diff --git a/include/global.h b/include/global.h
index ea246cd..bb46c32 100644
--- a/include/global.h
+++ b/include/global.h
@@ -2,7 +2,7 @@
 #include <qpixmap.h>
 #include <opencv.hpp>
 #include <qdebug.h>
-#include <memory>
+#include <memory>，。
 #include <iostream>
 #include <thread>
 #include <vector>
@@ -11,7 +11,7 @@
 #include <QDir>
 
 #pragma execution_character_set("utf-8")
-const std::string softwareVersion = "20251231-2.3.3";
+const std::string softwareVersion = "20260105-2.3.4";
 const std::string euiJsonVersion = "1.0.6";
 #define savePathToDataBase true
 #define GigaByte 1073741824 
diff --git a/include/sxGlobal.h b/include/sxGlobal.h
index 2f01ec5..7362462 100644
--- a/include/sxGlobal.h
+++ b/include/sxGlobal.h
@@ -7,19 +7,23 @@
 #define CATCH_EXCEPTIONS \
     catch (HDevEngineCpp::HDevEngineException& ex) { \
         std::cout << "HDevEngineException: " << ex.Message() << std::endl; \
-        qDebug() << "HDevEngineException: " << ex.Message(); \
+        qCritical() << "HDevEngineException: " << ex.Message(); \
     } \
     catch (HalconCpp::HException& ex) { \
         std::cout << "Halcon Exception Caught!" << std::endl; \
         std::cout << "Error Code: " << ex.ErrorCode() << std::endl; \
         std::cout << "Error Message: " << ex.ErrorMessage() << std::endl; \
-        qDebug() << "Halcon Exception Caught!"; \
-        qDebug() << "Error Code: " << ex.ErrorCode(); \
-        qDebug() << "Error Message: " << ex.ErrorMessage(); \
+        qCritical() << "Halcon Exception Caught!"; \
+        qCritical() << "Error Code: " << ex.ErrorCode(); \
+        qCritical() << "Error Message: " << ex.ErrorMessage(); \
     } \
     catch (const std::exception& e) { \
         std::cout << "Caught exception: " << e.what() << std::endl; \
-        qDebug() << "Caught exception: " << e.what(); \
+        qCritical() << "Caught exception: " << e.what(); \
+    }\
+    catch (...) {\
+        std::cout << "Caught exception: unexcepted"; \
+        qCritical() << "Caught exception: unexcepted"; \
     }
 struct sx_581_address {
     int triggerAddr = -1;
@@ -112,7 +116,7 @@ public:
         address = addressIN;
         saveObjectName = saveObjectNameIN;
         oneTriggerCaptrueTimes = oneTriggerCaptrueTimesIN;
-        generalDet = new detCallbackChain<paramTemplte, sx_581_address>(_serviceManager, _detParams, bridge, &_serviceManagerIn->_chainWatcher);
+        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++) {
@@ -122,12 +126,12 @@ public:
         }
         for (int i = 0; i < address.size(); i++) {
             _serviceManager->_triggerManager->registerPlcValueViewer(viewerNameIN + "_" + QString::number(i),
-                { {"触发",address[i].triggerAddr },
-                {"反馈",address[i].completeAddr.toInt()},
-                {"结果",address[i].resultAddr.toInt()},
-                {"数值1",address[i].valueOffsetAddr},
-                {"数值2",address[i].valueOffsetAddr + 2},
-                {"数值3",address[i].valueOffsetAddr + 4} });
+                { {QString::number(address[i].triggerAddr) + "触发",address[i].triggerAddr },
+                {address[i].completeAddr + "反馈",address[i].completeAddr.toInt()},
+                {address[i].resultAddr + "结果",address[i].resultAddr.toInt()},
+                {QString::number(address[i].valueOffsetAddr) + "数值1",address[i].valueOffsetAddr},
+                {QString::number(address[i].valueOffsetAddr + 2) + "数值2",address[i].valueOffsetAddr + 2},
+                {QString::number(address[i].valueOffsetAddr + 4) + "数值3",address[i].valueOffsetAddr + 4} });
         }
     }
     //获取图片并进行检测
diff --git a/include/yhGlobal.h b/include/yhGlobal.h
index 9b19b11..6460249 100644
--- a/include/yhGlobal.h
+++ b/include/yhGlobal.h
@@ -8,19 +8,23 @@
 #define CATCH_EXCEPTIONS \
     catch (HDevEngineCpp::HDevEngineException& ex) { \
         std::cout << "HDevEngineException: " << ex.Message() << std::endl; \
-        qDebug() << "HDevEngineException: " << ex.Message(); \
+        qCritical() << "HDevEngineException: " << ex.Message(); \
     } \
     catch (HalconCpp::HException& ex) { \
         std::cout << "Halcon Exception Caught!" << std::endl; \
         std::cout << "Error Code: " << ex.ErrorCode() << std::endl; \
         std::cout << "Error Message: " << ex.ErrorMessage() << std::endl; \
-        qDebug() << "Halcon Exception Caught!"; \
-        qDebug() << "Error Code: " << ex.ErrorCode(); \
-        qDebug() << "Error Message: " << ex.ErrorMessage(); \
+        qCritical() << "Halcon Exception Caught!"; \
+        qCritical() << "Error Code: " << ex.ErrorCode(); \
+        qCritical() << "Error Message: " << ex.ErrorMessage(); \
     } \
     catch (const std::exception& e) { \
         std::cout << "Caught exception: " << e.what() << std::endl; \
-        qDebug() << "Caught exception: " << e.what(); \
+        qCritical() << "Caught exception: " << e.what(); \
+    }\
+    catch (...) {\
+        std::cout << "Caught exception: unexcepted"; \
+        qCritical() << "Caught exception: unexcepted"; \
     }
 struct yh_581_address {
     int triggerAddr = -1;
@@ -153,7 +157,7 @@ public:
         oneTriggerCaptrueTimes = oneTriggerCaptrueTimesIN;
 
         saveObjectName = saveObjectNameIN;
-        generalDet = new detCallbackChain<paramTemplte, yh_581_address>(_serviceManager, _detParams, bridge, &_serviceManagerIn->_chainWatcher);
+        generalDet = new detCallbackChain<paramTemplte, yh_581_address>(_serviceManager, _detParams, bridge);
         generalDet->registerProcessAlgoCallback(_processAlgoCallback);
         address = generateYh581AddressMap(startAddr, triggerCount);
 		//联合触发器条件
@@ -171,23 +175,22 @@ public:
                     if (val.second == 1)
                         evaluate(cnt, byteArray);
                     else
-                        captrueAndDiscard(cnt);
+                        captrueAndDiscard(cnt, byteArray);
                     cnt++;
                 }
             }, "");
         for (int i = 0; i < address.size(); i++) {
             _serviceManager->_triggerManager->registerPlcValueViewer(viewerNameIN + "_" + QString::number(i),
-                { {"触发",address[i].triggerAddr,finsShort },
-                {"反馈",address[i].completeAddr.toInt(),finsShort},
-                {"结果",address[i].resultAddr.toInt(),finsShort},
-                {"数值1",address[i].valueOffsetAddr,finsFloat},
-                {"数值2",address[i].valueOffsetAddr + 2,finsFloat},
-                {"数值3",address[i].valueOffsetAddr + 4,finsFloat} });
+                { {QString::number(address[i].triggerAddr) + "触发",address[i].triggerAddr,finsShort },
+                 {address[i].completeAddr + "反馈",address[i].completeAddr.toInt(),finsShort},
+                 {address[i].resultAddr + "结果",address[i].resultAddr.toInt(),finsShort},
+                 {QString::number(address[i].valueOffsetAddr) + "数值1",address[i].valueOffsetAddr,finsFloat},
+                 {QString::number(address[i].valueOffsetAddr + 2) + "数值2",address[i].valueOffsetAddr + 2,finsFloat},
+                 {QString::number(address[i].valueOffsetAddr + 4) + "数值3",address[i].valueOffsetAddr + 4,finsFloat} });
         }
     }
     //获取图片并进行检测
     void evaluate(int batteryOffset, QByteArray& byteArray) {
-        _serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_1");//完成信号 固定只发在第0位
         std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, false, -1);
         auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
         camera->clearCache();
@@ -199,15 +202,18 @@ public:
 
         generalDet->asyncProcess(data, address[batteryOffset]);//处理算法
         data->resultImgShowSet.push_back(showImgPack(viewerName, "结果图"));
+        _serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_1");//完成信号 固定只发在第0位
     }
     //获取图片然后废弃
-    void captrueAndDiscard(int index) {
-        _serviceManager->_triggerManager->writeShort("D" + address[index].resultAddr + "_4");//发个4防止报警
+    void captrueAndDiscard(int batteryOffset, QByteArray& byteArray) {
+        std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, false, -1);
         auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
-        std::shared_ptr <detData> data = _serviceManager->_detDataManager->createDetData();//创建数据包
+        std::shared_ptr <detData> data = _serviceManager->_detDataManager->createDetData(QString::fromStdString(cameraName), sn, oneTriggerCaptrueTimes, camera->config.oriSaveFormat);//创建数据包
         camera->captureImage(data);//拍照
-        qDebug() << "uuid" << data->uuid << "将取图并丢弃";
+        qDebug() <<"sn" << QString::fromStdString(sn) << "uuid" << data->uuid << "将取图并丢弃";
         _serviceManager->_detDataManager->deleteDetDataLater(data->uuid);
+        _serviceManager->_triggerManager->writeShort("D" + address[0].completeAddr + "_1");//完成信号 固定只发在第0位
+        _serviceManager->_triggerManager->writeShort("D" + address[batteryOffset].resultAddr + "_4");//发个4防止报警
     }
 private:
     QString saveObjectName = "";
@@ -251,7 +257,7 @@ public:
         oneTriggerCaptrueTimes = oneTriggerCaptrueTimesIN;
 
         saveObjectName = saveObjectNameIN;
-        generalDet = new detCallbackChain<paramTemplte2, yh_581_address>(_serviceManager, _detParams, bridge, &_serviceManagerIn->_chainWatcher);
+        generalDet = new detCallbackChain<paramTemplte2, yh_581_address>(_serviceManager, _detParams, bridge);
         generalDet->registerProcessAlgoCallback(_processAlgoCallback);
         address = generateYh581AddressMap(startAddr, triggerCount);
         //单次触发器条件
@@ -265,18 +271,18 @@ public:
         }
         for (int i = 0; i < address.size(); i++) {
             _serviceManager->_triggerManager->registerPlcValueViewer(viewerNameIN + "_" + QString::number(i),
-                { {"触发",address[i].triggerAddr,finsShort },
-                {"反馈",address[i].completeAddr.toInt(),finsShort},
-                {"结果",address[i].resultAddr.toInt(),finsShort},
-                {"数值1",address[i].valueOffsetAddr,finsFloat},
-                {"数值2",address[i].valueOffsetAddr + 2,finsFloat},
-                {"数值3",address[i].valueOffsetAddr + 4,finsFloat} });
+                { {QString::number(address[i].triggerAddr) + "触发",address[i].triggerAddr,finsShort },
+                {address[i].completeAddr + "反馈",address[i].completeAddr.toInt(),finsShort},
+                {address[i].resultAddr + "结果",address[i].resultAddr.toInt(),finsShort},
+                {QString::number(address[i].valueOffsetAddr) + "数值1",address[i].valueOffsetAddr,finsFloat},
+                {QString::number(address[i].valueOffsetAddr + 2) + "数值2",address[i].valueOffsetAddr + 2,finsFloat},
+                {QString::number(address[i].valueOffsetAddr + 4) + "数值3",address[i].valueOffsetAddr + 4,finsFloat} });
         }
         
     }
     //获取图片并进行检测
     void evaluate(int batteryOffset, QByteArray& byteArray) {
-        _serviceManager->_triggerManager->writeShort("D" + address[batteryOffset].completeAddr + "_1");//完成信号 根据偏移发送
+        
         std::string sn = _serviceManager->_triggerManager->readSnFromQByteArray(byteArray, address[batteryOffset].snAddr, false, false, -1);
         auto camera = _serviceManager->_cameraManager->getCamera(cameraName);
         camera->clearCache();
@@ -288,6 +294,7 @@ public:
 
         generalDet->asyncProcess(data, address[batteryOffset]);//处理算法
         data->resultImgShowSet.push_back(showImgPack(viewerName, "结果图"));
+        _serviceManager->_triggerManager->writeShort("D" + address[batteryOffset].completeAddr + "_1");//完成信号 根据偏移发送
     }
 private:
     QString saveObjectName = "";
diff --git a/rpcModule/rpc_finsTcp_boost/json_rpc_server_1_1_0.exe b/rpcModule/rpc_finsTcp_boost/json_rpc_server_1_1_1.exe
similarity index 85%
rename from rpcModule/rpc_finsTcp_boost/json_rpc_server_1_1_0.exe
rename to rpcModule/rpc_finsTcp_boost/json_rpc_server_1_1_1.exe
index ad00ec9..8748f51 100644
Binary files a/rpcModule/rpc_finsTcp_boost/json_rpc_server_1_1_0.exe and b/rpcModule/rpc_finsTcp_boost/json_rpc_server_1_1_1.exe differ
diff --git a/rpcModule/rpc_finsTcp_boost/rpc_finsTcp.cpp b/rpcModule/rpc_finsTcp_boost/rpc_finsTcp.cpp
index a290762..51e657d 100644
--- a/rpcModule/rpc_finsTcp_boost/rpc_finsTcp.cpp
+++ b/rpcModule/rpc_finsTcp_boost/rpc_finsTcp.cpp
@@ -114,6 +114,7 @@ bool rpc_finsTcp::readData(std::vector<cv::Mat>& vec_mat, QByteArray& data){
     JsonRpcClient* ptr = read_JsonRpcClient[data];
     if(ptr == nullptr) {
         ptr = new JsonRpcClient("127.0.0.1", 9000);
+        ptr->writeCall("init", QJsonArray{ m_IP,m_port }, "finstcp");
         read_JsonRpcClient[data] = ptr;
 	}
     QByteArray resp = ptr->finsReadCall("excuteCli", QString(data), "finstcp");
@@ -264,7 +265,7 @@ void rpc_finsTcp::initHearBeatThread() {
 }
 
 bool rpc_finsTcp::initParas(QByteArray& data){
-    startProcess("./json_rpc_server_1_1_0.exe");
+    startProcess("./json_rpc_server_1_1_1.exe");
     QThread::msleep(500);
     write_JsonRpcClients = std::vector<std::pair<QThread*, JsonRpcClientWorker*>>(threadCount);
     for (int i = 0; i < write_JsonRpcClients.size(); i++) {
diff --git a/src/core/service/cameraManager.cpp b/src/core/service/cameraManager.cpp
index e310810..34002b5 100644
--- a/src/core/service/cameraManager.cpp
+++ b/src/core/service/cameraManager.cpp
@@ -130,9 +130,6 @@ void cameraManager::run(){
 	MV_CC_DEVICE_INFO_LIST m_stDevList = searchMV_CC_DEVICE_INFO_LIST();
 	QByteArray mvDevices1 = "deviceList" + MV_CC_DeviceInfoListToQByteArray(m_stDevList);
 
-	MV_GENTL_IF_INFO_LIST m_stIFList = searchMV_GENTL_IF_INFO_LIST();
-	QByteArray mvDevices2 = "deviceList" + MV_GENTL_IF_INFO_LISTToQByteArray(m_stIFList);
-
 	for (auto i = 0; i < _cameraStructs.size(); i++) {
 		auto& m_module = _cameraStructs[i];
 		QString dllPath = QString::fromStdString(m_module.dllPath);
@@ -161,14 +158,6 @@ void cameraManager::run(){
 				break;
 			}
 		}
-		for(int i = 0; i < m_stIFList.nInterfaceNum; i++) {
-			std::string serialNumber = static_cast<std::string>((LPCSTR)m_stIFList.pIFInfo[i]->chInterfaceID);
-			std::string userDefineName = static_cast<std::string>((LPCSTR)m_stIFList.pIFInfo[i]->chInterfaceID);
-			if (m_module.connectionName.find(serialNumber) != std::string::npos || m_module.connectionName.find(userDefineName) != std::string::npos) {
-				m_module.module_ptr->writeData(vec_mat, mvDevices1);
-				break;
-			}
-		}
 
 	}
 	status = NotInit;
diff --git a/src/core/service/cameraManager.h b/src/core/service/cameraManager.h
index a55368f..16aca55 100644
--- a/src/core/service/cameraManager.h
+++ b/src/core/service/cameraManager.h
@@ -94,9 +94,6 @@ public:
 	inline void setExposureTime(float value){
 		writeData("exposure_" + std::to_string(value));
 	}
-	inline void setUserSet(int value){
-		writeData("userset_" + std::to_string(value));
-	}
 	inline void clearCache() {
 		writeData("clearCache");
 	}
diff --git a/src/core/service/detCallbackChain.hpp b/src/core/service/detCallbackChain.hpp
index 585bff6..36dc2e4 100644
--- a/src/core/service/detCallbackChain.hpp
+++ b/src/core/service/detCallbackChain.hpp
@@ -14,16 +14,16 @@ template<typename customTemplate, typename addressTemplate>
 class detCallbackChain {
 public:
 	using processAlgoCallback = std::function<bool(std::shared_ptr <detData>, customTemplate*, addressTemplate)>;
-
-	detCallbackChain(ServiceManager* _ServiceManagerIn, customTemplate* _customTemplateIn, bSignalHub* bridgeIn, detCallbackChainWatcher* _chainWatcherIn = nullptr)
+	detCallbackChain(ServiceManager* _ServiceManagerIn, customTemplate* _customTemplateIn, bSignalHub* bridgeIn)
 		: _imgSaveThreadManager(_ServiceManagerIn->_imgSaveThreadManager),
 		_handleAiModels(_customTemplateIn),
 		_triggerManager(_ServiceManagerIn->_triggerManager),
 		bridge(bridgeIn), _serviceManager(_ServiceManagerIn)
 	{
-		int threadCount = 4 * QThread::idealThreadCount();
+
+		int threadCount = 10 * QThread::idealThreadCount();
 		QThreadPool::globalInstance()->setMaxThreadCount(threadCount);
-		_chainWatcher = _chainWatcherIn;
+
 	}
 	//异步启动检测
 	void asyncProcess(std::shared_ptr <detData> data, addressTemplate address, QByteArray completeSignal = "") {
@@ -34,15 +34,6 @@ public:
 		QFuture<void> future = QtConcurrent::run([this, data, address, completeSignal]() {
 			process(data, address, completeSignal);
 			});
-		if (_chainWatcher != nullptr) {
-			// 构建任务名称：包含 UUID 和 SN 码便于追踪
-			QString taskName = QString("DetTask_UUID[%1]_SN[%2]")
-				.arg(data->uuid)
-				.arg(QString::fromStdString(data->SNcode));
-			
-			// 将任务添加到监控器
-			int watcherId = _chainWatcher->addFeature(future, taskName);
-		}
 	}
 	//阻塞启动检测
 	void process(std::shared_ptr <detData> data, addressTemplate address, QByteArray completeSignal = "") {
@@ -83,17 +74,20 @@ public:
 		}
 		catch (HDevEngineCpp::HDevEngineException& ex) {
 			
-				qDebug() << "detChain catched->HDevEngineException: " << ex.Message(); 
+			qCritical() << "detChain catched->HDevEngineException: " << ex.Message();
 		} 
 		catch (HalconCpp::HException& ex) {
 				
-				qDebug() << "detChain catched->Halcon Exception Caught!"; 
-				qDebug() << "detChain catched->Error Code: " << ex.ErrorCode(); 
-				qDebug() << "detChain catched->Error Message: " << ex.ErrorMessage();
+			qCritical() << "detChain catched->Halcon Exception Caught!";
+			qCritical() << "detChain catched->Error Code: " << ex.ErrorCode();
+			qCritical() << "detChain catched->Error Message: " << ex.ErrorMessage();
 		} 
 		catch (const std::exception& e) {
 				
-				qDebug() << "detChain catched->Caught exception: " << e.what(); 
+			qCritical() << "detChain catched->Caught exception: " << e.what();
+		}
+		catch (...) {
+			qCritical() << "detChain catched->Caught exception: unexcepted";
 		}
 		std::chrono::steady_clock::time_point algoEndTime = std::chrono::steady_clock::now();
 		data->algoTime = std::chrono::duration_cast<std::chrono::milliseconds>(algoEndTime - algoStartTime).count();
@@ -124,14 +118,13 @@ public:
 		// 异步保存检测图像
 		std::thread([this,data] {_imgSaveThreadManager->saveImage(data); }).detach();
 	}
-#pragma region 注册回调函数
 
 	void registerProcessAlgoCallback(processAlgoCallback func) {
 		_processAlgoCallback = func;
 	}
-
+	
 #pragma endregion
-
+	
 private:
 	int uiShowImgCompressThreshold = 5000; // 超过该宽或高就压缩
 	imgSaveThreadManager* _imgSaveThreadManager = nullptr;
@@ -139,7 +132,6 @@ private:
 	triggerManager* _triggerManager = nullptr;
 	processAlgoCallback _processAlgoCallback;
 	bSignalHub* bridge = nullptr;
-	detCallbackChainWatcher* _chainWatcher = nullptr;
 	ServiceManager* _serviceManager = nullptr;
 };
 
diff --git a/src/core/service/triggerManager.cpp b/src/core/service/triggerManager.cpp
index 2b88b21..faa2efb 100644
--- a/src/core/service/triggerManager.cpp
+++ b/src/core/service/triggerManager.cpp
@@ -32,20 +32,19 @@ triggerManager::triggerManager(ServiceManager* _serviceManager, bSignalHub* brid
 void triggerManager::run(){
     if(connectHost() == false)
         return;
-    QThread::msleep(1000);
+    QThread::msleep(500);
     QElapsedTimer heartTimer, loopCounterCollectTimer,loopIntervalTimer;
     int loopCounter = 0,maxIntervalLog = 0,interval = 0;
     loopIntervalTimer.start();
     while (runFlag){     
         reciveCommond();
-        //心跳
-        if (heartTimer.elapsed()> heartBeatIntervalMS) {
+        if (heartTimer.elapsed()> heartBeatIntervalMS) {//心跳
             sendFinsMsg(heartBeatCmds[heartBeatCmdCnt++]);
             if(heartBeatCmdCnt >= heartBeatCmds.size())
 				heartBeatCmdCnt = 0;
             heartTimer.start();
         }
-        if (loopCounterCollectTimer.elapsed() > 3000) {
+        if (loopCounterCollectTimer.elapsed() > 3000) {//发送性能数据
             emit bridge->sendTriggerManagerLoopData(loopCounter / 3, maxIntervalLog);
             maxIntervalLog = 0;
             loopCounter = 0;
diff --git a/src/core/service/triggerManager.h b/src/core/service/triggerManager.h
index e91c6d6..94fd69f 100644
--- a/src/core/service/triggerManager.h
+++ b/src/core/service/triggerManager.h
@@ -137,18 +137,6 @@ public:
         return true;
     }
     //直接发送数据到模块的方法
-    bool sendFinsMsg(const char* cmdx){
-        QString str = cmdx;
-        if (trigger == nullptr)
-            return false;
-        if (!trigger->writeData(vec_mat, str.toUtf8()))
-        {
-            qCritical() << "[TCP Error] " << QString::fromUtf8("Fins数据发送失败！") << cmdx;
-            return false;
-        }
-        return true;
-    }
-    //直接发送数据到模块的方法
     bool sendFinsMsg(const QByteArray& write_byte){
         if (trigger == nullptr)
             return false;
@@ -414,7 +402,7 @@ public:
     }
     std::map<QByteArray, std::vector<unionTriggerCallbackStruct>> unionTriggerCallbackFuncs;
 
-    //SUB
+    //监控指定地址的数值
     void registerPlcValueViewer(const QString& groupName, const std::vector<PlcValueViewerStruct>& viewerDatas) {
         QMutexLocker locer(&mutex);
         for (auto& data : viewerDatas) {
diff --git a/src/mission/581-Dgh-CB-1/581-Dgh-CB-1.cpp b/src/mission/581-Dgh-CB-1/581-Dgh-CB-1.cpp
new file mode 100644
index 0000000..13e314c
--- /dev/null
+++ b/src/mission/581-Dgh-CB-1/581-Dgh-CB-1.cpp
@@ -0,0 +1,8 @@
+#include <581-Dgh-CB-1.h>
+
+mission* createMission() {
+	return new _581_Dgh();
+}
+void destroyMission(mission* _mission) {
+	delete _mission;
+}
\ No newline at end of file
diff --git a/src/mission/581-Dgh-CB-1/581-Dgh-CB-1.h b/src/mission/581-Dgh-CB-1/581-Dgh-CB-1.h
new file mode 100644
index 0000000..5cbde25
--- /dev/null
+++ b/src/mission/581-Dgh-CB-1/581-Dgh-CB-1.h
@@ -0,0 +1,225 @@
+#include <missionBase.hpp>
+#include <simpleAlgo.h>
+#include <hdevengine/HDevEngineCpp.h>
+#include <opencvPaintAlgo.hpp>
+#include <yhGlobal.h>
+#include <qregularexpression.h>
+QByteArray getCameraIndex(QString cameraStr) {
+    QRegularExpression re("\\d+");
+    auto match = re.match(cameraStr);
+    if (match.hasMatch()) {
+        return "_" + match.captured(0).toLocal8Bit();
+    }
+    return "_-2";
+}
+#pragma region 算法
+
+using namespace HDevEngineCpp;
+
+#pragma endregion
+void exceptionResume(std::shared_ptr<detData> data, detParams* _detParams, yh_581_address address, QString why = "") {
+    qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode) << why;
+    cv::Mat Paint;
+    data->getOriImg(0).copyTo(Paint);
+    if (Paint.channels() == 1)
+        cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+
+    TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
+    textPainter.putText(Paint, why.toStdString(), cv::Point(50, 50), cv::Scalar(0, 255, 0));
+    cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
+    data->insertResultImg(Paint);
+    data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_1,1,1,1,1,1,1,1,1,1,1,1,1,1");
+    data->service->_triggerManager->writeShort("D" + address.resultAddr + "_3");//结果反馈//原来是异常发送NG-2，改成异常发送3，表示取图失败
+}
+static bool yuHanQian3D(std::shared_ptr <detData> data, detParams* _detParams, yh_581_address address) {
+    try {
+        std::vector<std::string> defects;
+        auto CameraIndex = getCameraIndex(QString::fromStdString(data->cameraKeyName));
+        QDateTime createTime = QDateTime::currentDateTime();
+        double heightThreshold = data->service->_paramSyncManager->get("预焊前检测", "高度/台阶差最大阈值", 0.3).toDouble();
+        double widthThreshold = data->service->_paramSyncManager->get("预焊前检测", "缝隙值最大阈值", 0.1).toDouble();
+        double MeasureNumber = data->service->_paramSyncManager->get("预焊前检测", "焊点的测量数量", 4).toDouble();
+     /*   data->oriImgs.clear();
+        data->oriImgs.push_back(cv::imread("D:\\testimg\\04QCB82602000JFBN00063BN_45_Camera1_0.tiff", -1));
+        data->oriImgs.push_back(cv::imread("D:\\testimg\\04QCB82602000JFBN00063BN_45_Camera1_1.tiff", -1));*/
+        if (data->getOriImgSize() < 2) {
+            exceptionResume(data, _detParams, address, "NG");
+            return true;
+          }
+        if (data->getOriImg(0).cols == 1000) {
+            exceptionResume(data, _detParams, address, "取图超时");
+            return true;
+        }
+        cv::Mat heightImg = data->getOriImg(1);
+        cv::Mat lumImg = data->getOriImg(0);
+        cv::Mat Paint;
+
+        HalconCpp::HObject in_imageH = MatToHObject(heightImg);
+        HalconCpp::HObject in_imageLum = MatToHObject(lumImg);
+        HDevEngineCpp::HDevProcedure proc("_6_detect_gap_width_height");
+        HDevProcedureCall procedureCall(proc);
+        procedureCall.SetInputIconicParamObject("in_imageH", in_imageH);
+        procedureCall.SetInputIconicParamObject("in_imageLum", in_imageLum);
+        procedureCall.SetInputCtrlParamTuple("in_MeasureNumber", MeasureNumber);
+        
+        procedureCall.SetInputCtrlParamTuple("in_xResolution", 0.0025);
+        procedureCall.SetInputCtrlParamTuple("in_yResolution", data->service->_paramSyncManager->get("预焊前检测", "3D相机Y方向精度",0.177).toFloat());
+        procedureCall.SetInputCtrlParamTuple("in_zResolution", 0.0004);
+        if(address.triggerAddr == 18000 || address.triggerAddr == 18002 || address.triggerAddr == 18400 || address.triggerAddr == 18402)
+            procedureCall.SetInputCtrlParamTuple("in_Location", "Right");
+        else
+            procedureCall.SetInputCtrlParamTuple("in_Location", "Left");
+        procedureCall.Execute();
+        HObject out_DisplayImage = procedureCall.GetOutputIconicParamObject("out_DisplayImage");
+
+        HTuple out_MaxHeight = procedureCall.GetOutputCtrlParamTuple("out_MaxHeight");
+        HTuple out_MaxWidth = procedureCall.GetOutputCtrlParamTuple("out_MaxWidth");
+        HTuple out_ResultRow = procedureCall.GetOutputCtrlParamTuple("out_ResultRow");
+        HTuple out_ResultColumn = procedureCall.GetOutputCtrlParamTuple("out_ResultColumn");
+        HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag");
+        HTuple out_NgTails = procedureCall.GetOutputCtrlParamTuple("out_NgTails");
+        HTuple out_DisplayRows = procedureCall.GetOutputCtrlParamTuple("out_DisplayRows");
+        HTuple out_DisplayCols = procedureCall.GetOutputCtrlParamTuple("out_DisplayCols");
+        int flag = out_Flag.D();
+        TextRendererZH textPainter(Paint.cols, Paint.rows, 75);
+       
+        textPainter.appendPaintJob(data->SNcode, cv::Point(1600,0), cv::Scalar(0, 255, 0));
+        textPainter.appendPaintJob(data->cameraKeyName, cv::Point(1600, 50), cv::Scalar(0, 255, 0));
+        if (address.triggerAddr == 18000 || address.triggerAddr == 18200 || address.triggerAddr == 18400 || address.triggerAddr == 18600)
+            textPainter.appendPaintJob("电池1", cv::Point(1600, 100), cv::Scalar(0, 255, 0));
+        else
+            textPainter.appendPaintJob("电池2", cv::Point(1600, 100), cv::Scalar(0, 255, 0));
+        bool isOK = true;
+        bool WidthOpen = data->service->_paramSyncManager->get("预焊前检测", "缝隙值检测开启", true).toBool();
+        bool HeightOpen = data->service->_paramSyncManager->get("预焊前检测", "台阶差检测开启", true).toBool();
+        QByteArray gaoDuChaSendText, fengXiSendText;
+        QByteArray extraDataSend;
+        if (flag == 1) {
+            int yStart = -25;
+            for (int i = 0; i < out_DisplayRows.Length(); i++) {
+                double MaxHeight = out_MaxHeight[i].D();
+                double MaxWidth = out_MaxWidth[i].D();
+
+                cv::Point displayPos( 1000, out_DisplayRows[i].D() - 50);
+                textPainter.appendPaintJob("检测区域" + std::to_string(i + 1) + ":", displayPos, cv::Scalar(0, 255, 0));
+
+                displayPos.x += 280;
+                if (std::abs(MaxHeight) > std::abs(heightThreshold)) {
+                    textPainter.appendPaintJob("高度/台阶差" + QString::number(MaxHeight, 'f', 3).toStdString() +"mm", displayPos, cv::Scalar(0, 0, 255));
+                   if(HeightOpen) isOK = false;
+                }
+                else
+                    textPainter.appendPaintJob("高度/台阶差" + QString::number(MaxHeight, 'f', 3).toStdString() + "mm", displayPos, cv::Scalar(0, 255, 0));
+                
+                displayPos.x += 600;
+                if (std::abs(MaxWidth) > std::abs(widthThreshold)) {
+                    textPainter.appendPaintJob("缝隙值" + QString::number(MaxWidth, 'f', 3).toStdString() + "mm", displayPos, cv::Scalar(0, 0, 255));
+                   if(WidthOpen) isOK = false;
+                }
+                else
+                    textPainter.appendPaintJob("缝隙值" + QString::number(MaxWidth, 'f', 3).toStdString() + "mm", displayPos, cv::Scalar(0, 255, 0));
+                if (i == 3) {
+                    extraDataSend += QByteArray::number(MaxWidth) + "," + QByteArray::number(MaxHeight);
+                }
+                else {
+                    gaoDuChaSendText += QByteArray::number(MaxHeight) + ",";
+                    fengXiSendText += QByteArray::number(MaxWidth) + ",";
+                }
+            }
+        }
+        else {
+            gaoDuChaSendText = "-1,-1,-1,";
+            fengXiSendText = "-1,-1,-1,";
+            std::string ngDetailStr = gbkToUtf8(out_NgTails.ToString().Text());
+            ngDetailStr = ngDetailStr.substr(1, ngDetailStr.length() - 2);
+            textPainter.appendPaintJob(ngDetailStr, cv::Point(50, 450), cv::Scalar(0, 0, 255));
+            for (int i = 0; i < out_ResultRow.Length(); i++) {
+                textPainter.appendPaintJob(cv::Point(out_ResultRow[i].D(), out_ResultColumn[i].D()),1, cv::Scalar(0, 0, 255), 1,0);
+            }
+            data->halconOK = false;
+            isOK = false;
+        }
+        QByteArray plcResult = "1";
+        if (isOK == false) {
+            textPainter.appendPaintJob("NG", cv::Point(50, 50), cv::Scalar(0, 0, 255));
+            plcResult = "2";
+            data->halconOK = false;
+            defects.push_back("台阶/间隙不良");
+        }
+        else
+            textPainter.appendPaintJob("OK", cv::Point(50, 50), cv::Scalar(0, 255, 0));
+        if (data->service->_paramSyncManager->get("通用设置", "强制OK", false).toBool())
+            plcResult = "1";
+       
+        //发送参数1
+        data->service->_triggerManager->writeFloat("D" 
+            + QByteArray::number(address.valueOffsetAddr) + "_" 
+            + fengXiSendText + "1,1," 
+            + gaoDuChaSendText + plcResult + "," + plcResult + "," + plcResult + "," + plcResult +"," + plcResult + "," + plcResult + "," + extraDataSend+ CameraIndex);//数值1
+
+        //发送结果
+        data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult + CameraIndex);//结果反馈
+
+        data->service->_missionResultHandle->toBarChart(data->SNcode, defects);
+        Paint = HObject2Mat(out_DisplayImage);
+        textPainter.excusePaintJobs(Paint);
+        int rate = MIN(Paint.rows, Paint.cols) / 20;
+        TextRendererZH textPainter1(Paint.cols, Paint.rows, rate);
+        textPainter1.putText(Paint, "当前条码:" + data->SNcode, cv::Point(50, Paint.rows - (rate * 2)), cv::Scalar(0, 255, 255));
+        textPainter1.putText(Paint, "获取图像时间:" + createTime.toString("yyyy/MM/dd hh:mm:ss").toStdString(), cv::Point(50, Paint.rows - rate), cv::Scalar(0, 255, 255));
+        data->insertResultImg(Paint);
+        return true;
+    }
+    CATCH_EXCEPTIONS
+    exceptionResume(data, _detParams, address, "NG");
+    return true;
+}
+class _581_Dgh : public mission {
+public:
+    using generalTrigger = _581_Union_triggerTemplate<detParams>;
+    generalTrigger dgh_cb_yh_3d_1;
+    generalTrigger dgh_cb_yh_3d_2;
+    generalTrigger dgh_cb_yh_3d_3;
+    generalTrigger dgh_cb_yh_3d_4;
+
+    generalTrigger dgh_cb_mh_3d_1;
+    generalTrigger dgh_cb_mh_3d_2;
+    generalTrigger dgh_cb_mh_3d_3;
+    generalTrigger dgh_cb_mh_3d_4;
+    detParams _params;
+
+    void onConfigReloaded() {
+        HDevEngineCpp::HDevEngine myEngine;
+        myEngine.SetProcedurePath("");
+        myEngine.SetProcedurePath("./halconAlgo/AlgoLibrary_602.hdpl");
+    }
+    bool initCustom() {
+#pragma region 注册触发器回调
+        dgh_cb_yh_3d_1.init("Camera1", "长边预焊前3D-1", 18000,2,1, &_params, _serviceManager, bridge, yuHanQian3D);
+        dgh_cb_yh_3d_1.address[1].valueOffsetAddr += 20;
+        dgh_cb_yh_3d_2.init("Camera2", "长边预焊前3D-2", 18200,2,1, &_params, _serviceManager, bridge, yuHanQian3D);
+        dgh_cb_yh_3d_2.address[1].valueOffsetAddr += 20;
+        dgh_cb_yh_3d_3.init("Camera3", "长边预焊前3D-3", 18400,2,1, &_params, _serviceManager, bridge, yuHanQian3D);
+        dgh_cb_yh_3d_3.address[1].valueOffsetAddr += 20;
+        dgh_cb_yh_3d_4.init("Camera4", "长边预焊前3D-4", 18600,2,1, &_params, _serviceManager, bridge, yuHanQian3D);
+        dgh_cb_yh_3d_4.address[1].valueOffsetAddr += 20;
+                                                                    
+        dgh_cb_mh_3d_1.init("Camera5", "长边满焊前3D-1", 19600,2,1, &_params, _serviceManager, bridge, generalAlgoTest);
+        dgh_cb_mh_3d_1.address[1].valueOffsetAddr += 20;
+        dgh_cb_mh_3d_2.init("Camera6", "长边满焊前3D-2", 19800,2,1, &_params, _serviceManager, bridge, generalAlgoTest);
+        dgh_cb_mh_3d_2.address[1].valueOffsetAddr += 20;
+        dgh_cb_mh_3d_3.init("Camera7", "长边满焊前3D-3", 20000,2,1, &_params, _serviceManager, bridge, generalAlgoTest);
+        dgh_cb_mh_3d_3.address[1].valueOffsetAddr += 20;
+        dgh_cb_mh_3d_4.init("Camera8", "长边满焊前3D-4", 20200,2,1, &_params, _serviceManager, bridge, generalAlgoTest);
+        dgh_cb_mh_3d_4.address[1].valueOffsetAddr += 20;
+#pragma endregion
+        return true;
+    }
+
+};
+
+
+
+
+
+#pragma once
\ No newline at end of file
diff --git a/src/mission/581-Dgh-CB-1/CMakeLists.txt b/src/mission/581-Dgh-CB-1/CMakeLists.txt
new file mode 100644
index 0000000..76e9200
--- /dev/null
+++ b/src/mission/581-Dgh-CB-1/CMakeLists.txt
@@ -0,0 +1,77 @@
+# 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/service
+    ${PROJECT_ROOT_PATH}/src/core/sql
+    ${ENV_INCLUDE}
+    )
+
+link_directories (
+    ${ENV_LIB}
+
+    )
+add_compile_options(/utf-8)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_AUTOMOC ON)
+SET(CMAKE_AUTOUIC OFF)
+set(CMAKE_AUTORCC ON)
+ 
+FILE(GLOB HEAD_FILES "*.h" )
+FILE(GLOB SRC_FILES "./*.cpp")
+FILE(GLOB UI_FILES "./*.ui")
+
+
+#find_package(Qt5 COMPONENTS Core REQUIRED)
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Core Gui Network REQUIRED)
+find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core Gui Network REQUIRED)
+
+add_library(${CURRENT_FOLDER} SHARED
+    ${HEAD_FILES}
+    ${SRC_FILES}
+    ${UI_FILES}
+    ${PROJECT_ROOT_PATH}/include/interface.h
+    )
+
+
+
+set_target_properties(${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
+    )
+
+
+# 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_Ruanlianjie_hanqian_hanhou/581_Ruanlianjie_hanqian_hanhou.cpp b/src/mission/581_Ruanlianjie_hanqian_hanhou/581_Ruanlianjie_hanqian_hanhou.cpp
new file mode 100644
index 0000000..04bdf79
--- /dev/null
+++ b/src/mission/581_Ruanlianjie_hanqian_hanhou/581_Ruanlianjie_hanqian_hanhou.cpp
@@ -0,0 +1,552 @@
+#include <581_Ruanlianjie_hanqian_hanhou.h>
+#include <qregularexpression.h>
+#define switchToNew 1
+QByteArray getCameraIndex(QString cameraStr) {
+	QRegularExpression re("\\d+");
+	auto match = re.match(cameraStr);
+	if (match.hasMatch()) {
+		return "_" + match.captured(0).toLocal8Bit();
+	}
+	return "_-2";
+}
+void exceptionResume(std::shared_ptr<detData> data, hanHouJianCe* _detParams, sx_581_address address, QString why = "") {
+	qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode) << why;
+	cv::Mat Paint;
+	data->getOriImg(0).copyTo(Paint);
+	if (Paint.channels() == 1)
+		cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+
+	TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
+	textPainter.putText(Paint, why.toStdString(), cv::Point(500, 50), cv::Scalar(0, 255, 0));
+	cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
+	data->insertResultImg(Paint);
+	data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//结果反馈
+
+}
+void exceptionResume(std::shared_ptr<detData> data, hanQianDingWeiParams* _detParams, sx_581_address address, QString why = "") {
+	qDebug() << "[Error] " << QString::fromUtf8("检测失败!") << data->uuid << QString::fromStdString(data->SNcode) << why;
+	cv::Mat Paint;
+	data->getOriImg(0).copyTo(Paint);
+	if (Paint.channels() == 1)
+		cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+
+	TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
+	textPainter.putText(Paint, why.toStdString(), cv::Point(500, 50), cv::Scalar(0, 255, 0));
+	cv::resize(Paint, Paint, cv::Size(), 0.5, 0.5);
+	data->insertResultImg(Paint);
+	data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//结果反馈
+
+}
+bool HanQianDingWei(std::shared_ptr <detData> data, hanQianDingWeiParams* _detParams, sx_581_address address){
+	try
+	{
+		auto cameraThreadIndex = getCameraIndex(QString::fromStdString(data->cameraKeyName));
+		bool zuoLJPtoGaiBanEnable = data->service->_paramSyncManager->get("焊前定位", "左侧连接片和盖板距离判定启用", false).toBool();
+		double zuoLJPtoGaiBanMaxThreshold = data->service->_paramSyncManager->get("焊前定位", "左侧连接片和盖板距离(上限)", 1.8).toDouble();
+		double zuoLJPtoGaiBanMinThreshold = data->service->_paramSyncManager->get("焊前定位", "左侧连接片和盖板距离(下限)", 0.0).toDouble();
+
+		bool youLJPtoGaiBanEnable = data->service->_paramSyncManager->get("焊前定位", "右侧连接片和盖板距离判定启用", false).toBool();
+		double youLJPtoGaiBanMaxThreshold = data->service->_paramSyncManager->get("焊前定位", "右侧连接片和盖板距离(上限)", 1.8).toDouble();
+		double youLJPtoGaiBanMinThreshold = data->service->_paramSyncManager->get("焊前定位", "右侧连接片和盖板距离(下限)", 0.0).toDouble();
+
+		bool ljpYuanXinJuEnable = data->service->_paramSyncManager->get("焊前定位", "连接片圆心距离判定启用", false).toBool();
+		double ljpYuanXinJuMaxThreshold = data->service->_paramSyncManager->get("焊前定位", "连接片圆心距离(上限)", 1.8).toDouble();
+		double ljpYuanXinJuMinThreshold = data->service->_paramSyncManager->get("焊前定位", "连接片圆心距离(下限)", 0.0).toDouble();
+		std::vector <std::string>defects;
+		QByteArray plcResult = "1";
+		//data->getOriImg(0) = cv::imread("D://testImage//hqdw.bmp",-1);
+		cv::Mat sourceImg = data->getOriImg(0);
+		cv::Mat Paint;
+		sourceImg.copyTo(Paint);
+		if (Paint.channels() == 1)
+			cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+		HDevEngineCpp::HDevProcedure proc("_3_HQDW_Inspection");
+		HDevEngineCpp::HDevProcedureCall procedureCall(proc);
+
+		HTuple in_Resolution(data->service->_paramSyncManager->get("相机精度", "焊前定位" + QString::fromStdString(data->cameraKeyName) + "精度", 0.0349425).toDouble()), in_FilePath("./halconFiles/");
+		HObject inputImage = MatToHObject(sourceImg);
+
+		procedureCall.SetInputIconicParamObject("in_Image", inputImage);
+		procedureCall.SetInputCtrlParamTuple("in_Resolution", in_Resolution);
+		procedureCall.SetInputCtrlParamTuple("in_FilePath", in_FilePath);
+		procedureCall.Execute();//执行halcon程序
+		HTuple out_ColorType;
+		HTuple out_Distance;
+		HTuple out_CCDistance;
+		HTuple make;
+		HObject out_DisplayImage;
+		out_ColorType = procedureCall.GetOutputCtrlParamTuple("out_ColorType");//获取输出控制类变量
+		out_Distance = procedureCall.GetOutputCtrlParamTuple("out_Distance");//获取输出控制类变量
+		out_CCDistance = procedureCall.GetOutputCtrlParamTuple("out_CCDistance");//获取输出控制类变量
+		make = procedureCall.GetOutputCtrlParamTuple("out_Flag");//获取输出控制类变量
+		out_DisplayImage = procedureCall.GetOutputIconicParamObject("out_DisplayImage");//获取输出控制类变量
+		int flag = make.D();
+
+		// Output(HTuple):  out_ColorType,   1, 铜;   2,铝</c>
+
+		 //正确的应该左边铝 右边铜
+		double value1_1 = 0, value1_2 = 0, value2_1 = 0, value2_2 = 0;
+		bool jiXingEnable = data->service->_paramSyncManager->get("焊前定位", "焊前极性判定启用", false).toBool();
+		TextRendererZH textPainter(Paint.cols, Paint.rows, 200);
+		TextRendererZH textPainter2(Paint.cols, Paint.rows, 600);
+		TextRendererZH textPainter3(Paint.cols, Paint.rows, 800);
+		if (flag == 1){
+
+			bool isNg = false;
+
+			Paint = HObject2Mat(out_DisplayImage);
+			int l = out_Distance.Length();
+			if (out_Distance.Length() >= 3) {
+				value1_1 = out_Distance[1].D();
+				value1_2 = out_Distance[2].D();
+				textPainter.appendPaintJob("线段夹角:" + std::to_string(out_Distance[3].D()) + "°", cv::Point(0, 10), cv::Scalar(0, 255, 0));
+
+
+				//判断圆心距
+				double yuanXinJu = out_Distance[0].D();
+				if (ljpYuanXinJuMaxThreshold < yuanXinJu || ljpYuanXinJuMinThreshold > yuanXinJu) {//NG
+					textPainter.appendPaintJob("铜极+铝极连接片中心距离:" + std::to_string(yuanXinJu) + "mm", cv::Point(0, sourceImg.rows - 950), cv::Scalar(0, 0, 255));
+					defects.push_back("圆心距NG");
+					if (ljpYuanXinJuEnable == true)
+						isNg = true;
+				}
+				else//OK
+					textPainter.appendPaintJob("铜极+铝极连接片中心距离:" + std::to_string(yuanXinJu) + "mm", cv::Point(0, sourceImg.rows - 950), cv::Scalar(0, 255, 0));
+
+				textPainter.appendPaintJob("电芯上水平边缘和注液孔的中心圆的距离:" + std::to_string(out_Distance[1].D()) + "mm", cv::Point(0, sourceImg.rows - 750), cv::Scalar(0, 255, 0));
+				textPainter.appendPaintJob("电芯下水平边缘和注液孔的中心圆的距离:" + std::to_string(out_Distance[2].D()) + "mm", cv::Point(0, sourceImg.rows - 550), cv::Scalar(0, 255, 0));
+#if switchToNew
+				data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(out_Distance[0].D()) + cameraThreadIndex);
+				data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr+2) + "_" + QByteArray::number(out_Distance[1].D()) + cameraThreadIndex);
+#else
+				data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(out_Distance[0].D()));
+				data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 2) + "_" + QByteArray::number(out_Distance[1].D()));
+#endif
+
+				data->sqlVec.insert({ "电芯上水平边缘和注液孔的中心圆的距离", out_Distance[1].D() });
+				data->sqlVec.insert({ "电芯下水平边缘和注液孔的中心圆的距离", out_Distance[2].D() });
+			}
+			if (out_CCDistance.Length() == 2) {
+				value2_1 = out_CCDistance[0].D();
+				if (zuoLJPtoGaiBanMaxThreshold < value2_1 || zuoLJPtoGaiBanMinThreshold > value2_1) {//NG
+					textPainter.appendPaintJob("左侧连接片圆心和盖板圆心的距离:" + std::to_string(value2_1) + "mm", cv::Point(0, sourceImg.rows - 350), cv::Scalar(0, 0, 255));
+					defects.push_back("左连接片距离NG");
+					if (zuoLJPtoGaiBanEnable == true)
+						isNg = true;
+				}
+				else//OK
+					textPainter.appendPaintJob("左侧连接片圆心和盖板圆心的距离:" + std::to_string(value2_1) + "mm", cv::Point(0, sourceImg.rows - 350), cv::Scalar(0, 255, 0));
+
+				value2_2 = out_CCDistance[1].D();
+				if (youLJPtoGaiBanMaxThreshold < value2_2 || youLJPtoGaiBanMinThreshold > value2_2) {//NG
+					defects.push_back("右连接片距离NG");
+					textPainter.appendPaintJob("右侧连接片圆心和盖板圆心的距离:" + std::to_string(value2_2) + "mm", cv::Point(0, sourceImg.rows - 150), cv::Scalar(0, 0, 255));
+					if(youLJPtoGaiBanEnable == true)
+						isNg = true;
+				}
+				else
+					textPainter.appendPaintJob("右侧连接片圆心和盖板圆心的距离:" + std::to_string(value2_2) + "mm", cv::Point(0, sourceImg.rows - 150), cv::Scalar(0, 255, 0));
+#if switchToNew
+				data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 4) + "_" + QByteArray::number(out_CCDistance[0].D()) + cameraThreadIndex);
+				data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 6) + "_" + QByteArray::number(out_Distance[1].D()) + cameraThreadIndex);
+#else
+				data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 4) + "_" + QByteArray::number(out_CCDistance[0].D()));
+				data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr + 6) + "_" + QByteArray::number(out_Distance[1].D()));
+#endif
+
+				data->sqlVec.insert({ "左侧连接片圆心和盖板圆心的距离", out_CCDistance[0].D() });
+				data->sqlVec.insert({ "右侧连接片圆心和盖板圆心的距离", out_CCDistance[1].D() });
+			}
+
+			int left = out_ColorType[0].D();
+			//结果判定,铜在左边，铝在右边
+			if (left == 2)
+				textPainter2.appendPaintJob("铜",cv::Point(0, 1500), cv::Scalar(0, 255, 0));
+			else if (left == 1)
+				textPainter2.appendPaintJob("铝",cv::Point(0, 1500), cv::Scalar(0, 0, 255));
+			else
+				textPainter2.appendPaintJob("异常",cv::Point(0, 1500), cv::Scalar(0, 0, 255));
+
+			int right = out_ColorType[1].D();
+			if (right == 2)
+				textPainter2.appendPaintJob("铜",cv::Point(Paint.cols - 600, 1500), cv::Scalar(0, 0, 255));
+			else if (right == 1)
+				textPainter2.appendPaintJob("铝",cv::Point(Paint.cols - 600, 1500), cv::Scalar(0, 255, 0));
+			else
+				textPainter2.appendPaintJob("异常",cv::Point(Paint.cols - 600, 1500), cv::Scalar(0, 0, 255));
+
+			if (left == 1 || right == 2) {
+				defects.push_back("极性NG");
+				if (jiXingEnable)
+					isNg = true;
+			}
+			
+
+			if(isNg == true){
+				textPainter3.appendPaintJob("NG", cv::Point(0, 50), cv::Scalar(0, 0, 255));
+				plcResult = "2";
+				data->halconOK = false;
+			}
+			else {
+				textPainter3.appendPaintJob("OK", cv::Point(0, 50), cv::Scalar(0, 255, 0));
+			}
+		}
+		else
+		{
+			TextRendererZH textPainter4(Paint.cols, Paint.rows, 500);
+			textPainter4.putText(Paint, "NG", cv::Point(0, 50), cv::Scalar(0, 0, 255));//调机
+			plcResult = "2";
+			data->halconOK = false;
+		}
+		if (data->service->_paramSyncManager->get("通用设置","强制OK", false).toBool())
+			plcResult = "1";
+#if switchToNew
+		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult + cameraThreadIndex);//结果反馈
+#else
+		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult);//结果反馈
+#endif
+		data->service->_missionResultHandle->toBarChart(data->SNcode, defects);
+
+		textPainter.excusePaintJobs(Paint);
+		textPainter2.excusePaintJobs(Paint);
+		textPainter3.excusePaintJobs(Paint);
+		data->insertResultImg(Paint);
+		return true;
+	}
+	CATCH_EXCEPTIONS
+	exceptionResume(data, _detParams, address, "检测失败");
+	qDebug() << "[Error] " << QString::fromUtf8("检测失败!");
+	return false;
+}
+
+bool HanHou2D_halconEvaluate(std::shared_ptr <detData> data, const cv::Mat& sourceImg,const cv::Mat& segImg, TextRendererZH* textPainter, double& hanHouTongXingDu, int times) {
+	double tongXingDuLimitHigh = data->service->_paramSyncManager->get("焊后", "焊后同心度mm(上限)", 1.8).toDouble();
+	double tongXingDuLimitLow = data->service->_paramSyncManager->get("焊后", "焊后同心度mm(下限)", 0).toDouble();
+	bool tongXingDuLimitEnable = data->service->_paramSyncManager->get("焊后", "焊后同心度判定启用", true).toBool();
+	HDevEngineCpp::HDevProcedure proc("_3_Cal_HY_CC_Distance");
+	HDevEngineCpp::HDevProcedureCall procedureCall(proc);
+	
+	HObject in_Image = MatToHObject(sourceImg);
+	HObject in_ImageSeg = MatToHObject(segImg);
+	double resolution = 0.013736;
+	HalconCpp::HTuple in_FliePath("./halconFiles/"), in_Resolution(resolution);
+	procedureCall.SetInputIconicParamObject("in_Image", in_Image);
+	procedureCall.SetInputIconicParamObject("in_ImageSeg", in_ImageSeg);
+	procedureCall.SetInputCtrlParamTuple("in_FliePath", in_FliePath);
+	procedureCall.SetInputCtrlParamTuple("in_Resolution", in_Resolution);
+	procedureCall.Execute();//执行halcon程序
+	HalconCpp::HTuple out_CCDistance = procedureCall.GetOutputCtrlParamTuple("out_CCDistance");//获取输出控制类变量
+	HalconCpp::HTuple out_Circle = procedureCall.GetOutputCtrlParamTuple("out_Circle");//获取输出控制类变量
+	HalconCpp::HTuple out_Flag = procedureCall.GetOutputCtrlParamTuple("out_Flag");//获取输出控制类变量
+	HalconCpp::HTuple out_NgTails = procedureCall.GetOutputCtrlParamTuple("out_NgTails");//获取输出控制类变量
+	HalconCpp::HTuple InnerCircle_offset = procedureCall.GetOutputCtrlParamTuple("InnerCircle_offset");//获取输出控制类变量
+	HalconCpp::HTuple OuterCircle_offset = procedureCall.GetOutputCtrlParamTuple("OuterCircle_offset");//外圆偏移（X向偏移，Y向偏移）
+	int flag = out_Flag.D();
+	bool isNg = false;
+	if (flag == 1){
+
+		
+		double CCDistance = out_CCDistance.D();
+		textPainter->appendPaintJob("焊印同心度:" + std::to_string(CCDistance), cv::Point(0, 50), cv::Scalar(0, 255, 0));
+
+		std::string x1Text = std::to_string(InnerCircle_offset[0].D());
+		x1Text = x1Text.substr(0, x1Text.find(".") + 4);
+		std::string y1Text = std::to_string(InnerCircle_offset[1].D());
+		y1Text = y1Text.substr(0, y1Text.find(".") + 4);
+		std::string txd1Text = std::to_string(std::sqrtf(std::powf(InnerCircle_offset[0].D(), 2) + std::powf(InnerCircle_offset[1].D(), 2)));
+		txd1Text = txd1Text.substr(0, txd1Text.find(".") + 4);
+		textPainter->appendPaintJob("内圆偏移X:" + x1Text + "mm Y:" + y1Text + "mm 同心度" + txd1Text, cv::Point(0, 250), cv::Scalar(0, 255, 0));
+
+		std::string x2Text = std::to_string(OuterCircle_offset[0].D());
+		x2Text = x2Text.substr(0, x2Text.find(".") + 4);
+		std::string y2Text = std::to_string(OuterCircle_offset[1].D());
+		y2Text = y2Text.substr(0, y2Text.find(".") + 4);
+		std::string txd2Text = std::to_string(std::sqrtf(std::powf(OuterCircle_offset[0].D(), 2) + std::powf(OuterCircle_offset[1].D(), 2)));
+		txd2Text = txd2Text.substr(0, txd2Text.find(".") + 4);
+		textPainter->appendPaintJob("外圆偏移X:" + x2Text + "mm Y:" + y2Text + "mm 同心度:" + txd2Text, cv::Point(0, 450), cv::Scalar(0, 255, 0));
+
+		for (int i = 0; i < out_Circle.Length() / 3; i++) {
+			textPainter->appendPaintJob(cv::Point(out_Circle[i * 3 + 1].D(), out_Circle[i * 3].D()), out_Circle[i * 3 + 2].D(), cv::Scalar(0, 255, 0), 15,0);
+		}
+		if (CCDistance > tongXingDuLimitHigh || CCDistance < tongXingDuLimitLow){
+			textPainter->appendPaintJob("同心度NG", cv::Point(10, 650), cv::Scalar(0, 0, 255));
+			data->halconOK = false;
+			if(tongXingDuLimitEnable == true)
+				isNg = true;
+		}
+	}
+	else{
+		textPainter->appendPaintJob("焊印抓取NG", cv::Point(10, 50), cv::Scalar(0, 0, 255));
+		textPainter->appendPaintJob(gbkToUtf8(out_NgTails.ToString().Text()), cv::Point(10, 450), cv::Scalar(0, 0, 255));
+		if (tongXingDuLimitEnable == true)
+			isNg = true;
+		data->halconOK = false;
+	}
+	return isNg;
+}
+bool HanHou2D_handleAiEvaluate(std::shared_ptr <detData> data, hanHouJianCe* _detParams,const cv::Mat& sourceImg, TextRendererZH* textPainter,handdleAI::pSegmentation* seg,handdleAI::pClassification* cls) {
+	double hanZhaFillterWidth = data->service->_paramSyncManager->get("焊后", "焊渣过滤值宽mm(上限)", 0.1).toDouble()/ 0.013736;
+	double hanZhaFillterHeight = data->service->_paramSyncManager->get("焊后", "焊渣过滤值高mm(上限)", 0.1).toDouble()/ 0.013736;
+	bool hanZhaEnable = data->service->_paramSyncManager->get("焊后", "焊渣判定启用", false).toBool();
+
+	cv::Mat forSeg;
+	sourceImg.copyTo(forSeg);
+	cv::resize(sourceImg, forSeg, cv::Size(), 0.5, 0.5);
+
+	cv::Mat SegResult = ~seg->Evaluate(forSeg);
+	std::vector<std::vector<cv::Point>> contours;
+	cv::findContours(SegResult, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
+	std::vector<cv::Rect> PaintRects;
+	std::vector<std::pair<std::string, cv::Mat>>clsImgTmp;
+	bool isNg = false;;
+	for (int i = 0; i < contours.size(); i++) {
+		cv::Rect rect = cv::boundingRect(contours[i]);
+		if (rect.width > hanZhaFillterWidth || rect.height > hanZhaFillterHeight) {
+			cv::Mat clsImg;
+			cv::resize(forSeg(rect), clsImg, cv::Size(128, 128));
+			bool clsIsNg = false;
+			int clsRes = cls->Evaluate(clsImg);
+			if (clsRes == 1)
+				clsIsNg = true;
+			if (clsIsNg == true) {
+				rect.x *= 2; rect.y *= 2; rect.width *= 2; rect.height *= 2;
+				PaintRects.push_back(rect);
+				isNg = true;
+			}
+			clsImgTmp.push_back({ clsIsNg == true ? "NG" : "OK",clsImg });
+		}
+	}
+	for (auto& rect : PaintRects) {
+		textPainter->appendPaintJob(cv::Rect(rect.x + rect.width / 2 -64, rect.y + rect.height / 2 -64, 128, 128), cv::Scalar(0, 0, 255), 3);
+	}
+	data->insertClsOriginImg(clsImgTmp);
+	return isNg;
+}
+QByteArray getHanHouJianCe2DSendResult(bool isNg1,bool isNg2) {
+	if (isNg1 == false && isNg2 == false) //都OK发1
+		return "1";
+	else if (isNg1 == true && isNg2 == false)//第一次NG发2
+		return "2";
+	else if (isNg1 == false && isNg2 == true)//第二次NG发3
+		return "3";
+	else if (isNg1 == true && isNg2 == true)//两次都NG发4
+		return "4";
+	else//为了DEBUG
+		return "5";
+}
+bool HanHouJianCe2D(std::shared_ptr <detData> data, hanHouJianCe* _detParams, sx_581_address address){
+	try
+	{
+		auto cameraThreadIndex = getCameraIndex(QString::fromStdString(data->cameraKeyName));
+		//data->SNcode = "test";
+		//data->oriImgs.clear();
+		//data->oriImgs.push_back(cv::imread("D:\\testImage\\T.bmp",-1));
+		//data->oriImgs.push_back(cv::imread("D:\\testImage\\L_OK.bmp", -1));
+#pragma region 错误处理
+
+		if (data->getOriImgSize() < 2) {
+			exceptionResume(data, _detParams, address, "图片数量不满足");
+			return true;
+		}
+		if (data->getOriImg(0).cols == 200 || (data->getOriImg(1).cols == 200)) {
+			data->halconOK = false;
+			cv::Mat Paint;
+			data->getOriImg(0).copyTo(Paint);
+			if (Paint.channels() == 1) {
+				cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+			}
+			TextRendererZH textPainter(Paint.cols, Paint.rows, 40);
+			textPainter.putText(Paint, "图片数量不满足", cv::Point(0, 0), cv::Scalar(0, 255, 0));
+			data->insertResultImg(Paint);
+			data->service->_triggerManager->writeShort("D" + address.resultAddr + "_4");//结果反馈
+			return true;
+		}
+#pragma endregion
+		cv::Mat Paint1, Paint2;
+		data->getOriImg(0).copyTo(Paint1);
+		data->getOriImg(1).copyTo(Paint2);
+		if (Paint1.channels() == 1) {
+			cvtColor(Paint1, Paint1, cv::COLOR_GRAY2BGR);
+		}
+		if (Paint2.channels() == 1) {
+			cvtColor(Paint2, Paint2, cv::COLOR_GRAY2BGR);
+		}
+		std::vector <std::string>defects;
+		QByteArray plcResult = "1";
+		double hanHouTongXingDu1 = -1;
+		double hanHouTongXingDu2 = -1;
+		cv::Mat forSeg1, forSeg2;
+		double resizeRate = 0.25;
+		bool isNg1 = false, isNg2 = false;
+		QMutex mutex1, mutex2;
+
+		cv::resize(data->getOriImg(0), forSeg1, cv::Size(), resizeRate, resizeRate);
+		cv::Mat seg1 = _detParams->seg_rljHanYinZhuaQu->Evaluate(forSeg1);
+		data->insertSegOriginImg(seg1);
+		cv::Rect tongRect = findMaxAreaContour(~seg1);
+		if (tongRect.width < 100 || tongRect.height < 100) {
+			isNg1 = true;
+		}
+
+		cv::resize(data->getOriImg(1), forSeg2, cv::Size(), resizeRate, resizeRate);
+		cv::Mat seg2 = _detParams->seg_rljHanYinZhuaQu->Evaluate(forSeg2);
+		data->insertSegOriginImg(seg2);
+		cv::Rect lvRect = findMaxAreaContour(~seg2);
+		if (lvRect.width < 100 || lvRect.height < 100) {
+			isNg2 = true;
+		}
+		TextRendererZH textPainter1(Paint1.cols, Paint1.rows, 200), textPainter2(Paint2.cols, Paint2.rows, 200);
+		//判斷焊印結果
+		if (isNg1 == true || isNg2 == true) {//判断存图
+			data->halconOK = false;
+			plcResult = getHanHouJianCe2DSendResult(isNg1, isNg2);
+			if (data->service->_paramSyncManager->get("通用设置", "强制OK", false).toBool())
+				plcResult = "1";
+			data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult);
+			if (isNg1 == true) textPainter1.appendPaintJob("焊印抓取失败", cv::Point(0, 0), cv::Scalar(0, 0, 255));
+			if (isNg2 == true)  textPainter2.appendPaintJob("焊印抓取失败", cv::Point(0, 0), cv::Scalar(0, 0, 255));
+			cv::Mat PaintSum;
+			cv::vconcat(Paint1, Paint2, PaintSum);
+			data->insertResultImg(PaintSum);
+			return true;
+		}
+
+		auto futrue1 = std::async(std::launch::async, &HanHou2D_halconEvaluate, data, data->getOriImg(0), seg1, &textPainter1, std::ref(hanHouTongXingDu1), 0);
+		auto futrue2 = std::async(std::launch::async, &HanHou2D_halconEvaluate, data, data->getOriImg(1), seg2, &textPainter2, std::ref(hanHouTongXingDu2), 2);
+		auto futrue3 = std::async(std::launch::async, &HanHou2D_handleAiEvaluate, data, _detParams, data->getOriImg(0), &textPainter1, _detParams->seg_rljHanZha1, _detParams->cls_rljHanZha1);
+		auto futrue4 = std::async(std::launch::async, &HanHou2D_handleAiEvaluate, data, _detParams, data->getOriImg(1), &textPainter2, _detParams->seg_rljHanZha2, _detParams->cls_rljHanZha2);
+
+		futrue1.wait();
+		futrue2.wait();
+		isNg1 = futrue1.get();
+		isNg2 = futrue2.get();
+
+		futrue3.wait();
+		futrue4.wait();
+
+		futrue3.get(); 
+		futrue4.get();
+
+		std::vector<std::pair<std::string, cv::Mat>> hanYinClsImg;
+
+		int tongClsRes = 0, lvClsRes = 0;
+		if (isNg1 == true || isNg2 == true) {//同心度是否NG
+			defects.push_back({ "焊后同心度NG" });
+		}
+		{
+			auto tongClsImg = cutImg2Cls(tongRect, forSeg1, cv::Size(256, 256));
+			tongClsRes = _detParams->cls_hanYinTong->Evaluate(tongClsImg);
+			double prob = _detParams->cls_hanYinTong->getProbability();
+			hanYinClsImg.push_back({ "tongHY_Res" + std::to_string(tongClsRes) + "_prob" + std::to_string(prob),tongClsImg });
+			if (tongClsRes == 1) {
+				defects.push_back({ "铜焊印CLS-NG" });
+				textPainter1.appendPaintJob("焊印CLS-NG(测试)", cv::Point(0, 850), cv::Scalar(0, 0, 255));
+	/*			if (data->service->_paramSyncManager->get("焊后", "焊印CLS判定启用", true).toBool()) {
+					isNg1 = true;
+				}*/
+			}
+			else
+				textPainter1.appendPaintJob("焊印CLS-OK(测试)", cv::Point(0, 850), cv::Scalar(0, 255, 0));
+		}
+
+		{
+			auto lvClsImg = cutImg2Cls(lvRect, forSeg2, cv::Size(256, 256));
+			lvClsRes = _detParams->cls_hanYinLv->Evaluate(lvClsImg);
+			double prob = _detParams->cls_hanYinLv->getProbability();
+			hanYinClsImg.push_back({ "lvHY" + std::to_string(tongClsRes) + "_prob" + std::to_string(prob),lvClsImg });
+			if (lvClsRes == 1) {
+				defects.push_back({ "铝焊印CLS-NG" });
+				textPainter2.appendPaintJob("焊印CLS-NG", cv::Point(0, 850), cv::Scalar(0, 0, 255));
+				if (data->service->_paramSyncManager->get("焊后", "焊印CLS判定启用", true).toBool()) {
+					isNg2 = true;
+				}
+			}
+			else
+				textPainter2.appendPaintJob("焊印CLS-OK", cv::Point(0, 850), cv::Scalar(0, 255, 0));
+		}
+		
+		
+
+		data->service->_triggerManager->writeFloat("D" + QByteArray::number(address.valueOffsetAddr) + "_" + QByteArray::number(hanHouTongXingDu1) + "," + QByteArray::number(hanHouTongXingDu2) + cameraThreadIndex);
+
+		if (isNg1 == true || isNg2 == true) {//判断存图
+			data->halconOK = false;
+		}
+
+		plcResult = getHanHouJianCe2DSendResult(isNg1, isNg2);
+		if (data->service->_paramSyncManager->get("通用设置", "强制OK", false).toBool())
+			plcResult = "1";
+		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_" + plcResult + cameraThreadIndex);
+		if (data->cameraKeyName == "Camera3")
+			data->service->_triggerManager->writeShort("D5504_1");
+		else
+			data->service->_triggerManager->writeShort("D5704_1");
+		data->insertClsOriginImg(hanYinClsImg);
+		data->service->_missionResultHandle->toBarChart(data->SNcode, defects);
+
+		textPainter1.excusePaintJobs(Paint1);
+		textPainter2.excusePaintJobs(Paint2);
+		//拼装结果图
+		cv::Mat PaintSum;
+		cv::vconcat(Paint1, Paint2, PaintSum);
+		data->insertResultImg(PaintSum);
+
+		return true;
+	}
+	CATCH_EXCEPTIONS
+	exceptionResume(data, _detParams, address, "检测失败");
+	qDebug() << "[Error] " << QString::fromUtf8("检测失败!");
+	return false;
+
+}
+
+bool HanHouJianCe3D(std::shared_ptr <detData> data, hanHouJianCe* _detParams, sx_581_address address) {
+	try {
+		data->service->_triggerManager->writeShort("D" + address.resultAddr + "_1");//发送结果
+		qDebug() << "SN" << QString::fromStdString(data->SNcode) << "algo start";
+		std::vector < std::string> defects = { };
+		///////////////////取图//处理//////////////////
+		if (data->getOriImgSize() < 1)
+		{
+			qCritical() << "图片数量不满足要求：" << data->getOriImgSize();
+			return false;
+		}
+		if (data->getOriImg(0).rows == 100) {
+			cv::Mat Paint;
+			data->getOriImg(0).copyTo(Paint);
+			cv::putText(Paint, "time out", cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 2);
+			return false;
+		}
+
+		
+		QMutex paintMutex;
+		clock_t start, finish;
+		start = clock();
+		cv::Mat src1 = data->getOriImg(0);
+		cv::Mat src2 = data->getOriImg(2);
+		cv::Mat Paint;
+		cv::vconcat(src1, src2, Paint);
+		if (src1.channels() != 3)
+			cv::cvtColor(Paint, Paint, cv::COLOR_GRAY2BGR);
+
+		TextRendererZH textPainter(Paint.cols, Paint.rows, 300);
+		textPainter.putText(Paint, "OK", cv::Point(10, 10), cv::Scalar(0, 255, 0));
+		//cv::putText(Paint, "pos:" + data->additional["触发地址"].toString().toStdString(), cv::Point(0, 50), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255, 0, 0), 2);
+		//data->service->_missionResultHandle->toBarChart(data->SNcode, !defects.size() > 0, defects);//发送图标操作
+		data->insertResultImg(Paint);
+		return true;
+	}
+	CATCH_EXCEPTIONS
+	exceptionResume(data, _detParams, address, "检测失败");
+	return false;
+	
+
+}
+
+
+mission* createMission() {
+	return new _581_Ruanlianjie_hanqian_hanhou();
+}
+void destroyMission(mission* _mission) {
+	delete _mission;
+}
diff --git a/src/mission/581_Ruanlianjie_hanqian_hanhou/581_Ruanlianjie_hanqian_hanhou.h b/src/mission/581_Ruanlianjie_hanqian_hanhou/581_Ruanlianjie_hanqian_hanhou.h
new file mode 100644
index 0000000..591e235
--- /dev/null
+++ b/src/mission/581_Ruanlianjie_hanqian_hanhou/581_Ruanlianjie_hanqian_hanhou.h
@@ -0,0 +1,93 @@
+#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;
+class hanQianDingWeiParams {
+	
+};
+class hanHouJianCe {
+public:
+	handdleAI::pSegmentation* seg_rljHanYinZhuaQu = nullptr;
+	handdleAI::pSegmentation* seg_rljHanZha1 = nullptr;
+	handdleAI::pClassification* cls_rljHanZha1 = nullptr;
+	handdleAI::pSegmentation* seg_rljHanZha2 = nullptr;
+	handdleAI::pClassification* cls_rljHanZha2 = nullptr;
+	handdleAI::pClassification* cls_hanYinTong = nullptr;
+	handdleAI::pClassification* cls_hanYinLv = nullptr;
+	int ngCnt = 0;
+};
+
+bool HanQianDingWei(std::shared_ptr <detData> data, hanQianDingWeiParams* _detParams, sx_581_address address);
+bool HanHouJianCe2D(std::shared_ptr <detData> data, hanHouJianCe* _detParams, sx_581_address address);
+bool HanHouJianCe3D(std::shared_ptr <detData> data, hanHouJianCe* _detParams, sx_581_address address);
+
+class _581_Ruanlianjie_hanqian_hanhou : public mission {
+public:
+	
+	_581_SX_Single_triggerTemplate<hanQianDingWeiParams> dingwei_1;
+	_581_SX_Single_triggerTemplate<hanQianDingWeiParams> dingwei_2;
+
+	_581_SX_Single_triggerTemplate<hanHouJianCe> jiance_2d_1;
+	_581_SX_Single_triggerTemplate<hanHouJianCe> jiance_2d_2;
+	_581_SX_Single_triggerTemplate<hanHouJianCe> jiance_3d_1;
+	_581_SX_Single_triggerTemplate<hanHouJianCe> jiance_3d_2;
+
+	hanQianDingWeiParams hanqiandingweiparams;
+	std::vector<hanHouJianCe>hanhoujiance2dparams = std::vector<hanHouJianCe>(2);
+	hanHouJianCe hanhoujiance3dparams;
+
+	bool initOnce = false;
+    void onConfigReloaded() {
+        HDevEngineCpp::HDevEngine myEngine;
+		myEngine.SetProcedurePath("");
+        myEngine.SetProcedurePath("./halconAlgo/AlgoLibrary_602.hdpl");
+
+		if (initOnce == false) {
+
+			hanhoujiance2dparams[0].seg_rljHanYinZhuaQu = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanYinZhuaQu.BHD", 64, 0);
+			hanhoujiance2dparams[1].seg_rljHanYinZhuaQu = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanYinZhuaQu.BHD", 64, 1);
+
+			hanhoujiance2dparams[0].seg_rljHanZha1 = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanZha.BHD", 64, 0);
+			hanhoujiance2dparams[1].seg_rljHanZha1 = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanZha.BHD", 64, 1);
+			hanhoujiance2dparams[0].seg_rljHanZha2 = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanZha.BHD", 64, 0);
+			hanhoujiance2dparams[1].seg_rljHanZha2 = handdleAI::CreateSegObjS("./handleAiModels/seg_rljHanZha.BHD", 64, 1);
+
+			hanhoujiance2dparams[0].cls_rljHanZha1 = handdleAI::CreateClsObjV3("./handleAiModels/cls_rljHanZha.BHD", 0, 1);
+			hanhoujiance2dparams[1].cls_rljHanZha1 = handdleAI::CreateClsObjV3("./handleAiModels/cls_rljHanZha.BHD", 1, 1);
+			hanhoujiance2dparams[0].cls_rljHanZha2 = handdleAI::CreateClsObjV3("./handleAiModels/cls_rljHanZha.BHD", 0, 1);
+			hanhoujiance2dparams[1].cls_rljHanZha2 = handdleAI::CreateClsObjV3("./handleAiModels/cls_rljHanZha.BHD", 1, 1);
+
+			hanhoujiance2dparams[0].cls_hanYinTong = handdleAI::CreateClsObjV3("./handleAiModels/cls_hanYinTong.BHD", 0, 1);
+			hanhoujiance2dparams[1].cls_hanYinTong = handdleAI::CreateClsObjV3("./handleAiModels/cls_hanYinTong.BHD", 1, 1);
+
+			hanhoujiance2dparams[0].cls_hanYinLv = handdleAI::CreateClsObjV3("./handleAiModels/cls_hanYinLv.BHD", 0, 1);
+			hanhoujiance2dparams[1].cls_hanYinLv = handdleAI::CreateClsObjV3("./handleAiModels/cls_hanYinLv.BHD", 1, 1);
+			initOnce = true;
+		}
+    }
+    bool initCustom() {
+#pragma region 注册触发器回调
+		dingwei_1.init("Camera1", "焊前定位-相机1（左）", { { 4900, 1,{4910},"4902","4904",4930} }, 1, &hanqiandingweiparams, _serviceManager, bridge, HanQianDingWei,"焊前定位CCD");
+		dingwei_2.init("Camera2", "焊前定位-相机2（右）", { { 5800, 1,{5810},"5802","5804",5830} }, 1, &hanqiandingweiparams, _serviceManager, bridge, HanQianDingWei,"焊前定位CCD");
+
+		jiance_2d_1.init("Camera3", "焊后检测2D-相机1（前）", { { 5400, 1,{5410},"5402","5404",5430} }, 2, &hanhoujiance2dparams[0], _serviceManager, bridge, HanHouJianCe2D, "焊后检测CCD");
+		jiance_3d_1.init("Camera4", "焊后检测3D-相机1（前）", { { 5500, 1,{5510},"5502","5504",5530} }, 4, &hanhoujiance3dparams, _serviceManager, bridge, HanHouJianCe3D,"焊后检测CCD");
+		jiance_2d_2.init("Camera5", "焊后检测2D-相机2（后）", { { 5600, 1,{5610},"5602","5604",5630} }, 2, &hanhoujiance2dparams[1], _serviceManager, bridge, HanHouJianCe2D, "焊后检测CCD");
+		jiance_3d_2.init("Camera6", "焊后检测3D-相机2（后）", { { 5700, 1,{5710},"5702","5704",5730} }, 4, &hanhoujiance3dparams, _serviceManager, bridge, HanHouJianCe3D,"焊后检测CCD");
+#pragma endregion
+        return true;
+    }
+};
+
+
+
+
+
+#pragma once
\ No newline at end of file
diff --git a/src/mission/581_Ruanlianjie_hanqian_hanhou/CMakeLists.txt b/src/mission/581_Ruanlianjie_hanqian_hanhou/CMakeLists.txt
new file mode 100644
index 0000000..76e9200
--- /dev/null
+++ b/src/mission/581_Ruanlianjie_hanqian_hanhou/CMakeLists.txt
@@ -0,0 +1,77 @@
+# 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/service
+    ${PROJECT_ROOT_PATH}/src/core/sql
+    ${ENV_INCLUDE}
+    )
+
+link_directories (
+    ${ENV_LIB}
+
+    )
+add_compile_options(/utf-8)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_AUTOMOC ON)
+SET(CMAKE_AUTOUIC OFF)
+set(CMAKE_AUTORCC ON)
+ 
+FILE(GLOB HEAD_FILES "*.h" )
+FILE(GLOB SRC_FILES "./*.cpp")
+FILE(GLOB UI_FILES "./*.ui")
+
+
+#find_package(Qt5 COMPONENTS Core REQUIRED)
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Core Gui Network REQUIRED)
+find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core Gui Network REQUIRED)
+
+add_library(${CURRENT_FOLDER} SHARED
+    ${HEAD_FILES}
+    ${SRC_FILES}
+    ${UI_FILES}
+    ${PROJECT_ROOT_PATH}/include/interface.h
+    )
+
+
+
+set_target_properties(${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
+    )
+
+
+# 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_CameraModule_HIK_General/Hd_CameraModule_HIK_General.cpp b/subModule/Hd_CameraModule_HIK_General/Hd_CameraModule_HIK_General.cpp
index 97d833f..f76c59e 100644
--- a/subModule/Hd_CameraModule_HIK_General/Hd_CameraModule_HIK_General.cpp
+++ b/subModule/Hd_CameraModule_HIK_General/Hd_CameraModule_HIK_General.cpp
@@ -333,9 +333,16 @@ bool Hd_CameraModule_HIK_General::writeData(std::vector<cv::Mat>& mat, QByteArra
         return true;
     }
     if (data == "clearCache") {
+        QMutexLocker locker(n_mutex);
         queuepic.clear();
         return true;
     }
+    if (data.contains("exposure")){
+		auto commandList = data.split('_');
+        QMutexLocker locker(n_mutex);
+		SetExposureTime(commandList[1].toFloat());
+        return true;
+    }
     return true;
 }
 //传入initParas函数，格式为：相机key+参数名1#参数值1#参数值2+参数名2#参数值1...
diff --git a/subModule/Hd_CameraModule_HIK_General_debouncing/Hd_CameraModule_HIK_General.cpp b/subModule/Hd_CameraModule_HIK_General_debouncing/Hd_CameraModule_HIK_General.cpp
index fd7e320..8786bc3 100644
--- a/subModule/Hd_CameraModule_HIK_General_debouncing/Hd_CameraModule_HIK_General.cpp
+++ b/subModule/Hd_CameraModule_HIK_General_debouncing/Hd_CameraModule_HIK_General.cpp
@@ -333,7 +333,7 @@ bool Hd_CameraModule_HIK_General::writeData(std::vector<cv::Mat>& mat, QByteArra
         auto result = QByteArrayToMV_CC_DeviceInfoList(data.mid(10));
         if (result.nDeviceNum != 0) {
             m_stDevList = result;
-            return true;    
+            return true;
         }
     }
     if (data == "getStatus") {
@@ -341,9 +341,16 @@ bool Hd_CameraModule_HIK_General::writeData(std::vector<cv::Mat>& mat, QByteArra
         return true;
     }
     if (data == "clearCache") {
+        QMutexLocker locker(n_mutex);
         queuepic.clear();
         return true;
     }
+    if (data.contains("exposure")) {
+        auto commandList = data.split('_');
+        QMutexLocker locker(n_mutex);
+        SetExposureTime(commandList[1].toFloat());
+        return true;
+    }
     return true;
 }
 //传入initParas函数，格式为：相机key+参数名1#参数值1#参数值2+参数名2#参数值1...
diff --git a/subModule/Hd_CameraModule_HIK_PCIE/Hd_CameraModule_HIK_PCIE.cpp b/subModule/Hd_CameraModule_HIK_PCIE/Hd_CameraModule_HIK_PCIE.cpp
index 9506ca6..52773d0 100644
--- a/subModule/Hd_CameraModule_HIK_PCIE/Hd_CameraModule_HIK_PCIE.cpp
+++ b/subModule/Hd_CameraModule_HIK_PCIE/Hd_CameraModule_HIK_PCIE.cpp
@@ -317,6 +317,15 @@ bool Hd_CameraModule_HIK_hard_PCIE::writeData(std::vector<cv::Mat>& mat, QByteAr
             return true;
         }
     }
+    if (data == "getStatus") {
+        data = lastError.toUtf8();
+        return true;
+    }
+    if (data == "clearCache") {
+        QMutexLocker locker(n_mutex);
+        queuepic.clear();
+        return true;
+    }
     return true;
 }