update

BaseModules/Hd_3DCameraLMI_module_PointCloud/Hd_3DCameraLMI_module.cpp

@@ -328,10 +328,11 @@ bool Hd_3DCameraLMI_module::sendData(std::vector<cv::Mat>& vecPic, QByteArray &d
     if (queuePic.empty())
     {
         //qDebug() << " [Error] " << " srcImage is null";
-        genBlackImg(vecPic);
+        //genBlackImg(vecPic);
         m_mutex->unlock();
         return false;
     } 
+    triggerIng = false;
     vector<cv::Mat> dstvec = queuePic.dequeue();
     queuePic.clear();
     m_mutex->unlock();
@@ -380,59 +381,25 @@ bool Hd_3DCameraLMI_module::run()
     //qDebug() << "[info]" << __FUNCTION__ << " line:" <<  __LINE__ << " run start" << id;
     try
     {
-        //方法1 超时机制
-        // queuePic.clear();
-        //int timeOut = 0;
-        //while (timeOut < 500)//ms
-        //{
-        //    m_mutex->lock();
-        //    if (queuePic.size() > 0)
-        //    {
-        //        result = true;
-        //        m_mutex->unlock();
-        //        return true;
-        //    }
-        //    m_mutex->unlock();
-        //    timeOut ++;
-        //    QThread::msleep(1);//修改了睡眠1ms
-        //}
-
-        //方法2 在下一次触发时强制给上一次触发补黑图
-        m_mutex->lock();
         if (triggerIng == true)//仍然在处理上一次触发
         {
             std::vector<cv::Mat>imgs;
             genBlackImg(imgs);
+            m_mutex->lock();
             queuePic.enqueue(imgs);
             m_mutex->unlock();
             int cnt = 0;
-            while (queuePic.size() > 0 || cnt < 100)
+            while (queuePic.size() > 0 && cnt < 30)
             {
                 QThread::msleep(1);
                 cnt++;
                 if (cnt > 10)
-                    qDebug() << "insert black img 2 long";
+                    qDebug() << "insert black img 2 long queueSize"<< queuePic.size();
             }
         }
         else
-        {
             triggerIng = true;
-            m_mutex->unlock();
-        }
-        //强制给上一次触发补黑图 结束
-        while (true)
-        {
-            m_mutex->lock();
-            if (queuePic.size() > 0)
-            {
-                result = true;  
-                triggerIng = false;
-                m_mutex->unlock();
-                return true;
-            }
-            m_mutex->unlock();
-            QThread::msleep(1);
-        }
+
     }
     catch (QString ev)
     {