commit for pull

3rdparty/dahua/inc/dhnetsdk.h

@@ -21285,12 +21285,12 @@ typedef struct tagIMAGE_INFO
 	int					nHeight;			// 图片高度
 	char				szFilePath[260];	// 文件路径
 	BYTE				byReserved[512];	// 预留字节
-}IMAGE_INFO;
+}DH_IMAGE_INFO;
 
 // 目标人脸信息
 typedef struct tagFACE_INFO_OBJECT
 {
-	IMAGE_INFO							   stuImageInfo;			// 物体截图信息
+    DH_IMAGE_INFO							   stuImageInfo;			// 物体截图信息
 	EM_DEV_EVENT_FACEDETECT_SEX_TYPE       emSex;                   // 性别类型
 	unsigned int                           nAge;                    // 年龄
 	EM_FACEDETECT_GLASSES_TYPE             emGlasses;               // 是否戴眼镜
@@ -22226,7 +22226,7 @@ typedef struct tagMEDIAFILE_DOORCONTROL_RECORD_INFO
 	// 门打开事件信息
 	EM_OPEN_DOOR_METHOD			emOpenDoorMethod;						// 开门方式
 	EM_OPEN_DOOR_STATE			emOpenDoorState;						// 开门结果
-	IMAGE_INFO					stuSceneImageInfo;						// 全景大图信息
+    DH_IMAGE_INFO					stuSceneImageInfo;						// 全景大图信息
 	NET_TIME					stuSnapTime;							// 抓拍时间
 	NET_DOORCONTROL_FACE_OBJECT	stuFaceObject;							// 目标人脸信息
 	UINT						nCandidatesNum;							// 候选人数量

Plugin/Driver/DriverMainDlg.cpp

@@ -348,6 +348,7 @@ void CDriverMainDlg::ProcessPipeMsg(int lMsgId, char* pData, int lLen)
 				float targetAngle = 0.0f;						// 目标角度（度）
 				//计算纠正角度
 				theApp.m_fAngleForFast = CorrectAngle(currentAngle, targetAngle);
+				LogOutToFile("currentAngled : = %f, CorrectAng = %f", currentAngled, theApp.m_fAngleForFast);
 			}
 
 			//获取设备配置信息返回
@@ -394,9 +395,10 @@ float CDriverMainDlg::CorrectAngle(float currentAngle, float targetAngle) {
 	// 这些参数 是要根据实际情况进行调整的
 	//pid 对象在第一次调用 CorrectAngle 函数时创建，并且在程序的整个运行期间不会被销毁。即使函数执行结束，pid 对象仍然存在，其内部状态（如积分项 integral、上一次误差 prevError 等）会被持久化保存
 	static PIDController pid(
-		0.5f,  //比例系数
-		0.2f,  //积分系数
-		0.1f,  //微分系数
+		0.6f,  //比例系数  P
+		0.0f,  //积分系数  I
+		0.0f,  //微分系数  D
+
 		-10.0f, //积分限幅
 		10.0f, //积分上限
 		-45.0f, //输出下限
@@ -404,7 +406,6 @@ float CDriverMainDlg::CorrectAngle(float currentAngle, float targetAngle) {
 		0.023f   //时间步长(秒)
 	);
 	
-
 	// 规范化角度，确保角度在-180°到180°之间
 	currentAngle = NormalizeAngle(currentAngle);
 	targetAngle = NormalizeAngle(targetAngle);
@@ -530,7 +531,7 @@ BOOL CDriverMainDlg::OpenCanDevice()
 		return FALSE;
 	}
 	VCI_INIT_CONFIG InitInfo[1];
-	InitInfo->Timing0 = 0x01;  //250K
+	InitInfo->Timing0 = 0x03;  //250K
 	InitInfo->Timing1 = 0x1C;
 	InitInfo->Filter = 0;
 	InitInfo->AccCode = 0x80000000;
@@ -1031,7 +1032,7 @@ void CDriverMainDlg::SendCanAGVMoveData(float Vel) {
 		mvDirection = 3; //后退
 		Vel = -Vel;
 	}
-	reSpeed = Vel * 60 / C * 20.2; //RPM
+	reSpeed = Vel * 60 / C * 20.2; //RPM，20.2是减速比。
 	int16_t bytePair = static_cast<int16_t>(reSpeed);
 	uint8_t reSpeedHByte = (bytePair >> 8) & 0xFF; // 高字节
 	uint8_t reSpeedLByte = bytePair & 0xFF;        // 低字节

Plugin/Fast/Fast.cpp

@@ -133,6 +133,7 @@ CString CFastApp::SendMsg2Platform(CString strReceiver, int nMsgType, Json::Valu
 	string strJson = writer.write(root);
 
 	g_pstPipeClient->SendeMsg(WCS_2_WMS_DATA, (char*)strJson.c_str(), strJson.length());
+
 	LogOutToFile("FAST::SendMsg2Platform End");
 
 	return "";

Plugin/Fast/Fast.vcxproj

@@ -23,18 +23,18 @@
     <ProjectGuid>{EDB92B51-C3C2-44DA-B21D-6BB824264D08}</ProjectGuid>
     <RootNamespace>GrabImage_Display</RootNamespace>
     <Keyword>Win32Proj</Keyword>
-    <WindowsTargetPlatformVersion>10.0.10586.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
-    <PlatformToolset>v143</PlatformToolset>
+    <PlatformToolset>v140</PlatformToolset>
     <CharacterSet>MultiByte</CharacterSet>
     <WholeProgramOptimization>true</WholeProgramOptimization>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
-    <PlatformToolset>v143</PlatformToolset>
+    <PlatformToolset>v140</PlatformToolset>
     <CharacterSet>MultiByte</CharacterSet>
     <UseOfMfc>Dynamic</UseOfMfc>
   </PropertyGroup>

Plugin/Fast/FastMainDialog.cpp

@@ -121,135 +121,7 @@ void CFastMainDialog::ProcessPipeMsg(int lMsgId, char* pData, int lLen)
 	LogOutToFile("HttpServiceListener::OnRecvRequest End");
 }
 
-// TCP服务端线程
-/*UINT CFastMainDialog::TCPListenerThread(LPVOID pParam) {
-	CFastMainDialog* pThis = (CFastMainDialog*)pParam;
-	SOCKET hServer = pThis->m_hServerSocket;
 
-	while (true) {
-		SOCKET hClient = accept(hServer, NULL, NULL);
-		if (hClient == INVALID_SOCKET) continue;
-
-		char buffer[4096];
-		int bytesRecv = recv(hClient, buffer, sizeof(buffer), 0);
-		if (bytesRecv > 0) {
-			CString strMsg(buffer, bytesRecv);
-			pThis->ProcessTCPMessage(strMsg);
-		}
-		closesocket(hClient);
-	}
-	return 0;
-}*/
-UINT CFastMainDialog::TCPListenerThread(LPVOID pParam) {
-	CFastMainDialog* pThis = (CFastMainDialog*)pParam;
-	SOCKET hServer = pThis->m_hServerSocket;
-
-	while (true) {
-		SOCKET hClient = accept(hServer, NULL, NULL);
-		if (hClient == INVALID_SOCKET) continue;
-
-		// 禁用Nagle算法（可选）
-		int optval = 1;
-		setsockopt(hClient, IPPROTO_TCP, TCP_NODELAY, (char*)&optval, sizeof(optval));
-
-		// 持续接收数据直到连接关闭
-		char buffer[4096];
-		while (true) {
-			int bytesRecv = recv(hClient, buffer, sizeof(buffer), 0);
-			if (bytesRecv <= 0) { // 连接断开或错误
-				LogOutToFile("[TCP] Client disconnected or error: %d", WSAGetLastError());
-				break;
-			}
-
-			CString strMsg(buffer, bytesRecv);
-			pThis->ProcessTCPMessage(strMsg);
-		}
-		closesocket(hClient); // 最终关闭连接
-	}
-	return 0;
-}
-
-// 处理收到的TCP消息
-void CFastMainDialog::ProcessTCPMessage(const CString& strJson) {
-	LogOutToFile("FAST::ProcessTCPMessage Received: %s", strJson);
-
-	Json::Reader reader;
-	Json::Value root;
-	if (!reader.parse((LPCTSTR)strJson, root)) {
-		LogOutToFile("JSON parse error!");
-		return;
-	}
-
-	// 验证必要字段
-	if (!root.isMember("receiver") || !root.isMember("type")) {
-		LogOutToFile("Invalid message format");
-		return;
-	}
-
-	// 通过现有平台接口转发
-	CString strReceiver = root["receiver"].asString().c_str();
-	int nMsgType = root["type"].asInt();
-	Json::Value params = root.get("params", Json::nullValue);
-
-	theApp.SendMsg2Platform(strReceiver, nMsgType, params);
-}
-
-// 启动TCP服务
-void CFastMainDialog::StartTCPServer()
-{
-	// 1. 初始化Winsock
-	WSADATA wsaData;
-	int wsResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
-	if (wsResult != 0) {
-		LogOutToFile("[TCP] WSAStartup failed: %d", wsResult);
-		return;
-	}
-
-	// 2. 创建Socket
-	m_hServerSocket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
-	if (m_hServerSocket == INVALID_SOCKET) {
-		LogOutToFile("[TCP] Socket creation failed: %d", WSAGetLastError());
-		WSACleanup();
-		return;
-	}
-
-	// 3. 设置端口复用（可选）
-	int optval = 1;
-	setsockopt(m_hServerSocket, SOL_SOCKET, SO_REUSEADDR, (char*)&optval, sizeof(optval));
-
-	// 4. 绑定端口
-	sockaddr_in service;
-	service.sin_family = AF_INET;
-	service.sin_addr.s_addr = INADDR_ANY;
-	service.sin_port = htons(6000);
-
-	if (::bind(m_hServerSocket, (SOCKADDR*)&service, sizeof(service)) == SOCKET_ERROR)
-	{
-		LogOutToFile("[TCP] Bind failed on port 6000: %d", WSAGetLastError());
-		closesocket(m_hServerSocket);
-		WSACleanup();
-		return;
-	}
-
-	// 5. 开始监听
-	if (listen(m_hServerSocket, SOMAXCONN) == SOCKET_ERROR)
-	{
-		LogOutToFile("[TCP] Listen failed: %d", WSAGetLastError());
-		closesocket(m_hServerSocket);
-		WSACleanup();
-		return;
-	}
-
-	// 6. 启动线程
-	m_pListenerThread = AfxBeginThread(TCPListenerThread, this);
-	if (m_pListenerThread == NULL) {
-		LogOutToFile("[TCP] Thread creation failed!");
-		closesocket(m_hServerSocket);
-		WSACleanup();
-		return;
-	}
-	LogOutToFile("[TCP] Server successfully started on port 6000");
-}
 BOOL CFastMainDialog::OnInitDialog()
 {
 	CDialogEx::OnInitDialog();
@@ -283,7 +155,7 @@ BOOL CFastMainDialog::OnInitDialog()
 
 	//初始化本地相机
 	InitLocalCamera();
-	StartTCPServer(); // 新增TCP服务启动
+
 	return TRUE;  // return TRUE unless you set the focus to a control
 				  // 异常: OCX 属性页应返回 FALSE
 }

Plugin/Fast/FastMainDialog.h

@@ -13,9 +13,6 @@ public:
 	CFastMainDialog(CWnd* pParent = NULL);   // 标准构造函数
 	virtual ~CFastMainDialog();
 
-	void StartTCPServer();
-	void StopTCPServer();
-
 	// 对话框数据
 #ifdef AFX_DESIGN_TIME
 	enum { IDD = IDD_MAIN_DIALOG };
@@ -38,10 +35,4 @@ public:
 
 	afx_msg void OnTimer(UINT_PTR nIDEvent);
 	void ProcessPipeMsg(int lMsgId, char* pData, int lLen);
-
-private:
-	static UINT __cdecl TCPListenerThread(LPVOID pParam);
-	void ProcessTCPMessage(const CString& strJson);
-	CWinThread* m_pListenerThread;
-	SOCKET m_hServerSocket;
 };

Plugin/KcCtrl/KcCtrl.vcxproj

@@ -21,7 +21,7 @@
   <PropertyGroup Label="Globals">
     <ProjectGuid>{77089A10-F10B-4E0E-B045-86271BFD1A07}</ProjectGuid>
     <RootNamespace>VcsClient</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.10586.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
     <Keyword>MFCProj</Keyword>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />

Plugin/Plc/Plc.vcxproj

@@ -21,7 +21,7 @@
   <PropertyGroup Label="Globals">
     <ProjectGuid>{CD291D2B-F677-46FC-BC5F-0C4A18CBBC11}</ProjectGuid>
     <RootNamespace>VcsClient</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.10586.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
     <Keyword>MFCProj</Keyword>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />

Plugin/QrGuide/QrGuide.vcxproj

@@ -23,7 +23,7 @@
     <ProjectGuid>{A98ADD5C-021A-494A-9E04-61E7F3220104}</ProjectGuid>
     <RootNamespace>GrabImage_Display</RootNamespace>
     <Keyword>Win32Proj</Keyword>
-    <WindowsTargetPlatformVersion>10.0.10586.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">