From 69f11eca9ac8ef1e450b3a68350b3a0650ebc5e8 Mon Sep 17 00:00:00 2001 From: kooki3 <1498306179@qq.com> Date: Thu, 11 Dec 2025 15:12:44 +0800 Subject: [PATCH] =?UTF-8?q?VisualRobot=5Fwzh=EF=BC=9A=E4=BC=98=E5=8C=96?= =?UTF-8?q?=E7=9B=B8=E6=9C=BA=E8=B0=83=E7=94=A8=E9=B2=81=E6=A3=92=E6=80=A7?= =?UTF-8?q?=EF=BC=8C=E4=BF=AE=E5=A4=8D=E5=BD=A9=E8=89=B2=E7=9B=B8=E6=9C=BA?= =?UTF-8?q?=E6=84=8F=E5=A4=96=E8=BF=9B=E5=85=A5=E5=86=85=E8=A7=A6=E5=8F=91?= =?UTF-8?q?=E9=87=87=E9=9B=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- VisualRobot/SystemMonitor.cpp | 40 +++++++ VisualRobot/mainwindow.cpp | 208 +++++++++++++++++++++++++++++++--- VisualRobot/mainwindow.h | 10 ++ 3 files changed, 242 insertions(+), 16 deletions(-) diff --git a/VisualRobot/SystemMonitor.cpp b/VisualRobot/SystemMonitor.cpp index c0575fa..2274db7 100644 --- a/VisualRobot/SystemMonitor.cpp +++ b/VisualRobot/SystemMonitor.cpp @@ -296,4 +296,44 @@ void SystemMonitor::updateSystemStats() // 发送系统状态更新信号 emit systemStatsUpdated(cpuUsage, memUsage, temperature); + + // 添加内存监控日志，每分钟记录一次内存使用趋势（增强版：包括实际使用量） + static QTime lastLogTime = QTime::currentTime(); + if (lastLogTime.msecsTo(QTime::currentTime()) > 60000) { // 每60秒 + // 计算实际内存使用量 (MB) + unsigned long totalMemKB = 0, usedMemKB = 0; + ifstream memFile("/proc/meminfo"); + if (memFile.is_open()) { + string line; + while (getline(memFile, line)) { + if (line.find("MemTotal:") != string::npos) { + sscanf(line.c_str(), "MemTotal: %lu", &totalMemKB); + } else if (line.find("MemFree:") != string::npos) { + unsigned long freeMemKB = 0, buffersKB = 0, cachedKB = 0; + sscanf(line.c_str(), "MemFree: %lu", &freeMemKB); + // 简单估算：读取后续Buffers和Cached + if (getline(memFile, line) && line.find("Buffers:") != string::npos) { + sscanf(line.c_str(), "Buffers: %lu", &buffersKB); + } + if (getline(memFile, line) && line.find("Cached:") != string::npos) { + sscanf(line.c_str(), "Cached: %lu", &cachedKB); + } + usedMemKB = totalMemKB - freeMemKB - buffersKB - cachedKB; + break; + } + } + memFile.close(); + } + double usedMemMB = usedMemKB / 1024.0; + double totalMemMB = totalMemKB / 1024.0; + + QString logEntry = QString("内存监控 - 使用率: %1%, 已用: %2 MB / 总: %3 MB, 时间: %4") + .arg(memUsage, 0, 'f', 2) + .arg(usedMemMB, 0, 'f', 1) + .arg(totalMemMB, 0, 'f', 1) + .arg(QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss")); + qDebug() << logEntry; // 输出到控制台，可扩展到文件日志 + // TODO: 可集成到主程序的AppendLog系统 + lastLogTime = QTime::currentTime(); + } } diff --git a/VisualRobot/mainwindow.cpp b/VisualRobot/mainwindow.cpp index a0a397d..b00581c 100644 --- a/VisualRobot/mainwindow.cpp +++ b/VisualRobot/mainwindow.cpp @@ -333,6 +333,15 @@ void __stdcall MainWindow::ImageCallBack(unsigned char * pData, MV_FRAME_OUT_INF pMainWindow->m_lastInfo = *pFrameInfo; // 结构体按值拷贝 pMainWindow->m_hasFrame = true; + // 图像缓存清理检查 + if (pMainWindow->m_lastFrame.size() > pMainWindow->m_maxFrameSize) { + AppendLog(QString("图像缓存超过限制 (%1 > %2 字节)，可能内存问题").arg(pMainWindow->m_lastFrame.size()).arg(pMainWindow->m_maxFrameSize), ERROR); + // 清空旧缓存，避免持续增长 + pMainWindow->m_lastFrame.clear(); + pMainWindow->m_hasFrame = false; + return; // 跳过本次缓存 + } + // 拷贝一份到临时变量, 用于清晰度计算 tempFrame = pMainWindow->m_lastFrame; @@ -528,6 +537,8 @@ void MainWindow::on_bnOpen_clicked() int nIndex; // 设备索引 int nRet; // 返回值 unsigned int nPacketSize; // 数据包大小 + int retryCount = 0; // 重试计数 + const int maxRetries = 3; // 最大重试次数 nIndex = ui->ComboDevices->currentIndex(); if ((nIndex < 0) | (nIndex >= MV_MAX_DEVICE_NUM)) @@ -556,17 +567,42 @@ void MainWindow::on_bnOpen_clicked() } } - nRet = m_pcMyCamera->Open(m_stDevList.pDeviceInfo[nIndex]); - if (MV_OK != nRet) - { - delete m_pcMyCamera; - m_pcMyCamera = NULL; - ShowErrorMsg("Open Fail", nRet); - AppendLog("相机打开失败", ERROR); - return; + // 添加重试机制：如果打开失败，重新枚举设备 + bool openSuccess = false; + while (retryCount < maxRetries && !openSuccess) { + nRet = m_pcMyCamera->Open(m_stDevList.pDeviceInfo[nIndex]); + if (MV_OK == nRet) { + openSuccess = true; + AppendLog("设备打开成功", INFO); + } else { + AppendLog(QString("相机打开失败 (尝试%1/%2): %3").arg(retryCount + 1).arg(maxRetries).arg(nRet), ERROR); + delete m_pcMyCamera; + m_pcMyCamera = NULL; + + // 重新枚举设备 + AppendLog("重新枚举设备...", INFO); + on_bnEnum_clicked(); + nIndex = ui->ComboDevices->currentIndex(); + if (nIndex < 0 || nIndex >= MV_MAX_DEVICE_NUM || NULL == m_stDevList.pDeviceInfo[nIndex]) { + AppendLog("重新枚举后设备无效，停止重试", ERROR); + return; + } + + m_pcMyCamera = new (nothrow) CMvCamera; + if (NULL == m_pcMyCamera) { + AppendLog("新建相机实例失败", ERROR); + return; + } + retryCount++; + QThread::msleep(1000); // 等待1秒后重试 + } } - AppendLog("设备打开成功", INFO); + if (!openSuccess) { + ShowErrorMsg("Open Fail after retries", nRet); + AppendLog("相机打开失败，已达最大重试次数", ERROR); + return; + } // ch:探测网络最佳包大小(只对GigE相机有效) | en:Detection network optimal package size(It only works for the GigE camera) if (m_stDevList.pDeviceInfo[nIndex]->nTLayerType == MV_GIGE_DEVICE) @@ -586,6 +622,64 @@ void MainWindow::on_bnOpen_clicked() } } + // 添加驱动状态检查：打开后验证状态 + MVCC_ENUMVALUE stStatus; + nRet = m_pcMyCamera->GetEnumValue("AcquisitionStatus", &stStatus); + if (MV_OK == nRet) { + if (stStatus.nCurValue == 0) { // Idle + AppendLog("打开后相机状态检查：空闲", INFO); + } else { + AppendLog(QString("打开后相机状态异常：%1").arg(stStatus.nCurValue), WARNNING); + } + } else { + AppendLog("无法获取打开后相机状态", WARNNING); + } + + // 对于USB3.0相机，添加额外初始化（如果适用） + if (m_stDevList.pDeviceInfo[nIndex]->nTLayerType == MV_USB_DEVICE) { + // USB3.0特有初始化：设置传输模式等，根据SDK + nRet = m_pcMyCamera->SetEnumValue("TransportLayerType", 2); // 假设2为USB3.0模式 + if (MV_OK != nRet) { + AppendLog("USB3.0传输模式设置失败（可选）", WARNNING); + } else { + AppendLog("USB3.0传输模式已设置", INFO); + } + } + + // 计算预期帧大小并预分配缓存 + MVCC_INTVALUE stWidth, stHeight; + MVCC_ENUMVALUE stPixelFormat; + nRet = m_pcMyCamera->GetIntValue("Width", &stWidth); + if (MV_OK != nRet) { + AppendLog("获取宽度失败", ERROR); + } + nRet = m_pcMyCamera->GetIntValue("Height", &stHeight); + if (MV_OK != nRet) { + AppendLog("获取高度失败", ERROR); + } + nRet = m_pcMyCamera->GetEnumValue("PixelFormat", &stPixelFormat); + if (MV_OK != nRet) { + AppendLog("获取像素格式失败", ERROR); + } + + size_t bpp = 1; // 默认Mono8 + switch (stPixelFormat.nCurValue) { + case PixelType_Gvsp_RGB8_Packed: + case PixelType_Gvsp_BGR8_Packed: + bpp = 3; + break; + case PixelType_Gvsp_RGBA8_Packed: + case PixelType_Gvsp_BGRA8_Packed: + bpp = 4; + break; + // 添加其他格式根据需要 + default: + break; + } + m_expectedFrameSize = static_cast(stWidth.nCurValue) * stHeight.nCurValue * bpp; + m_lastFrame.reserve(m_expectedFrameSize); + AppendLog(QString("图像缓存预分配: %1 字节").arg(m_expectedFrameSize), INFO); + m_pcMyCamera->SetEnumValue("AcquisitionMode", MV_ACQ_MODE_CONTINUOUS); m_pcMyCamera->SetEnumValue("TriggerMode", MV_TRIGGER_MODE_OFF); @@ -612,12 +706,74 @@ void MainWindow::on_bnClose_clicked() { if (m_pcMyCamera) { - m_pcMyCamera->Close(); + // 完善关闭流程：先停止触发模式，再停止采集，最后关闭设备 + AppendLog("开始关闭设备...", INFO); + + // 1. 停止触发模式 + int nRet = m_pcMyCamera->SetEnumValue("TriggerMode", MV_TRIGGER_MODE_OFF); + if (MV_OK != nRet) { + AppendLog("设置触发模式为OFF失败", ERROR); + } else { + AppendLog("触发模式已关闭", INFO); + } + + // 2. 停止采集（如果正在采集） + if (m_bGrabbing) { + nRet = m_pcMyCamera->StopGrabbing(); + if (MV_OK != nRet) { + AppendLog("停止采集失败", ERROR); + } else { + AppendLog("采集已停止", INFO); + m_bGrabbing = false; + } + } + + // 3. 添加驱动状态检查（可选：检查AcquisitionStatus等） + MVCC_ENUMVALUE stStatus; + nRet = m_pcMyCamera->GetEnumValue("AcquisitionStatus", &stStatus); + if (MV_OK == nRet) { + if (stStatus.nCurValue == 0) { // Idle + AppendLog("相机状态检查：空闲", INFO); + } else { + AppendLog(QString("相机状态异常：%1").arg(stStatus.nCurValue), WARNNING); + } + } else { + AppendLog("无法获取相机状态", WARNNING); + } + + // 4. 对于USB3.0相机，添加额外清理（如果适用） + if (m_stDevList.nDeviceNum > 0 && m_stDevList.pDeviceInfo[ui->ComboDevices->currentIndex()]->nTLayerType == MV_USB_DEVICE) { + // USB3.0特有清理：重置设备或类似，根据SDK文档 + // 这里假设使用CommandExecute("DeviceReset")，但需验证 + nRet = m_pcMyCamera->CommandExecute("DeviceReset"); + if (MV_OK != nRet) { + AppendLog("USB3.0设备重置失败（可选）", WARNNING); + } else { + AppendLog("USB3.0设备已重置", INFO); + } + } + + // 5. 关闭设备 + nRet = m_pcMyCamera->Close(); + if (MV_OK != nRet) { + AppendLog("设备关闭失败", ERROR); + } else { + AppendLog("设备已关闭", INFO); + } + delete m_pcMyCamera; m_pcMyCamera = NULL; + + // 清空图像缓存 + { + lock_guard lk(m_frameMtx); + m_lastFrame.clear(); + m_hasFrame = false; + } + AppendLog("图像缓存已清理", INFO); } - m_bGrabbing = false; + // 更新UI ui->bnOpen->setEnabled(true); ui->bnClose->setEnabled(false); ui->bnStart->setEnabled(false); @@ -633,7 +789,14 @@ void MainWindow::on_bnClose_clicked() ui->bnSetParam->setEnabled(false); ui->bnGetParam->setEnabled(false); - AppendLog("设备关闭成功", INFO); + // 停止软触发定时器 + if (m_softTriggerTimer && m_softTriggerEnabled) { + m_softTriggerTimer->stop(); + m_softTriggerEnabled = false; + AppendLog("软触发定时器已停止", INFO); + } + + AppendLog("设备关闭流程完成", INFO); } void MainWindow::on_bnContinuesMode_clicked() @@ -733,10 +896,10 @@ void MainWindow::on_cbSoftTrigger_clicked() AppendLog("软件触发已开启", INFO); } - // 启用间歇软触发，每0.5秒触发一次 + // 启用间歇软触发，每1秒触发一次 m_softTriggerEnabled = true; - m_softTriggerTimer->start(500); // 500ms间隔 - AppendLog("间歇软触发已启用，每0.5秒自动触发", INFO); + m_softTriggerTimer->start(1000); // 1000ms间隔 + AppendLog("间歇软触发已启用，每1秒自动触发", INFO); } else { @@ -754,10 +917,21 @@ void MainWindow::on_cbSoftTrigger_clicked() void MainWindow::onSoftTriggerTimeout() { - if (!m_softTriggerEnabled || !m_bGrabbing || !m_pcMyCamera) { + if (!m_softTriggerEnabled || !m_bGrabbing || !m_pcMyCamera || m_softTriggerBusy) { + if (m_softTriggerBusy) { + // 可选：记录跳过日志，避免频繁 + static int skipCount = 0; + if (skipCount % 5 == 0) { + AppendLog(QString("软触发忙碌，跳过本次触发 (已跳过%1次)").arg(++skipCount), WARNNING); + } else { + ++skipCount; + } + } return; } + m_softTriggerBusy = true; + // 执行软件触发 int nRet = m_pcMyCamera->CommandExecute("TriggerSoftware"); if (MV_OK != nRet) { @@ -771,6 +945,8 @@ void MainWindow::onSoftTriggerTimeout() ++triggerCount; } } + + m_softTriggerBusy = false; } void MainWindow::on_bnTriggerExec_clicked() diff --git a/VisualRobot/mainwindow.h b/VisualRobot/mainwindow.h index 5ad1297..bde0065 100644 --- a/VisualRobot/mainwindow.h +++ b/VisualRobot/mainwindow.h @@ -170,6 +170,16 @@ private: QWaitCondition m_newFrameCondition; bool m_newFrameAvailable; + // 图像缓存优化相关 + size_t m_maxFrameSize = 10 * 1024 * 1024; // 最大帧缓存大小 10MB + size_t m_expectedFrameSize = 0; // 预期帧大小 + + // 定时器安全相关 + bool m_softTriggerBusy = false; // 软触发忙碌标志 + + // 线程资源管理相关 + QElapsedTimer m_yoloThreadTimer; // YOLO线程超时计时器 + // 将缓存的最新一帧转为BGR Mat（经SDK内存编码为JPEG后imdecode，稳妥） -- Gitee