class _581_YuHan_hanqian : public mission {
+public:
+	_581_SX_Single_triggerTemplate<zhongHanHanQianParams> tong_1;
+	_581_SX_Single_triggerTemplate<zhongHanHanQianParams> lv_1;
+
+	zhongHanHanQianParams detParams;
+	bool initOnce = false;
+    void onConfigReloaded() {
+        HDevEngineCpp::HDevEngine myEngine;
+        myEngine.SetProcedurePath("./halconAlgoFiles/AlgoLibrary_602.hdpl");
+
+		if (initOnce == false) {
+
+			initOnce = true;
+		}
+    }
+    bool initCustom() {
+#pragma region 注册触发器回调
+		tong_1.init("Camera1", "焊前定位-相机1", { { 5060, 1,{5070},"5062","5064",5066} }, 1, &detParams, _serviceManager, bridge, hanQianCeLiang_Main);
+		lv_1.init("Camera1", "焊前定位-相机2", { { 5090, 1,{5100},"5092","5094",5096} }, 1, &detParams, _serviceManager, bridge, hanQianCeLiang_Sub);
+#pragma endregion
+        return true;
+    }
+};
+
+
+
+
+
+#pragma once
\ No newline at end of file
diff --git a/src/mission/581_ZhongHan_hanqian/CMakeLists.txt b/src/mission/581_ZhongHan_hanqian/CMakeLists.txt
new file mode 100644
index 0000000..bba2e81
--- /dev/null
+++ b/src/mission/581_ZhongHan_hanqian/CMakeLists.txt
@@ -0,0 +1,78 @@
+# 获取获取当前目录名
+get_filename_component(CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+string(TIMESTAMP RUN_TIME)
+message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
+
+set(DLL_NAMES "opencv" "halcon" "handdleAI")
+foreach(child ${DLL_NAMES})         
+    LIST(APPEND ENV_INCLUDE ${${child}_include})
+    LIST(APPEND ENV_LIB ${${child}_lib})
+    LIST(APPEND ENV_TARGET ${${child}_target_link})         
+endforeach()
+message("   ENV_INCLUDE : " ${ENV_INCLUDE} )
+message("   ENV_LIB : " ${ENV_LIB} )
+message("   ENV_TARGET : " ${ENV_TARGET} )
+include_directories(
+    ${PROJECT_ROOT_PATH}/src/core
+    ${PROJECT_ROOT_PATH}/src/core/handleAi
+    ${PROJECT_ROOT_PATH}/src/core/back
+    ${PROJECT_ROOT_PATH}/src/core/sql
+    ${ENV_INCLUDE}
+    )
+
+link_directories (
+    ${ENV_LIB}
+
+    )
+add_compile_options(/utf-8)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_AUTOMOC ON)
+SET(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+ 
+FILE(GLOB HEAD_FILES "*.h" )
+FILE(GLOB SRC_FILES "./*.cpp")
+FILE(GLOB UI_FILES "./*.ui")
+
+
+#find_package(Qt5 COMPONENTS Core REQUIRED)
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Core Gui Network Sql REQUIRED)
+find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core Gui Network Sql REQUIRED)
+
+add_library(${CURRENT_FOLDER} SHARED
+    ${HEAD_FILES}
+    ${SRC_FILES}
+    ${UI_FILES}
+    ${PROJECT_ROOT_PATH}/include/qtBridge.h
+    )
+
+
+
+set_target_properties(${CURRENT_FOLDER} PROPERTIES
+    RUNTIME_OUTPUT_DIRECTORY  ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    LIBRARY_OUTPUT_DIRECTORY  ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
+    ARCHIVE_OUTPUT_DIRECTORY  ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
+    )
+
+
+target_link_libraries(${CURRENT_FOLDER} PRIVATE
+    ${ENV_TARGET}
+    Qt${QT_VERSION_MAJOR}::Core
+    Qt${QT_VERSION_MAJOR}::Gui 
+    Qt${QT_VERSION_MAJOR}::Network
+    Qt${QT_VERSION_MAJOR}::Sql
+    )
+
+
+# target_compile_definitions(${CURRENT_FOLDER} PRIVATE HD_AIDEMO_MODULE_LIBRARY)
+
+
+
+
+string(TIMESTAMP RUN_TIME)
+message( " modelx end : " ${CURRENT_FOLDER}:${RUN_TIME})
+message( " header files "${HEAD_FILES})
diff --git a/subModule/Hd_VirtualCamera/Hd_VirtualCamera.cpp b/subModule/Hd_VirtualCamera/Hd_VirtualCamera.cpp
index 1ef8130..e7a4159 100644
--- a/subModule/Hd_VirtualCamera/Hd_VirtualCamera.cpp
+++ b/subModule/Hd_VirtualCamera/Hd_VirtualCamera.cpp
@@ -77,7 +77,7 @@ bool Hd_VirtualCamera::run()//�����
 	}
 	else {
 		vector<cv::Mat> mats;
-		mats.push_back(cv::Mat(4096,3200,CV_8UC3,cv::Scalar(0,255,0)));
+		mats.push_back(cv::Mat(20960,3200,CV_8UC3,cv::Scalar(0,255,0)));
 		queuePic.enqueue(mats);
 	}
 	n_mutex->unlock();