#include "Hd_CameraModule_HIK3_2.h"

#include <QThread>
#include <QQueue>
#include <QMutex>
#include <QTextCodec>
#include <QCoreApplication>
#include <QDebug>
#include <QRandomGenerator>

QByteArray mv_Status = "connected";//0106 新增相机断联报警
//cv::Mat srcImage;
int index = -1;     //相机序号
void* handle; //相机指针
string Username = "";
bool m_flag = false;
MV_CC_DEVICE_INFO_LIST m_stDevList;//相机设备
cv::Mat srcImage;
bool moduleStatus = true;
//data == "rest_newProductIn"时要结束run；机台报警，取图超时，复位后重新拍的情况。
bool ifBreak = false;
//ifRunning减少ifBreak的判断；"rest_newProductIn"时，Logic_camera_thread框架会结束未处理完的相相机取图
bool ifRunning = false;
bool ifChangeExpourseAndGain = true;
MV_CAM_TRIGGER_SOURCE initTriggerSource = MV_TRIGGER_SOURCE_SOFTWARE;
MV_CAM_TRIGGER_SOURCE currentTriggerSource = MV_TRIGGER_SOURCE_SOFTWARE;


QString byteArrayToUnicode(const QByteArray array) {

    // state用于保存转换状态，它的成员invalidChars，可用来判断是否转换成功
    // 如果转换成功，则值为0，如果值大于0，则说明转换失败
    QTextCodec::ConverterState state;
    // 先尝试使用utf-8的方式把QByteArray转换成QString
    QString text = QTextCodec::codecForName("UTF-8")->toUnicode(array.constData(), array.size(), &state);
    // 如果转换时无效字符数量大于0，说明编码格式不对
    if (state.invalidChars > 0)
    {
        // 再尝试使用GBK的方式进行转换，一般就能转换正确(当然也可能是其它格式，但比较少见了)
        text = QTextCodec::codecForName("GBK")->toUnicode(array);
    }
    return text;
}

#pragma execution_character_set("utf-8")

QMutex* n_mutex;// = new QMutex();
//是否为标准通信流程：
//标准通信流程，run函数设置曝光/增益；非标准通信流程（简单通信流程），回调函数设置曝光/增益
bool ifStandard = false;
//相机取图超时时间
int getImageTimeOut = 1000;
//总取图数
int imgIndex = 0;
//曝光值列表
QQueue<float> expourseTimeList;
//增益列表
QQueue<float> gainList;

//0106 断线重连
void __stdcall ReconnectDevice(unsigned int nMsgType, void* pUser);
void __stdcall ImageCallBackEx(unsigned char* pData0, MV_FRAME_OUT_INFO_EX* pFrameInfo0, void* pUser0);


bool IsColor(MvGvspPixelType enType)
{
    switch (enType)
    {
    case PixelType_Gvsp_RGB8_Packed:
    case PixelType_Gvsp_YUV422_Packed:
    case PixelType_Gvsp_YUV422_YUYV_Packed:
    case PixelType_Gvsp_BayerGR8:
    case PixelType_Gvsp_BayerRG8:
    case PixelType_Gvsp_BayerGB8:
    case PixelType_Gvsp_BayerBG8:
    case PixelType_Gvsp_BayerGB10:
    case PixelType_Gvsp_BayerGB10_Packed:
    case PixelType_Gvsp_BayerBG10:
    case PixelType_Gvsp_BayerBG10_Packed:
    case PixelType_Gvsp_BayerRG10:
    case PixelType_Gvsp_BayerRG10_Packed:
    case PixelType_Gvsp_BayerGR10:
    case PixelType_Gvsp_BayerGR10_Packed:
    case PixelType_Gvsp_BayerGB12:
    case PixelType_Gvsp_BayerGB12_Packed:
    case PixelType_Gvsp_BayerBG12:
    case PixelType_Gvsp_BayerBG12_Packed:
    case PixelType_Gvsp_BayerRG12:
    case PixelType_Gvsp_BayerRG12_Packed:
    case PixelType_Gvsp_BayerGR12:
    case PixelType_Gvsp_BayerGR12_Packed:
        return true;
    default:
        return false;
    }
}

//搜索所有设备
int SearchDevice()
{
    memset(&m_stDevList, 0, sizeof(MV_CC_DEVICE_INFO_LIST));
    // ch:枚举子网内所有设备 | en:Enumerate all devices within subnet
    int nRet = MV_CC_EnumDevices(MV_GIGE_DEVICE || MV_USB_DEVICE, &m_stDevList);
    for (int i = 0; i < m_stDevList.nDeviceNum; i++)
    {
        //SN
        unsigned char* name = m_stDevList.pDeviceInfo[i]->SpecialInfo.stGigEInfo.chSerialNumber;
        //userID
        //unsigned char* name=m_stDevList.pDeviceInfo[i]->SpecialInfo.stGigEInfo.chUserDefinedName;
        string userName = static_cast<string>((LPCSTR)name);
        if (Username == userName)
        {
            index = i;
            break;
        }
    }
    if (MV_OK != nRet)
    {
        return 0;
    }
    return -1;
}

bool connctDevice()
{
    index = -1;
    SearchDevice();
    if (index == -1)
    {
        //未匹配到相机
        //qDebug() << "[Waring] " << "Hd_CameraModule_HIK3_2 not match --CameraName:" << QString::fromStdString(Username);
        return false;
    }
    unsigned char* name = m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.chUserDefinedName;
    string userName = static_cast<string>((LPCSTR)name);
    qDebug() << "[INFO] " << " start" << "--UserName:" << QString::fromStdString(userName);
    if (handle != NULL)
    {
        MV_CC_StopGrabbing(handle);
        MV_CC_CloseDevice(handle);
        MV_CC_DestroyHandle(handle);
        handle = NULL; //此处注释掉的话，软件断开再连接，回调函数不出图
        return false;
    }

    //打开相机
    int nRet=MV_CC_CreateHandle(&handle, m_stDevList.pDeviceInfo[index]);
    if (MV_OK != nRet)
    {
        //qDebug() << "Set MV_CC_CreateHandle fail! nRet " << nRet;
        return false;
    }

    //自动IP功能：注意，只获取GIGE、USB相机，其它相机不可和HIK相机在同网段。

    // ch:判断设备IP是否可达
    bool bAccessible=true;// = MV_CC_IsDeviceAccessible(m_stDevList.pDeviceInfo[index], MV_ACCESS_Exclusive);
    if (m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.nNetExport / 256 !=
        m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.nCurrentIp / 256)//nCurrentIp相机IP；nNetExport网口IP;判断前3位
        bAccessible = false;
    if (!bAccessible)
    {
        unsigned int m_dwIpaddress = m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.nNetExport; //nCurrentIp相机IP；nNetExport网口IP
        unsigned int m_dwNetworkMask = m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.nCurrentSubNetMask;//掩码
        unsigned int m_dwDefaultGateway = m_dwIpaddress - m_dwIpaddress % 256 + 254;//默认网关是254
        for (int i = 2; i < 253; i++)//自动IP
        {
            unsigned int auto_dwIpaddress = m_dwIpaddress - m_dwIpaddress % 256 + i;
            bool ifHas = false;
            for (int k = 0; k < m_stDevList.nDeviceNum; k++)
            {
                unsigned int m_nNetExport = m_stDevList.pDeviceInfo[k]->SpecialInfo.stGigEInfo.nNetExport;
                unsigned int m_nCurrentIp = m_stDevList.pDeviceInfo[k]->SpecialInfo.stGigEInfo.nCurrentIp;
                //qDebug() << "k:" << k << " nNetExport:" << m_nNetExport << " nCurrentIp::" << m_nCurrentIp;
                if (auto_dwIpaddress == m_nNetExport
                    || auto_dwIpaddress == m_nCurrentIp) //IP占用判断
                {
                    ifHas = true; 
                    break;
                }
            }
            if (ifHas)
                continue;
            nRet = MV_GIGE_ForceIpEx(handle, auto_dwIpaddress, m_dwNetworkMask, m_dwDefaultGateway);
            if (MV_OK == nRet)
                break;
            else
            {
                MV_CC_DestroyHandle(handle);
                handle = NULL;
                nRet = MV_CC_CreateHandle(&handle, m_stDevList.pDeviceInfo[index]);
                if (MV_OK != nRet)
                {
                    qDebug() << "Set MV_GIGE_ForceIpEx fail! nRet " << nRet;
                    return false;
                }
            }
        }
        if (MV_OK != nRet)
        {
            //ShowErrorMsg(TEXT("ForceIp fail"), nRet);
            qDebug() << "Set ForceIp fail! nRet " << nRet;
            MV_CC_DestroyHandle(handle);
            handle = NULL;
            return false;
        }
        MV_CC_DestroyHandle(handle);
        handle = NULL;

        //ch:需要重新创建句柄，设置为静态IP方式进行保存
        m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.nCurrentIp = m_dwIpaddress;
        m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.nCurrentSubNetMask = m_dwNetworkMask;
        m_stDevList.pDeviceInfo[index]->SpecialInfo.stGigEInfo.nDefultGateWay = m_dwDefaultGateway;

        /*qDebug()<<"m_dwIpaddress "<< QString::number(m_dwIpaddress / (256 * 256 * 256)) + "." + QString::number(m_dwIpaddress / (256 * 256) % 256) + "."
            + QString::number(m_dwIpaddress / 256 % 256) + "." + QString::number(m_dwIpaddress % 256);
        qDebug() << "m_dwNetworkMask " << QString::number(m_dwNetworkMask / (256 * 256 * 256)) + "." + QString::number(m_dwNetworkMask / (256 * 256) % 256) + "."
            + QString::number(m_dwNetworkMask / 256 % 256) + "." + QString::number(m_dwNetworkMask % 256);
        qDebug() << "m_dwDefaultGateway " << QString::number(m_dwDefaultGateway / (256 * 256 * 256)) + "." + QString::number(m_dwDefaultGateway / (256 * 256) % 256) + "."
            + QString::number(m_dwDefaultGateway / 256 % 256) + "." + QString::number(m_dwDefaultGateway % 256);*/


        nRet = MV_CC_CreateHandle(&handle, m_stDevList.pDeviceInfo[index]);
        if (MV_OK != nRet)
        {
            qDebug() << "MV_CC_CreateHandle fail! nRet " << nRet;
            //ShowErrorMsg(TEXT("Create handle fail"), nRet);
            return false;
        }

        nRet = MV_GIGE_SetIpConfig(handle, MV_IP_CFG_STATIC);
        if (MV_OK != nRet)//这里会失败，再试一次。
        {
            qDebug() << "MV_GIGE_SetIpConfig fail! nRet " << nRet;
            //ShowErrorMsg(TEXT("Set Ip config fail"), nRet);
            MV_CC_DestroyHandle(handle);
            handle = NULL;
            return false;
        }
    }

    nRet = MV_CC_OpenDevice(handle);
    ////触发模式
    if (currentTriggerSource != MV_TRIGGER_SOURCE_SOFTWARE)
        MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_LINE0);
    else
        MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_SOFTWARE);

    MV_CC_SetEnumValue(handle, "TriggerMode", MV_TRIGGER_MODE_ON);
    //   //加载用户集，相机设置应当UserSet1
    //nRet = MV_CC_SetEnumValueByString(handle, "UserSetSelector", "UserSet1");
    if (MV_OK != nRet)
    {
        //qDebug() << "Set UserSetSelector fail! nRet " << nRet;
        return false;
    }
    // ch:注册抓图回调 | en:Register image callback
    MV_CC_SetIntValueEx(handle, "GevHeartbeatTimeout", 3000);//心跳日志

    nRet = MV_CC_RegisterImageCallBackEx(handle, ImageCallBackEx, handle);//注册回调
    if (MV_OK != nRet)
        return false;
    nRet = MV_CC_RegisterExceptionCallBack(handle, ReconnectDevice, handle);//断线重连
    if (MV_OK != nRet)
        return false;
    MV_CC_StartGrabbing(handle);
    return true;
}

//0106 断线重连
void __stdcall ReconnectDevice(unsigned int nMsgType, void* pUser)
{
    mv_Status = "disconnect";
    qDebug() << "[Error] " << " MV camera disconnects!";
    moduleStatus = false;
    if (nMsgType == MV_EXCEPTION_DEV_DISCONNECT)
    {
        //断开连接
        MV_CC_CloseDevice(handle);
        int nRet = MV_CC_DestroyHandle(handle);
        handle = NULL;
        BOOL bConnected = FALSE;
        // 初始化随机数生成器
        //QRandomGenerator::seed();
        while (1)
        {
            // 生成一个随机整数
            int randomNumber = QRandomGenerator::global()->bounded(500); //多相机无随机时，重连稍慢

            Sleep(randomNumber);
            // 输出到控制台
            //qDebug() << "Random Number:" << randomNumber;
            Sleep(100);
            if (connctDevice() == true)
            {
                qWarning() << "[Hd_CameraModule_HIK3_2] " << "  Hd_CameraModule_HIK3_2 create success again! ";
                moduleStatus = true;
                break;
            }

        }
    }
}
void _stdcall ExceptionCB(unsigned int nMesgType, void* pUser) {
    mv_Status = "disconnect";
    qDebug() << "[Error] " << " MV camera disconnects!";
    moduleStatus = false;
}

int RGB2BGR(unsigned char* pRgbData, unsigned int nWidth, unsigned int nHeight)
{

    if (NULL == pRgbData)
    {
        return MV_E_PARAMETER;
    }

    for (unsigned int j = 0; j < nHeight; j++)
    {
        for (unsigned int i = 0; i < nWidth; i++)
        {
            unsigned char red = pRgbData[j * (nWidth * 3) + i * 3];
            pRgbData[j * (nWidth * 3) + i * 3] = pRgbData[j * (nWidth * 3) + i * 3 + 2];
            pRgbData[j * (nWidth * 3) + i * 3 + 2] = red;
        }
    }

    return MV_OK;

}

Hd_CameraModule_HIK3_2* create()
{
    qDebug() << "[INFO] " << "Hd_CameraModule_HIK3_2 create success!" ;
    return new Hd_CameraModule_HIK3_2;
}

void destory(Hd_CameraModule_HIK3_2 * ptr)
{
    if(ptr)
    {
        delete  ptr;
        ptr = nullptr;
    }
    qDebug() << "[INFO] " << "Hd_CameraModule_HIK3_2  destory success!";
}

//回调函数；
//经测试，相机像素格式Mono8、RGB8是可以正常转换的，YUV422还需要优化；RGB8格式比YUV422帧率低；BGR格式会导致异色问题
void __stdcall ImageCallBackEx(unsigned char* pData0, MV_FRAME_OUT_INFO_EX* pFrameInfo0, void* pUser0)
{
    n_mutex->lock();
    double time_Start = (double)clock();
    int frameNum = 0;
    srcImage = cv::Mat();
    if (pFrameInfo0)
    {
        //获取的是单通道灰度图
        if (pFrameInfo0->enPixelType == PixelType_Gvsp_Mono8)//获取当前采集到的图像格式
        {
            srcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC1, pData0);
        }
        //获取的是RGB8图
        else if (pFrameInfo0->enPixelType == PixelType_Gvsp_BGR8_Packed)
        {
            srcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3, pData0);
        }

        ////获取的是RGB8图
        //else if (pFrameInfo0->enPixelType == PixelType_Gvsp_RGB8_Packed)
        //{
        //    cv::Mat dst = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3, pData0);
        //    //cv::cvtColor(matimage, matimage, cv::COLOR_RGB2BGR);
        //    srcImage = cv::Mat::zeros(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3);
        //    std::vector<cv::Mat> channels;
        //    cv::split(dst, channels);//分割matimage的通道
        //    std::vector<cv::Mat> dstchannels;
        //    for (int i = 2; i >= 0; i--)
        //    {
        //        dstchannels.push_back(channels[i]);
        //    }
        //    merge(dstchannels, srcImage);
        //}

        else if (IsColor(pFrameInfo0->enPixelType)) //其它格式彩色图
        {
            MvGvspPixelType enDstPixelType = PixelType_Gvsp_Undefined;
            enDstPixelType = PixelType_Gvsp_BGR8_Packed;
            unsigned char* pConvertData = NULL;
            pConvertData = (unsigned char*)malloc(pFrameInfo0->nWidth * pFrameInfo0->nHeight * 3);
            if (NULL == pConvertData)
            {
                printf("malloc pConvertData fail!\n");
            }
            else
            {
                unsigned int nConvertDataSize = 0;
                nConvertDataSize = pFrameInfo0->nWidth * pFrameInfo0->nHeight * 3;

                // ch:像素格式转换 | en:Convert pixel format 
                MV_CC_PIXEL_CONVERT_PARAM stConvertParam = { 0 };

                frameNum = pFrameInfo0->nFrameNum;                 //ch:帧号 | en:frame number
                stConvertParam.nWidth = pFrameInfo0->nWidth;                 //ch:图像宽 | en:image width
                stConvertParam.nHeight = pFrameInfo0->nHeight;               //ch:图像高 | en:image height
                stConvertParam.pSrcData = pData0;                         //ch:输入数据缓存 | en:input data buffer
                stConvertParam.nSrcDataLen = pFrameInfo0->nFrameLen;         //ch:输入数据大小 | en:input data size
                stConvertParam.enSrcPixelType = pFrameInfo0->enPixelType;    //ch:输入像素格式 | en:input pixel format
                stConvertParam.enDstPixelType = enDstPixelType;                         //ch:输出像素格式 | en:output pixel format
                stConvertParam.pDstBuffer = pConvertData;                               //ch:输出数据缓存 | en:output data buffer
                stConvertParam.nDstBufferSize = nConvertDataSize;                       //ch:输出缓存大小 | en:output buffer size
                int nRet = MV_CC_ConvertPixelType(handle, &stConvertParam);

                Mat mysrcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3, stConvertParam.pDstBuffer);
                mysrcImage.copyTo(srcImage);

                free(pConvertData);
                pConvertData = NULL;
                stConvertParam = { 0 };
            }
        }        
    }
    if(srcImage.empty())
    {
        srcImage = cv::Mat(5, 5, CV_8UC1).setTo(0);
    }

    //cv::Mat resizeM;
    //cv::resize(srcImage, resizeM, cv::Size(), 0.1, 0.1);
    //cv::imwrite("../runtime/Bin_DEVICE/testImg/"+Username + ".png", resizeM);

    m_flag = true;
    n_mutex->unlock();
    pData0 = { 0 };
    double time_End = (double)clock();
    QString tmpDate = QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz");
    qDebug() << tmpDate << "[INFO] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg getImg,Time:" << (time_End - time_Start) << "ms"
        << "--CameraName:" << QString::fromStdString(Username) << " imgIndex:" << imgIndex << "nFrameNum : " << frameNum;
    /*QString savePath = "../runtime/Bin_DEVICE/testImg/camera_"+QString::fromStdString(Username) +"_" + QString::number(imgIndex + 1) + ".png";
    cv::Mat resizeS;
    cv::resize(srcImage, resizeS, cv::Size(), 0.1, 0.1);
    cv::imwrite(savePath.toStdString(), resizeS);*/
}

void SetExposureTime(float exposureValue)
{
    qDebug() << "[INFO] " << "exposureValue:" << exposureValue;
    MV_CC_SetEnumValue(handle, "ExposureAuto", MV_EXPOSURE_AUTO_MODE_OFF);
    MV_CC_SetFloatValue(handle, "ExposureTime", exposureValue);
}

void SetGain(float GainValue)
{
    qDebug() << "[INFO] " << "GainValue:" << GainValue;
    MV_CC_SetEnumValue(handle, "GainAuto", 0);
    MV_CC_SetFloatValue(handle, "Gain", GainValue);
}
Hd_CameraModule_HIK3_2::Hd_CameraModule_HIK3_2()
{
    n_mutex = new QMutex();
    m_thread = new MyThread;
    ifRunning = true;
    QFuture<void> myF= QtConcurrent::run(this, &Hd_CameraModule_HIK3_2::threadCheckCallBack);
}
//关闭设备
void CloseDevice()
{
    MV_CC_StopGrabbing(handle);
    MV_CC_CloseDevice(handle);
    MV_CC_DestroyHandle(handle);
    handle = NULL; //此处注释掉的话，软件断开再连接，回调函数不出图
}

Hd_CameraModule_HIK3_2::~Hd_CameraModule_HIK3_2()
{
    ifRunning = false;
    m_flag = false;
    Sleep(10);
    CloseDevice();
    if (n_mutex)
    {
        delete n_mutex;
        n_mutex = nullptr;
    }
    if(m_thread)
    {
        m_thread->exit();
        m_thread->wait(1);
        delete m_thread;
        m_thread = nullptr;
    }

    qDebug() << "[INFO] " << " delete success!";
}

void Hd_CameraModule_HIK3_2::threadCheckCallBack()
{
    bool ifThemoduleStatus = true;
    while (ifRunning)
    {
        //if (currentTriggerSource != MV_TRIGGER_SOURCE_SOFTWARE)
            if (m_flag == true)
            {
                qDebug() << "[INFO] " << "emit trigged:" ;
                emit trigged(true);
                n_mutex->lock();
                m_flag = false;
                n_mutex->unlock();
            }

        if (ifThemoduleStatus != moduleStatus)
        {
            qDebug() << "[INFO] " << "moduleStatus changed emit trigged:" << moduleStatus;
            emit trigged(moduleStatus);
            ifThemoduleStatus = moduleStatus;
        }
        if(moduleStatus==false)
            qApp->processEvents();
        Sleep(5);
    }
}

//从类中读数据到实例对象
bool Hd_CameraModule_HIK3_2::readData(std::vector<cv::Mat> &mat,QByteArray &data)
{
    if (!srcImage.data)
    {
        qCritical() << __FUNCTION__ << "   line:" <<__LINE__ << " srcImage is null";
        return false;
    }
    n_mutex->lock();
    mat.push_back(srcImage.clone());
    srcImage = cv::Mat();
    n_mutex->unlock();
    QString qimgIndex = "imgIndex_" + QString::number(imgIndex-1)+"_中文测试";
    data = qimgIndex.toLocal8Bit();
    QString tmpDate = QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz");
    qDebug() << tmpDate << "[INFO] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData--CameraName:" << QString::fromStdString(Username) << "--imgIndex : " << imgIndex-1;
    return true;
}
//实例对象把数据写入到类
bool Hd_CameraModule_HIK3_2::writeData(std::vector<cv::Mat> &mat,QByteArray &data)
{
    //2024.02.18更新，相机对应的读SN信号时，表示新产品进入，设置初始值
    if (data == "rest_newProductIn")
    {
        //根据实际项目，设置初始值：曝光、增益，ROI区域等
        {
            if (expourseTimeList.size() > 0)
                SetExposureTime(expourseTimeList[0]);
            if (gainList.size() > 0)
                SetGain(gainList[0]);
        }
        n_mutex->lock();
        srcImage = cv::Mat();
        n_mutex->unlock();
        if (ifRunning == true)
        {
            ifBreak = true;
            Sleep(10);
        }
        imgIndex = 0;
        return true;
    }
    //else
    //{
    //    //m_flag = false;
    //    //expourseTimeList.clear();
    //    //gainList.clear();
    //}
    if (data == "ifChangeExpourseAndGain_false")
        ifChangeExpourseAndGain = false;
    else
        ifChangeExpourseAndGain = true;
    if (data.contains("SetExposureTime_"))
    {
        QByteArrayList dataList = data.split('#');
        for (int i = 0; i < dataList.size(); i++)
        {
            if (dataList[i].contains("SetExposureTime_"))
            {
                int value = byteArrayToUnicode(dataList[i]).split("SetExposureTime_")[1].toInt();
                SetExposureTime(value);
            }
            if (dataList[i].contains("SetGain_"))
            {
                double value = byteArrayToUnicode(dataList[i]).split("SetGain_")[1].toInt();
                SetGain(value);
            }
            if (dataList[i].contains("TriggerMode_"))
            {
                QString value = byteArrayToUnicode(dataList[i]).split("TriggerMode_")[1];
                if (value == "软触发")
                    ////触发模式
                {
                    MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_SOFTWARE);
                    currentTriggerSource = MV_TRIGGER_SOURCE_SOFTWARE;
                }
                else
                {
                    MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_LINE0);
                    currentTriggerSource = MV_TRIGGER_SOURCE_LINE0;
                }
            }
        }
    }
    //调试模式下，data==ifChangeExpourseAndGain_false；非调试模式运行时，data不包含SetExposureTime_
    else if (data != "ifChangeExpourseAndGain_false" && initTriggerSource != currentTriggerSource) 
    {
            MV_CC_SetEnumValue(handle, "TriggerSource", initTriggerSource);
            currentTriggerSource = initTriggerSource;
    }   


    /*data.append("SetExposureTime_" + ui.spinBox->text() + "#");
    data.append("SetGain_" + ui.doubleSpinBox->text() + "#");
    data.append("TriggerMode_" + ui.comboBox_triggerMode->currentText());*/


    qDebug() << "Hd_CameraModule_HIK3_2::writeData::" << data;

    //m_flag = false;
    //Username = data.toStdString();
    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...
bool Hd_CameraModule_HIK3_2::initParas(QByteArray& initData)
{
    QByteArrayList valueList = initData.split('+');
    Username = valueList[0];
    imgIndex = 0;

    expourseTimeList.clear();
    gainList.clear();


    bool ifOk = true;
    if (handle == NULL)
        ifOk = connctDevice();
    if (ifOk == false)
    {
        qDebug() << "try connctDevice again!"<<QString::fromStdString(Username);
        ifOk = connctDevice();
    }
    if (ifOk == false)
        return false;
    if (valueList.size() > 1)
        for (int i = 1; i < valueList.size(); i++)
        {
            QString valuei = byteArrayToUnicode(valueList[i]);
            //valuei.prepend(valueList[i]);
            if (valuei.contains("expourseTime"))
            {
                QStringList expourseTimeL = valuei.split('#');
                if (expourseTimeL.size() > 1)
                    for (int j = 1; j < expourseTimeL.size(); j++)
                        expourseTimeList.enqueue(expourseTimeL[j].toFloat());
            }
            if (valuei.contains("gain"))
            {
                QStringList gainL = valuei.split('#');
                if (gainL.size() > 1)
                    for (int j = 1; j < gainL.size(); j++)
                        gainList.enqueue(gainL[j].toFloat());
            }

            if (valuei.contains("是否为标准通信流程"))
            {
                if (valuei.contains("true"))
                    ifStandard = true;
            }
            if (valuei.contains("取图超时"))
            {
                QStringList gainL = valuei.split('#');
                if (gainL.size() > 1)
                    getImageTimeOut = gainL[1].toInt();
                if (getImageTimeOut < 50)
                    getImageTimeOut = 1000;
            }
            if (valuei.contains("OffsetX"))
            {
                QStringList valueL = valuei.split('#');
                if (valueL.size() > 1)
                    if(valueL[1].toInt()>=0)
                        MV_CC_SetIntValue(handle, "OffsetX", valueL[1].toInt());
            }
            if (valuei.contains("OffsetY"))
            {
                QStringList valueL = valuei.split('#');
                if (valueL.size() > 1)
                    if (valueL[1].toInt() >= 0)
                        MV_CC_SetIntValue(handle, "OffsetY", valueL[1].toInt());
            }
            if (valuei.contains("Width"))
            {
                QStringList valueL = valuei.split('#');
                if (valueL.size() > 1)
                    if (valueL[1].toInt() >= 0)
                        MV_CC_SetIntValue(handle, "Width", valueL[1].toInt());
            }
            if (valuei.contains("Height"))
            {
                QStringList valueL = valuei.split('#');
                if (valueL.size() > 1)
                    if (valueL[1].toInt() >= 0)
                        MV_CC_SetIntValue(handle, "Height", valueL[1].toInt());
            }

            if (valuei.contains("触发方式"))
            {
                QStringList valueL = valuei.split('#');
                if (valueL.size() > 1)
                    if (valueL[1].toInt() >= 0)
                    if (valueL[1] == "软触发")
                    {
                        MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_SOFTWARE);
                        currentTriggerSource = MV_TRIGGER_SOURCE_SOFTWARE;
                        initTriggerSource = MV_TRIGGER_SOURCE_SOFTWARE;
                    }
                    else
                    {
                        MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_LINE0);
                        currentTriggerSource = MV_TRIGGER_SOURCE_LINE0;
                        initTriggerSource = MV_TRIGGER_SOURCE_LINE0;
                    }
            }
        }

    if (ifOk == true)
    {
        if (expourseTimeList.size() > 0)
            SetExposureTime(expourseTimeList[0]);
        if (gainList.size() > 0)
            SetGain(gainList[0]);
    }
    imgIndex = 0;
    if (ifOk == true)
    {
        MVCC_FLOATVALUE mf = { 0 };
        MV_CC_GetFloatValue(handle, "ExposureTime", &mf); 
        std::cout << "ExposureTime::" << mf.fCurValue << std::endl;
        mf = { 0 };
        MV_CC_GetFloatValue(handle, "Gain", &mf); 
        std::cout << "Gain::" << mf.fCurValue << std::endl;
        MVCC_INTVALUE mI = { 0 };
        MV_CC_GetIntValue(handle, "OffsetX", &mI);
        std::cout << "OffsetX::" << mI.nCurValue << std::endl;
        mI = { 0 };
        MV_CC_GetIntValue(handle, "OffsetY", &mI);
        std::cout << "OffsetY::" << mI.nCurValue << std::endl;
        mI = { 0 };
        MV_CC_GetIntValue(handle, "Width", &mI);
        std::cout << "Width::" << mI.nCurValue << std::endl;
        mI = { 0 };
        MV_CC_GetIntValue(handle, "Height", &mI);
        std::cout << "Height::" << mI.nCurValue << std::endl;
        MVCC_ENUMVALUE me = { 0 };
        MV_CC_GetEnumValue(handle,"BalanceWhiteAuto",&me); //自动白平衡
        std::cout << "BalanceWhiteAuto::" << me.nCurValue << std::endl;

    }

    return ifOk;
}
bool Hd_CameraModule_HIK3_2::run()
{
    if (moduleStatus == false)
        return false;
    if (imgIndex == expourseTimeList.size())
        imgIndex = 0;
    //Sleep(100);
    QString tmpDate = QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz");
    qDebug() << tmpDate << "[INFO] " << " run start" <<QString::fromStdString(Username);
    bool result = false;
    ifRunning = true;
    ifBreak = false;
    //srcImage.release();
    try
    {
        //n_mutex->lock();
        m_flag = false; 
        //Sleep(2);
        //n_mutex->unlock();
        //m_thread->run(); //start()线程运行，频率高时有低概率无响应；

        if (currentTriggerSource == MV_TRIGGER_SOURCE_SOFTWARE)
        {
            MV_CC_SetCommandValue(handle, "TriggerSoftware");
            qDebug() << "[INFO] " << "TriggerSoftware";
        }
        else
            qDebug() << "[INFO] " << "TriggerHardware";
        //MV_CC_SetCommandValue(handle, "TriggerSoftware");
        //Sleep(15);
        int mytime = 0;
        qDebug() << "[INFO] " << " waite Img" << QString::fromStdString(Username);
        while (true)
        {
            if (moduleStatus == false || mytime++ > getImageTimeOut || ifBreak == true )//|| m_flag==true)
            {
                result = false;
                break;
            }
            n_mutex->lock();
            if (m_flag == true)
            {
                n_mutex->unlock();
                result = true;
                break;
            }
            n_mutex->unlock();
            Sleep(1);
        }
        Sleep(1);
        
        //qDebug() << "[INFO] " << " expourseTimeList " << QString::fromStdString(Username);
        //软触发，不考虑误触发、漏触发
        if (ifChangeExpourseAndGain == true)
        {
            imgIndex++;
            if (expourseTimeList.size() > 1 && expourseTimeList[imgIndex % expourseTimeList.size()] != expourseTimeList[(imgIndex - 1) % expourseTimeList.size()])
                SetExposureTime(expourseTimeList[imgIndex % expourseTimeList.size()]);
            //Sleep(1);
            if (gainList.size() > 1 && gainList[imgIndex % gainList.size()] != gainList[(imgIndex - 1) % gainList.size()])
                SetGain(gainList[imgIndex % gainList.size()]);
            //Sleep(1);
        }
        /*if (result == false)
        {
            QString currPath = "../runtime/Bin_DEVICE/testImg/testImg_";
            if (ifChangeExpourseAndGain == true)
                currPath +=QString::number(imgIndex-1);
            else
                currPath += QString::number(imgIndex);
            currPath += ".jpg";
            n_mutex->lock();
            srcImage = cv::imread(currPath.toStdString());
            n_mutex->unlock();
            qDebug() << "取图失败，读取图片：" << currPath; 
            result = true;
        }*/

    }
    catch (QString ev)
    {
        qDebug() << "[Error] " << " ev:" << ev ;
    }
    qDebug() << "[INFO] " <<  __LINE__ << " run end" ;
    return result;
}

//相机连接状态：正常连接或断开
bool Hd_CameraModule_HIK3_2::checkStatus()
{
    //status = moduleStatus;
    return moduleStatus;
}

void MyThread::run()
{
    MV_CC_SetCommandValue(handle, "TriggerSoftware");
}