From 03444ed91793a31652ca40b43cf52b5d081f8596 Mon Sep 17 00:00:00 2001
From: Jeffrey_Li <412100639@qq.com>
Date: Mon, 12 Jun 2023 23:35:06 +0800
Subject: [PATCH] =?UTF-8?q?=E5=B0=9D=E8=AF=95=E8=A7=A3=E5=86=B3basler?=
 =?UTF-8?q?=E5=85=B3=E4=B8=8D=E6=8E=89=E7=9A=84=E9=97=AE=E9=A2=98?=
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---
 Cigarette/CaptureThreadBasler.cpp | 75 +++++++++++++++++++------------
 Cigarette/baslercamera.h          |  7 +++
 2 files changed, 54 insertions(+), 28 deletions(-)

diff --git a/Cigarette/CaptureThreadBasler.cpp b/Cigarette/CaptureThreadBasler.cpp
index cdd6de3..e5045c2 100644
--- a/Cigarette/CaptureThreadBasler.cpp
+++ b/Cigarette/CaptureThreadBasler.cpp
@@ -24,33 +24,34 @@ void CaptureThreadBasler::process(void)
 {
 	bool last_high = false;
 	bool last_result = false;
-	try
-	{
-		CSampleConfigurationEventHandler *CfgEvent=NULL;
-		CfgEvent = new CSampleConfigurationEventHandler;
-		CfgEvent->channel_ = Local_Num;
-		pDev_->RegisterConfiguration(CfgEvent, Pylon::RegistrationMode_Append, Pylon::Cleanup_None);
 
-		CSampleImageEventHandler ImageEvent;
-		ImageEvent.p_image_queue_ = p_image_queue;
-		ImageEvent.p_unit_queue_ = p_unit_queue;
-		ImageEvent.p_shooted_queue_ = p_shooted_queue;
-		ImageEvent.p_debug_queue_ = p_debug_queue;
-		ImageEvent.m_cntGrabbedImages_ = &m_cntGrabbedImages;
-		ImageEvent.Shoot_Num_ = Shoot_Num;
-		ImageEvent.pDev__ = pDev_;
-		pDev_->RegisterImageEventHandler(&ImageEvent, Pylon::RegistrationMode_Append, Pylon::Cleanup_None);
+	CSampleConfigurationEventHandler* CfgEvent = NULL;
+	CfgEvent = new CSampleConfigurationEventHandler;
+	CfgEvent->channel_ = Local_Num;
+	pDev_->RegisterConfiguration(CfgEvent, Pylon::RegistrationMode_Append, Pylon::Cleanup_None);
 
-		CSampleCameraEventHandler BurstEvent;
-		BurstEvent.p_unit_queue_ = p_unit_queue;
-		BurstEvent.p_result_wait_queue_ = p_result_wait_queue;
-		BurstEvent.p_result_queue_ = p_result_queue;
-		BurstEvent.p_shooted_queue_ = p_shooted_queue;
-		BurstEvent.p_double_queue_ = p_double_queue;
-		BurstEvent.p_image_queue_ = p_image_queue;
-		BurstEvent.pDev__ = pDev_;
-		BurstEvent.pCaptureThreadBasler = this;
+	CSampleImageEventHandler ImageEvent;
+	ImageEvent.p_image_queue_ = p_image_queue;
+	ImageEvent.p_unit_queue_ = p_unit_queue;
+	ImageEvent.p_shooted_queue_ = p_shooted_queue;
+	ImageEvent.p_debug_queue_ = p_debug_queue;
+	ImageEvent.m_cntGrabbedImages_ = &m_cntGrabbedImages;
+	ImageEvent.Shoot_Num_ = Shoot_Num;
+	ImageEvent.pDev__ = pDev_;
+	pDev_->RegisterImageEventHandler(&ImageEvent, Pylon::RegistrationMode_Append, Pylon::Cleanup_None);
 
+	CSampleCameraEventHandler BurstEvent;
+	BurstEvent.p_unit_queue_ = p_unit_queue;
+	BurstEvent.p_result_wait_queue_ = p_result_wait_queue;
+	BurstEvent.p_result_queue_ = p_result_queue;
+	BurstEvent.p_shooted_queue_ = p_shooted_queue;
+	BurstEvent.p_double_queue_ = p_double_queue;
+	BurstEvent.p_image_queue_ = p_image_queue;
+	BurstEvent.pDev__ = pDev_;
+	BurstEvent.pCaptureThreadBasler = this;
+
+	try
+	{
 		m_threadFunc.pDev__ = pDev_;
 		m_threadFunc.p_result_queue_ = p_result_queue;
 		m_threadFunc.p_double_queue_ = p_double_queue;
@@ -89,11 +90,9 @@ void CaptureThreadBasler::process(void)
 		/*Set here*/
 		if (pDev_->TriggerSelector.TrySetValue(Basler_UniversalCameraParams::TriggerSelector_FrameBurstStart))
 		{
-			DEBUG("    TriggerSelector_FrameBurstStart\n");
 			pDev_->TriggerMode.SetValue(Basler_UniversalCameraParams::TriggerMode_Off);
 			if(pDev_->EventSelector.TrySetValue(Basler_UniversalCameraParams::EventSelector_FrameBurstStart))
 			{
-				DEBUG("    EventSelector_FrameBurstStart\n");
 				pDev_->EventNotification.SetValue(Basler_UniversalCameraParams::EventNotification_Off);
 			}
 		}
@@ -144,18 +143,38 @@ void CaptureThreadBasler::process(void)
 		if (m_Timer) delete m_Timer;
 		pDev_->StopGrabbing();
 		pDev_->Close();
-		pDev_->GrabCameraEvents = false;
 		pDev_->DeregisterConfiguration(CfgEvent);
 		pDev_->DeregisterImageEventHandler(&ImageEvent);
 #ifndef USB_BASLER_NEW_FW
 		pDev_->DeregisterCameraEventHandler(&BurstEvent, "EventFrameBurstStartData");
+#else
+		pDev_->DeregisterCameraEventHandler(&BurstEvent, "EventLine1RisingEdgeData");
+		pDev_->DeregisterCameraEventHandler(&BurstEvent, "EventLine1FallingEdgeData");
 #endif
     }
     catch(const Pylon::GenericException& e)
     {
         emit error( QString::fromStdString( e.GetDescription()) );
 		std::cout << e.GetSourceLine()<<e.GetDescription() << std::endl;
-		pDev_->StopGrabbing();
+		if (pDev_->IsCameraDeviceRemoved())
+		{
+			cout << "The camera has been removed from the computer." << endl;
+		}
+		else
+		{
+			pDev_->StopGrabbing();
+			pDev_->GrabCameraEvents = false;
+			pDev_->Close();
+			pDev_->DeregisterConfiguration(CfgEvent);
+			pDev_->DeregisterImageEventHandler(&ImageEvent);
+#ifndef USB_BASLER_NEW_FW
+			pDev_->DeregisterCameraEventHandler(&BurstEvent, "EventFrameBurstStartData");
+#else
+			pDev_->DeregisterCameraEventHandler(&BurstEvent, "EventLine1RisingEdgeData");
+			pDev_->DeregisterCameraEventHandler(&BurstEvent, "EventLine1FallingEdgeData");
+#endif
+		}
+		
     }
 }
 
diff --git a/Cigarette/baslercamera.h b/Cigarette/baslercamera.h
index 43fa4c2..6018bfc 100644
--- a/Cigarette/baslercamera.h
+++ b/Cigarette/baslercamera.h
@@ -12,6 +12,13 @@
 #define BaslerClassID 0x02
 #define c_maxCamerasToUse (size_t)2
 
+//5:灰色
+//6:黑色
+//1:红色
+//2:黄色
+//3:白色
+//4:绿色
+
 class BaslerCamera: public BaseCamera
 {
 public: