From b46d2730ccfd100d86eab01c4bae098f15030237 Mon Sep 17 00:00:00 2001
From: zhangwei <vsirwork@163.com>
Date: Sat, 12 Jul 2025 17:16:46 +0800
Subject: [PATCH] =?UTF-8?q?=E8=B4=B5=E5=B7=9E=E8=A5=BF=E6=B4=8B=E4=BF=AE?=
 =?UTF-8?q?=E6=94=B9=E7=89=88?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .idea/misc.xml                                     |  3 +++
 common/AppCommon.h                                 |  2 ++
 config/matrix.yaml                                 |  4 ++--
 .../ContainerCharacterConversionEngine.cpp         |  2 +-
 engine/ControlEngine/ControlEngine.cpp             | 14 ++++++++++++--
 .../DetectDivideEngine/ContainerDivideEngine.cpp   |  2 +-
 engine/SaveResultCSVEngine/SaveResultCSVEngine.cpp |  2 +-
 engine/SelectBestEngine/SelectBestEngine.cpp       | 11 ++++++++---
 engine/WSServerEngine/WSServerEngine.cpp           |  4 ++++
 main.cpp                                           |  1 +
 10 files changed, 35 insertions(+), 10 deletions(-)

diff --git a/.idea/misc.xml b/.idea/misc.xml
index 79b3c94..0b76fe5 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,4 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
+  <component name="CMakePythonSetting">
+    <option name="pythonIntegrationState" value="YES" />
+  </component>
   <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
 </project>
\ No newline at end of file
diff --git a/common/AppCommon.h b/common/AppCommon.h
index ec27711..821068f 100644
--- a/common/AppCommon.h
+++ b/common/AppCommon.h
@@ -195,5 +195,7 @@ inline int64_t volume(const nvinfer1::Dims& d);
 extern std::atomic<int> g_identify_type;
 // -1 = 未知方向；  1 = 向左行驶；  2 = 向右行驶
 extern std::atomic<int> g_come_direction;
+// 0 = 无车；  1 = 有车；
+extern std::atomic<int> g_car_type;
 
 #endif
diff --git a/config/matrix.yaml b/config/matrix.yaml
index 65d8c2f..4218bd5 100644
--- a/config/matrix.yaml
+++ b/config/matrix.yaml
@@ -10,7 +10,7 @@ engines:
   VideoDecodeEngine: 1
   VideoDecodeEngine: 2
   ControlEngine: 0
-#  SaveMoveImageEngine: 0
+  SaveMoveImageEngine: 0
   SaveMoveInfoEngine: 0
   ContainerStep1InferenceEngine: 0
   CornerInferenceEngine: 0
@@ -38,7 +38,7 @@ connects:
   ControlEngine_0_1: "ContainerStep1InferenceEngine_0_0 1024"
   ControlEngine_0_2: "CornerInferenceEngine_0_0 1024"
   ControlEngine_0_3: "SaveMoveInfoEngine_0_0 1024"
- ControlEngine_0_4: "SaveMoveImageEngine_0_0 1024"
+  ControlEngine_0_4: "SaveMoveImageEngine_0_0 1024"
   ContainerStep1InferenceEngine_0_0: "Step1MergeEngine_0_0 1024"
   CornerInferenceEngine_0_0: "Step1MergeEngine_0_1 1024"
   Step1MergeEngine_0_0: "ContainerStep2InferenceEngine_0_0 1024"
diff --git a/engine/CharacterConversionEngine/ContainerCharacterConversionEngine.cpp b/engine/CharacterConversionEngine/ContainerCharacterConversionEngine.cpp
index 436362f..15a359d 100644
--- a/engine/CharacterConversionEngine/ContainerCharacterConversionEngine.cpp
+++ b/engine/CharacterConversionEngine/ContainerCharacterConversionEngine.cpp
@@ -1 +1 @@
-#include "ContainerCharacterConversionEngine.h"


using namespace ai_matrix;

namespace
{
    //按照x坐标排列
    bool CompareX(const SingleData &v1, const SingleData &v2)
    {
        return (v1.fLTX < v2.fLTX);
    }
    //按照y坐标排列
    bool CompareY(const SingleData &v1, const SingleData &v2)
    {
        return (v1.fLTY < v2.fLTY);
    }
}

ContainerCharacterConversionEngine::ContainerCharacterConversionEngine() {}

ContainerCharacterConversionEngine::~ContainerCharacterConversionEngine() {}

APP_ERROR ContainerCharacterConversionEngine::Init()
{
    strPort0_ = engineName_ + "_" + std::to_string(engineId_) + "_0";
    strPort3_ = engineName_ + "_" + std::to_string(engineId_) + "_3";
    this->modelConfig_ = Config::getins()->getModelByContainerStep2Config();
    this->baseConfig_ = Config::getins()->getBaseConfig();

    LogInfo << "ContainerCharacterConversionEngine Init ok";
    return APP_ERR_OK;
}

APP_ERROR ContainerCharacterConversionEngine::DeInit()
{
    LogInfo << "ContainerCharacterConversionEngine DeInit ok";
    return APP_ERR_OK;
}

/**
* 验证集装箱号是否满足规则(前10位依次与2^0 ~2^9相乘）/11 所得余数，即是校验位)
* inParam : std::string &strContainerNo   集装箱号信息
* outParam: N/A
* return  : true(校验通过)/false(校验失败)
*/
bool ContainerCharacterConversionEngine::verifyContainerNo(std::string &strContainerNo)
{
    bool bChkFlag = false;

    if(strContainerNo.length() != 11)
    {
        return bChkFlag;
    }

    int iSum = 0;
    for (int i = 0; i < strContainerNo.length()-1; ++i)
    {
        iSum += this->mapExchange_[strContainerNo.substr(i, 1)] * int(pow(2.0, i));
    }

    //当校验位等于10时要继续模运算,iSum % 11 % 10,保证最终结果为0~9之间的数
    int iChkValue = iSum % 11 % 10;
    if (iChkValue == atoi(strContainerNo.substr(strContainerNo.length()-1, 1).c_str()))
    {
        bChkFlag = true;
    }
    return bChkFlag;
}

void ContainerCharacterConversionEngine::transContainerType(Step2ResultData &step2ResultData, std::map<int, std::vector<SingleData>> &mapLine)
{
    TransInfo info;
    info.iLine = 1;
    //集装箱型号（4位 字母或数字）
    if (mapLine.find(3) != mapLine.end())
    {
        std::string strTemp;
        for (auto j = 0; j < mapLine.at(3).size(); j++)
        {
            strTemp += vecClassNames_.at(mapLine.at(3).at(j).iClassId);
        }
        int nTypesize = strTemp.length();
        nTypesize = nTypesize > 4 ? 4 : nTypesize;
        info.strTmpResult = strTemp.substr(0, nTypesize);
    }
    if (info.strTmpResult.length() != 4)
    {
        info.bIsChkFlag = false;
    }
//    step2ResultData.transInfo = info;
}

/**
* 集装箱框内容转换
* inParam : std::map<int, std::vector<SingleData>> &mapLine
* outParam: TransSubData &transSubData
* return  : N/A
*/
void ContainerCharacterConversionEngine::transContainerNum(Step2ResultData &step2ResultData, std::map<int, std::vector<SingleData>> &mapLine)
{
    TransInfo info;
    info.iLine = 0;
    // 箱主代码+设备识别码（4位英文字母）
    if (mapLine.find(0) != mapLine.end())
    {
        std::string strTemp;
        for (auto j = 0; j < mapLine.at(0).size(); j++)
        {
            std::string strOne = this->modelConfig_.vecClass.at(mapLine.at(0).at(j).iClassId);
            // 过滤非字母
            if (strOne[0] < 'A' || strOne[0] > 'Z')
            {
//                LogDebug << strOne << " not A-Z in container";
                continue;
            }
            strTemp += strOne;
            info.vecValue.emplace_back(strOne);
            info.vecScore.emplace_back(mapLine.at(0).at(j).fScore);
            step2ResultData.fSubScoreSum += mapLine.at(0).at(j).fScore;
        }
        info.strTmpResult += strTemp;
    }

    // 箱号（6位数字）
    if (mapLine.find(1) != mapLine.end())
    {
        std::string strTemp;
        for (auto j = 0; j < mapLine.at(1).size(); j++)
        {
            std::string strOne = this->modelConfig_.vecClass.at(mapLine.at(1).at(j).iClassId);
            // 过滤非数字
            if (strOne[0] < '0' || strOne[0] > '9')
            {
//                LogDebug << "engineId:" << engineId_ << " " << strOne << " not digit in num";
                continue;
            }
            strTemp += strOne;
            info.vecValue.emplace_back(strOne);
            info.vecScore.emplace_back(mapLine.at(1).at(j).fScore);
            step2ResultData.fSubScoreSum += mapLine.at(1).at(j).fScore;
        }
        info.strTmpResult += strTemp;
    }

    //校验码（1位数字）
    if (mapLine.find(2) != mapLine.end())
    {
        std::string strTemp;
        for (auto j = 0; j < mapLine.at(2).size(); j++)
        {
            //过滤非数字
            std::string strOne = this->modelConfig_.vecClass.at(mapLine.at(2).at(j).iClassId);
            if (strOne[0] < '0' || strOne[0] > '9')
            {
//                LogDebug << "engineId:" << engineId_ << " " << strOne << " not digit in container_2";
                continue;
            }
            strTemp += strOne;
            info.vecValue.emplace_back(strOne);
            info.vecScore.emplace_back(mapLine.at(2).at(j).fScore);
            step2ResultData.fSubScoreSum += mapLine.at(2).at(j).fScore;
        }
        info.strTmpResult += strTemp;
    }

    if (this->verifyContainerNo(info.strTmpResult))
    {
        info.bIsChkFlag = true;
    }
    else
    {
        info.strTmpResult = "invalid-" + info.strTmpResult;
    }

    step2ResultData.transInfo = info;
}

APP_ERROR ContainerCharacterConversionEngine::Process()
{
    int iRet = APP_ERR_OK;
    while (!isStop_)
    {
        std::shared_ptr<void> pVoidData0 = nullptr;
        inputQueMap_[strPort0_]->pop(pVoidData0);
        if (nullptr == pVoidData0)
        {
            usleep(1000); //1ms
            continue;
        }

        std::shared_ptr<VStep2OutputData> pVStep2OutputData = std::static_pointer_cast<VStep2OutputData>(pVoidData0);

        std::shared_ptr<SaveDebugImgData> pSaveDebugImgData = std::make_shared<SaveDebugImgData>();
        pSaveDebugImgData->iFrameId = pVStep2OutputData->iFrameId;
        pSaveDebugImgData->iDataSource = pVStep2OutputData->iDataSource;
        pSaveDebugImgData->strDetectDate = pVStep2OutputData->strDetectDate;
        pSaveDebugImgData->strDetectTime = pVStep2OutputData->strDetectTime;
        pSaveDebugImgData->cvImage = pVStep2OutputData->cvImage.clone();
        pSaveDebugImgData->step2ResultData = pVStep2OutputData->step2ResultData;
        pSaveDebugImgData->vecCornerResultData = pVStep2OutputData->vecCornerResultData;

        if (pVStep2OutputData->bIsEnd)
        {
            outputQueMap_[engineName_ + "_" + std::to_string(engineId_) + "_" + std::to_string(pVStep2OutputData->iDataSource)]->push(std::static_pointer_cast<void>(pVStep2OutputData), true);
//            outputQueMap_[strPort3_]->push(std::static_pointer_cast<void>(pSaveDebugImgData), true);
            continue;
        }

        std::vector<SingleData> vecSingleData = pVStep2OutputData->step2ResultData.vecSingleData;

        if (pVStep2OutputData->step2ResultData.fScore == 0.0f)
        {
            outputQueMap_[engineName_ + "_" + std::to_string(engineId_) + "_" + std::to_string(pVStep2OutputData->iDataSource)]->push(std::static_pointer_cast<void>(pVStep2OutputData), true);
//            outputQueMap_[strPort3_]->push(std::static_pointer_cast<void>(pSaveDebugImgData), true);
            continue;
        }

        std::map<int, std::vector<SingleData>> mapLine;
        for (auto & it_singleData : vecSingleData)
        {
            mapLine[it_singleData.iLine].push_back(it_singleData);
        }

        bool bSortByX =
                (pVStep2OutputData->step2ResultData.fRBY - pVStep2OutputData->step2ResultData.fLTY) <
                ((pVStep2OutputData->step2ResultData.fRBX - pVStep2OutputData->step2ResultData.fLTX) *
                 1.5);

        //每一行按x坐标排序
        for (auto & it : mapLine)
        {
            if (it.second.size() > 2)
            {
                std::set<float> setX;
                std::set<float> setY;
                for (auto & it_singleData : it.second)
                {
                    setX.insert(it_singleData.fLTX);
                    setY.insert(it_singleData.fLTY);
                }
                float X = *setX.rbegin() - *setX.begin();
                float Y = *setY.rbegin() - *setY.begin();
                bSortByX = (X > Y);
            }

            if (bSortByX)
            {
                std::sort(it.second.begin(), it.second.end(), CompareX);
            }
            else
            {
                std::sort(it.second.begin(), it.second.end(), CompareY);
            }

//            std::string strTemp;
//            for (auto & it_singleData : it.second)
//            {
//                strTemp += this->modelConfig_.vecClass.at(it_singleData.iClassId);
//            }
        }

        switch (pVStep2OutputData->step2ResultData.iClassId)
        {
            case 0:
                this->transContainerNum(pVStep2OutputData->step2ResultData, mapLine);
                break;
            default:
                break;
        }

        // 模型识别不稳定时才用。
//        if (bSortByX && pVStep2OutputData->step2ResultData.transInfo.bIsChkFlag)
//        {
//            if (mapLine.find(0) != mapLine.end() && mapLine.find(1) != mapLine.end())
//            {
//                if (mapLine.at(1).at(0).fLTX < mapLine.at(0).at(0).fLTX)
//                {
//                    pVStep2OutputData->step2ResultData.transInfo.strTmpResult = "invalid-" + pVStep2OutputData->step2ResultData.transInfo.strTmpResult;
//                    pVStep2OutputData->step2ResultData.transInfo.bIsChkFlag = false;
//                }
//            }
//        }

        pSaveDebugImgData->step2ResultData = pVStep2OutputData->step2ResultData;
        outputQueMap_[engineName_ + "_" + std::to_string(engineId_) + "_" + std::to_string(pVStep2OutputData->iDataSource)]->push(std::static_pointer_cast<void>(pVStep2OutputData), true);
//        outputQueMap_[strPort3_]->push(std::static_pointer_cast<void>(pSaveDebugImgData), true);
    }

    return APP_ERR_OK;
}
\ No newline at end of file
+#include "ContainerCharacterConversionEngine.h"


using namespace ai_matrix;

namespace
{
    //按照x坐标排列
    bool CompareX(const SingleData &v1, const SingleData &v2)
    {
        return (v1.fLTX < v2.fLTX);
    }
    //按照y坐标排列
    bool CompareY(const SingleData &v1, const SingleData &v2)
    {
        return (v1.fLTY < v2.fLTY);
    }
}

ContainerCharacterConversionEngine::ContainerCharacterConversionEngine() {}

ContainerCharacterConversionEngine::~ContainerCharacterConversionEngine() {}

APP_ERROR ContainerCharacterConversionEngine::Init()
{
    strPort0_ = engineName_ + "_" + std::to_string(engineId_) + "_0";
    strPort3_ = engineName_ + "_" + std::to_string(engineId_) + "_3";
    this->modelConfig_ = Config::getins()->getModelByContainerStep2Config();
    this->baseConfig_ = Config::getins()->getBaseConfig();

    LogInfo << "ContainerCharacterConversionEngine Init ok";
    return APP_ERR_OK;
}

APP_ERROR ContainerCharacterConversionEngine::DeInit()
{
    LogInfo << "ContainerCharacterConversionEngine DeInit ok";
    return APP_ERR_OK;
}

/**
* 验证集装箱号是否满足规则(前10位依次与2^0 ~2^9相乘）/11 所得余数，即是校验位)
* inParam : std::string &strContainerNo   集装箱号信息
* outParam: N/A
* return  : true(校验通过)/false(校验失败)
*/
bool ContainerCharacterConversionEngine::verifyContainerNo(std::string &strContainerNo)
{
    bool bChkFlag = false;

    if(strContainerNo.length() != 11)
    {
        return bChkFlag;
    }

    int iSum = 0;
    for (int i = 0; i < strContainerNo.length()-1; ++i)
    {
        iSum += this->mapExchange_[strContainerNo.substr(i, 1)] * int(pow(2.0, i));
    }

    //当校验位等于10时要继续模运算,iSum % 11 % 10,保证最终结果为0~9之间的数
    int iChkValue = iSum % 11 % 10;
    if (iChkValue == atoi(strContainerNo.substr(strContainerNo.length()-1, 1).c_str()))
    {
        bChkFlag = true;
    }
    return bChkFlag;
}

void ContainerCharacterConversionEngine::transContainerType(Step2ResultData &step2ResultData, std::map<int, std::vector<SingleData>> &mapLine)
{
    TransInfo info;
    info.iLine = 1;
    //集装箱型号（4位 字母或数字）
    if (mapLine.find(3) != mapLine.end())
    {
        std::string strTemp;
        for (auto j = 0; j < mapLine.at(3).size(); j++)
        {
            strTemp += vecClassNames_.at(mapLine.at(3).at(j).iClassId);
        }
        int nTypesize = strTemp.length();
        nTypesize = nTypesize > 4 ? 4 : nTypesize;
        info.strTmpResult = strTemp.substr(0, nTypesize);
    }
    if (info.strTmpResult.length() != 4)
    {
        info.bIsChkFlag = false;
    }
//    step2ResultData.transInfo = info;
}

/**
* 集装箱框内容转换
* inParam : std::map<int, std::vector<SingleData>> &mapLine
* outParam: TransSubData &transSubData
* return  : N/A
*/
void ContainerCharacterConversionEngine::transContainerNum(Step2ResultData &step2ResultData, std::map<int, std::vector<SingleData>> &mapLine)
{
    TransInfo info;
    info.iLine = 0;
    // 箱主代码+设备识别码（4位英文字母）
    if (mapLine.find(0) != mapLine.end())
    {
        std::string strTemp;
        for (auto j = 0; j < mapLine.at(0).size(); j++)
        {
            std::string strOne = this->modelConfig_.vecClass.at(mapLine.at(0).at(j).iClassId);
            // 过滤非字母
            if (strOne[0] < 'A' || strOne[0] > 'Z')
            {
//                LogDebug << strOne << " not A-Z in container";
                continue;
            }
            strTemp += strOne;
            info.vecValue.emplace_back(strOne);
            info.vecScore.emplace_back(mapLine.at(0).at(j).fScore);
            step2ResultData.fSubScoreSum += mapLine.at(0).at(j).fScore;
        }
        info.strTmpResult += strTemp;
    }

    // 箱号（6位数字）
    if (mapLine.find(1) != mapLine.end())
    {
        std::string strTemp;
        for (auto j = 0; j < mapLine.at(1).size(); j++)
        {
            std::string strOne = this->modelConfig_.vecClass.at(mapLine.at(1).at(j).iClassId);
            // 过滤非数字
            if (strOne[0] < '0' || strOne[0] > '9')
            {
//                LogDebug << "engineId:" << engineId_ << " " << strOne << " not digit in num";
                continue;
            }
            strTemp += strOne;
            info.vecValue.emplace_back(strOne);
            info.vecScore.emplace_back(mapLine.at(1).at(j).fScore);
            step2ResultData.fSubScoreSum += mapLine.at(1).at(j).fScore;
        }
        info.strTmpResult += strTemp;
    }

    //校验码（1位数字）
    if (mapLine.find(2) != mapLine.end())
    {
        std::string strTemp;
        for (auto j = 0; j < mapLine.at(2).size(); j++)
        {
            //过滤非数字
            std::string strOne = this->modelConfig_.vecClass.at(mapLine.at(2).at(j).iClassId);
            if (strOne[0] < '0' || strOne[0] > '9')
            {
//                LogDebug << "engineId:" << engineId_ << " " << strOne << " not digit in container_2";
                continue;
            }
            strTemp += strOne;
            info.vecValue.emplace_back(strOne);
            info.vecScore.emplace_back(mapLine.at(2).at(j).fScore);
            step2ResultData.fSubScoreSum += mapLine.at(2).at(j).fScore;
        }
        info.strTmpResult += strTemp;
    }

    if (this->verifyContainerNo(info.strTmpResult))
    {
        info.bIsChkFlag = true;
    }
    else
    {
        info.strTmpResult = "invalid-" + info.strTmpResult;
    }

    step2ResultData.transInfo = info;
}

APP_ERROR ContainerCharacterConversionEngine::Process()
{
    int iRet = APP_ERR_OK;
    while (!isStop_)
    {
        std::shared_ptr<void> pVoidData0 = nullptr;
        inputQueMap_[strPort0_]->pop(pVoidData0);
        if (nullptr == pVoidData0)
        {
            usleep(1000); //1ms
            continue;
        }

        std::shared_ptr<VStep2OutputData> pVStep2OutputData = std::static_pointer_cast<VStep2OutputData>(pVoidData0);

        std::shared_ptr<SaveDebugImgData> pSaveDebugImgData = std::make_shared<SaveDebugImgData>();
        pSaveDebugImgData->iFrameId = pVStep2OutputData->iFrameId;
        pSaveDebugImgData->iDataSource = pVStep2OutputData->iDataSource;
        pSaveDebugImgData->strDetectDate = pVStep2OutputData->strDetectDate;
        pSaveDebugImgData->strDetectTime = pVStep2OutputData->strDetectTime;
        pSaveDebugImgData->cvImage = pVStep2OutputData->cvImage.clone();
        pSaveDebugImgData->step2ResultData = pVStep2OutputData->step2ResultData;
        pSaveDebugImgData->vecCornerResultData = pVStep2OutputData->vecCornerResultData;

        if (pVStep2OutputData->bIsEnd)
        {
//            LogInfo << " --->>> 结束信号 : " << pVStep2OutputData->iDataSource;
            outputQueMap_[engineName_ + "_" + std::to_string(engineId_) + "_" + std::to_string(pVStep2OutputData->iDataSource)]->push(std::static_pointer_cast<void>(pVStep2OutputData), true);
//            outputQueMap_[strPort3_]->push(std::static_pointer_cast<void>(pSaveDebugImgData), true);
            continue;
        }

        std::vector<SingleData> vecSingleData = pVStep2OutputData->step2ResultData.vecSingleData;

        if (pVStep2OutputData->step2ResultData.fScore == 0.0f)
        {
            outputQueMap_[engineName_ + "_" + std::to_string(engineId_) + "_" + std::to_string(pVStep2OutputData->iDataSource)]->push(std::static_pointer_cast<void>(pVStep2OutputData), true);
//            outputQueMap_[strPort3_]->push(std::static_pointer_cast<void>(pSaveDebugImgData), true);
            continue;
        }

        std::map<int, std::vector<SingleData>> mapLine;
        for (auto & it_singleData : vecSingleData)
        {
            mapLine[it_singleData.iLine].push_back(it_singleData);
        }

        bool bSortByX =
                (pVStep2OutputData->step2ResultData.fRBY - pVStep2OutputData->step2ResultData.fLTY) <
                ((pVStep2OutputData->step2ResultData.fRBX - pVStep2OutputData->step2ResultData.fLTX) *
                 1.5);

        //每一行按x坐标排序
        for (auto & it : mapLine)
        {
            if (it.second.size() > 2)
            {
                std::set<float> setX;
                std::set<float> setY;
                for (auto & it_singleData : it.second)
                {
                    setX.insert(it_singleData.fLTX);
                    setY.insert(it_singleData.fLTY);
                }
                float X = *setX.rbegin() - *setX.begin();
                float Y = *setY.rbegin() - *setY.begin();
                bSortByX = (X > Y);
            }

            if (bSortByX)
            {
                std::sort(it.second.begin(), it.second.end(), CompareX);
            }
            else
            {
                std::sort(it.second.begin(), it.second.end(), CompareY);
            }

//            std::string strTemp;
//            for (auto & it_singleData : it.second)
//            {
//                strTemp += this->modelConfig_.vecClass.at(it_singleData.iClassId);
//            }
        }

        switch (pVStep2OutputData->step2ResultData.iClassId)
        {
            case 0:
                this->transContainerNum(pVStep2OutputData->step2ResultData, mapLine);
                break;
            default:
                break;
        }

        // 模型识别不稳定时才用。
//        if (bSortByX && pVStep2OutputData->step2ResultData.transInfo.bIsChkFlag)
//        {
//            if (mapLine.find(0) != mapLine.end() && mapLine.find(1) != mapLine.end())
//            {
//                if (mapLine.at(1).at(0).fLTX < mapLine.at(0).at(0).fLTX)
//                {
//                    pVStep2OutputData->step2ResultData.transInfo.strTmpResult = "invalid-" + pVStep2OutputData->step2ResultData.transInfo.strTmpResult;
//                    pVStep2OutputData->step2ResultData.transInfo.bIsChkFlag = false;
//                }
//            }
//        }

        pSaveDebugImgData->step2ResultData = pVStep2OutputData->step2ResultData;
        outputQueMap_[engineName_ + "_" + std::to_string(engineId_) + "_" + std::to_string(pVStep2OutputData->iDataSource)]->push(std::static_pointer_cast<void>(pVStep2OutputData), true);
//        outputQueMap_[strPort3_]->push(std::static_pointer_cast<void>(pSaveDebugImgData), true);
    }

    return APP_ERR_OK;
}
\ No newline at end of file
diff --git a/engine/ControlEngine/ControlEngine.cpp b/engine/ControlEngine/ControlEngine.cpp
index 14dc312..3793f62 100644
--- a/engine/ControlEngine/ControlEngine.cpp
+++ b/engine/ControlEngine/ControlEngine.cpp
@@ -72,7 +72,7 @@ void ControlEngine::endIdentify(int iDataSource)
 
 void ControlEngine::sendWSEngine(std::string msg)
 {
-    msg = "{\"status\":\"normal\",\"msg\":" + msg +"}";
+    msg = "{\"containerNo\":\"\",\"detectDate\":\"\",\"detectTime\":\"\",\"id\":\"\",\"images\":\"\",\"imagesDir\":\"\",\"status\":\"normal\",\"msg\":\"" + msg +"\"}";
     // 传给websocket引擎
     outputQueMap_[strPort0_]->push(std::static_pointer_cast<void>(std::make_shared<std::string>(msg)));
 }
@@ -132,6 +132,7 @@ void ControlEngine::detectControl(std::shared_ptr<std::string> pWSServerOrder)
                 break;
             }
             this->mapIdentifyType_ = {{0, IDENTIFY_START}, {1, IDENTIFY_START}, {2, IDENTIFY_START}};
+            g_car_type = 1;
             break;
         case IDENTIFY_STOP:
             if (!this->isDetecting())
@@ -142,6 +143,7 @@ void ControlEngine::detectControl(std::shared_ptr<std::string> pWSServerOrder)
                 break;
             }
             this->mapIdentifyType_ = {{0, IDENTIFY_INIT}, {1, IDENTIFY_INIT}, {2, IDENTIFY_INIT}};
+            g_car_type = 0;
             break;
         case IDENTIFY_RECORD:
             if (!jvOrder.isMember("containerNo"))
@@ -190,6 +192,14 @@ APP_ERROR ControlEngine::Process()
             if (pProcessData->bIsEnd)
             {
                 if (!this->isDetecting()) continue;
+//                if (this->strDetectDate_.empty())
+//                {
+//                    std::string msg = "数据源：" + std::to_string(pProcessData->iDataSource) + " 摄像头读取画面失败，停止识别！";
+//                    this->sendWSEngine(msg);
+//                    this->mapIdentifyType_[pProcessData->iDataSource] = IDENTIFY_INIT;
+//                    continue;
+//                }
+                
                 this->endIdentify(pProcessData->iDataSource);
                 LogInfo << "数据源:" << pProcessData->iDataSource << " 画面读取结束：停止识别！";
                 continue;
@@ -267,7 +277,7 @@ APP_ERROR ControlEngine::Process()
             pSaveImgData->bIsEnd = pProcessData->bIsEnd;
             outputQueMap_[strPort4_]->push(std::static_pointer_cast<void>(pSaveImgData), true);
 
-
+            
         }
 
     }
diff --git a/engine/DetectDivideEngine/ContainerDivideEngine.cpp b/engine/DetectDivideEngine/ContainerDivideEngine.cpp
index bc4dc8a..b3693cd 100644
--- a/engine/DetectDivideEngine/ContainerDivideEngine.cpp
+++ b/engine/DetectDivideEngine/ContainerDivideEngine.cpp
@@ -384,7 +384,7 @@ APP_ERROR ContainerDivideEngine::Process()
 
         if (pVStep2OutputData->bIsEnd)
         {
-            if (this->bLastIsEnd == pVStep2OutputData->bIsEnd) continue;
+//            if (this->bLastIsEnd == pVStep2OutputData->bIsEnd) continue;
 
             std::shared_ptr<VSelectBestData> pVSelectBestData = std::make_shared<VSelectBestData>();
             pVSelectBestData->bIsEnd = true;
diff --git a/engine/SaveResultCSVEngine/SaveResultCSVEngine.cpp b/engine/SaveResultCSVEngine/SaveResultCSVEngine.cpp
index 0b3af76..566f5a6 100644
--- a/engine/SaveResultCSVEngine/SaveResultCSVEngine.cpp
+++ b/engine/SaveResultCSVEngine/SaveResultCSVEngine.cpp
@@ -1 +1 @@
-#include "SaveResultCSVEngine.h"

using namespace ai_matrix;

SaveResultCSVEngine::SaveResultCSVEngine() {}

SaveResultCSVEngine::~SaveResultCSVEngine() {}

APP_ERROR SaveResultCSVEngine::Init()
{
    strPort0_ = engineName_ + "_" + std::to_string(engineId_) + "_0";
    strPort1_ = engineName_ + "_" + std::to_string(engineId_) + "_1";

    this->baseConfig_ = Config::getins()->getBaseConfig();

    LogInfo << "SaveResultCSVEngine Init ok";
    return APP_ERR_OK;
}

APP_ERROR SaveResultCSVEngine::DeInit()
{
    LogInfo << "SaveResultCSVEngine DeInit ok";
    return APP_ERR_OK;
}

/**
* 保存车厢的最优结果到CSV中
* inParam : std::shared_ptr<Train> pTrain   :列车信息
* outParam:
* return  : true/false
*/
bool SaveResultCSVEngine::saveTrainCsv(std::shared_ptr<DetectResultData> pDetectResultData)
{
    //1. 创建保存路径 (固定路径/YYYY-MM-DD/hh-mm-ss/)
    if (!FileUtil::getins()->createDirPath(this->baseConfig_.strResultPath))
    {
        LogError << "日期:" << pDetectResultData->strDetectDate << " csv save err";
        return false;
    }

    //2. 保存csv
    std::string strCsvName = pDetectResultData->strDetectDate + ".csv";
    std::string strCsvPath = this->baseConfig_.strResultPath + "/"
            + pDetectResultData->strDetectDate + "/"
            + strCsvName;

    LogInfo << strCsvPath;

    bool bIsExsit = false;
    if (access(strCsvPath.c_str(), F_OK) != -1)
    {
        bIsExsit = true;
    }

    try
    {
        // 写文件
        std::ofstream outFile;
        outFile.open(strCsvPath, std::ios::app);

        if (!bIsExsit)
        {
            outFile << "Time" << ','
                    << "Container" << ','
                    << "Image"
                    << std::endl;
        }

        std::string strContainerNo;
        for (const auto & containerNo_it : pDetectResultData->vecContainerNO)
        {
            strContainerNo += "[";
            strContainerNo += containerNo_it;
            strContainerNo += "]";
        }
        std::string strImage;
        for (const auto & image_it : pDetectResultData->vecImage)
        {
            strImage += "[";
            strImage += image_it;
            strImage += "]";

            std::string strDebugImage = this->baseConfig_.strDebugResultPath + "/"
                                        + pDetectResultData->strDetectDate + "/"
                                        + StringUtil::getins()->replace_all_distinct(pDetectResultData->strDetectTime, ":", "-")
                                        + "/" + image_it;
            std::string strResultImage = this->baseConfig_.strResultPath + "/"
                                        + pDetectResultData->strDetectDate + "/"
                                        + StringUtil::getins()->replace_all_distinct(pDetectResultData->strDetectTime, ":", "-")
                                        + "/" + image_it;
            FileUtil::getins()->copyFile(strDebugImage, strResultImage);
        }

        outFile << pDetectResultData->strDetectTime << ','
                << strContainerNo << ','
                << strImage << ','
                << std::endl;

        outFile.close();


    }
    catch (const std::exception &)
    {
        LogError << "strCsvPath:" << strCsvPath << " train savecsv fail!";
        return false;
    }
    return true;
}


APP_ERROR SaveResultCSVEngine::Process()
{
    int iRet = APP_ERR_OK;
    while (!isStop_)
    {
        //pop端口0 车厢信息
        std::shared_ptr<void> pVoidData0 = nullptr;
        iRet = inputQueMap_[strPort0_]->pop(pVoidData0);
        if (nullptr == pVoidData0)
        {
            usleep(1000);
            continue;
        }

        std::shared_ptr<DetectResultData> pDetectResultData = std::static_pointer_cast<DetectResultData>(pVoidData0);

        this->saveTrainCsv(pDetectResultData);

    }
    return APP_ERR_OK;
}
\ No newline at end of file
+#include "SaveResultCSVEngine.h"

using namespace ai_matrix;

SaveResultCSVEngine::SaveResultCSVEngine() {}

SaveResultCSVEngine::~SaveResultCSVEngine() {}

APP_ERROR SaveResultCSVEngine::Init()
{
    strPort0_ = engineName_ + "_" + std::to_string(engineId_) + "_0";
    strPort1_ = engineName_ + "_" + std::to_string(engineId_) + "_1";

    this->baseConfig_ = Config::getins()->getBaseConfig();

    LogInfo << "SaveResultCSVEngine Init ok";
    return APP_ERR_OK;
}

APP_ERROR SaveResultCSVEngine::DeInit()
{
    LogInfo << "SaveResultCSVEngine DeInit ok";
    return APP_ERR_OK;
}

/**
* 保存车厢的最优结果到CSV中
* inParam : std::shared_ptr<Train> pTrain   :列车信息
* outParam:
* return  : true/false
*/
bool SaveResultCSVEngine::saveTrainCsv(std::shared_ptr<DetectResultData> pDetectResultData)
{
    //1. 创建保存路径 (固定路径/YYYY-MM-DD/hh-mm-ss/)
    if (!FileUtil::getins()->createDirPath(this->baseConfig_.strResultPath))
    {
        LogError << "日期:" << pDetectResultData->strDetectDate << " csv save err";
        return false;
    }

    if (pDetectResultData->strDetectDate.empty())
    {
        return true;
    }
    //2. 保存csv
    std::string strCsvName = pDetectResultData->strDetectDate + ".csv";
    std::string strCsvPath = this->baseConfig_.strResultPath + "/"
            + pDetectResultData->strDetectDate + "/"
            + strCsvName;

//    LogInfo << strCsvPath;

    bool bIsExsit = false;
    if (access(strCsvPath.c_str(), F_OK) != -1)
    {
        bIsExsit = true;
    }

    try
    {
        // 写文件
        std::ofstream outFile;
        outFile.open(strCsvPath, std::ios::app);

        if (!bIsExsit)
        {
            outFile << "Time" << ','
                    << "Container" << ','
                    << "Image"
                    << std::endl;
        }

        std::string strContainerNo;
        for (const auto & containerNo_it : pDetectResultData->vecContainerNO)
        {
            strContainerNo += "[";
            strContainerNo += containerNo_it;
            strContainerNo += "]";
        }
        std::string strImage;
        for (const auto & image_it : pDetectResultData->vecImage)
        {
            strImage += "[";
            strImage += image_it;
            strImage += "]";

            std::string strDebugImage = this->baseConfig_.strDebugResultPath + "/"
                                        + pDetectResultData->strDetectDate + "/"
                                        + StringUtil::getins()->replace_all_distinct(pDetectResultData->strDetectTime, ":", "-")
                                        + "/" + image_it;
            std::string strResultImage = this->baseConfig_.strResultPath + "/"
                                        + pDetectResultData->strDetectDate + "/"
                                        + StringUtil::getins()->replace_all_distinct(pDetectResultData->strDetectTime, ":", "-")
                                        + "/" + image_it;
            FileUtil::getins()->copyFile(strDebugImage, strResultImage);
        }

        outFile << pDetectResultData->strDetectTime << ','
                << strContainerNo << ','
                << strImage << ','
                << std::endl;

        outFile.close();


    }
    catch (const std::exception &)
    {
        LogError << "strCsvPath:" << strCsvPath << " train savecsv fail!";
        return false;
    }
    return true;
}


APP_ERROR SaveResultCSVEngine::Process()
{
    int iRet = APP_ERR_OK;
    while (!isStop_)
    {
        //pop端口0 车厢信息
        std::shared_ptr<void> pVoidData0 = nullptr;
        iRet = inputQueMap_[strPort0_]->pop(pVoidData0);
        if (nullptr == pVoidData0)
        {
            usleep(1000);
            continue;
        }

        std::shared_ptr<DetectResultData> pDetectResultData = std::static_pointer_cast<DetectResultData>(pVoidData0);

        this->saveTrainCsv(pDetectResultData);

    }
    return APP_ERR_OK;
}
\ No newline at end of file
diff --git a/engine/SelectBestEngine/SelectBestEngine.cpp b/engine/SelectBestEngine/SelectBestEngine.cpp
index e30c442..f3e7680 100644
--- a/engine/SelectBestEngine/SelectBestEngine.cpp
+++ b/engine/SelectBestEngine/SelectBestEngine.cpp
@@ -49,7 +49,6 @@ void SelectBestEngine::sendWSServer(DetectResultData &detectResultData)
     std::string data;
     Json::Value jsonData;
 
-    strImageDir = detectResultData.strDetectDate + "/" + ai_matrix::StringUtil::getins()->replace_all_distinct(detectResultData.strDetectTime, ":", "-") + "/";
     for (int i = 0; i < detectResultData.vecImage.size(); ++i)
     {
         strImage += detectResultData.vecImage[i];
@@ -58,7 +57,11 @@ void SelectBestEngine::sendWSServer(DetectResultData &detectResultData)
             strImage += ",";
         }
     }
-
+    if (!detectResultData.vecImage.empty())
+    {
+        LogInfo << " 图片数: " << detectResultData.vecImage.size();
+        strImageDir = detectResultData.strDetectDate + "/" + ai_matrix::StringUtil::getins()->replace_all_distinct(detectResultData.strDetectTime, ":", "-") + "/";
+    }
 
     std::string strContainerNo;
     for (int i = 0; i < detectResultData.vecContainerNO.size(); ++i)
@@ -217,6 +220,7 @@ APP_ERROR SelectBestEngine::Process()
                 this->strDetectTime_ = pVSelectBestData->strDetectTime;
             }
 
+            LogInfo << " --- >>> " << this->iEndCount_ << "  数据源: " << pVSelectBestData->iDataSource;
             this->iEndCount_++;
             if (!(this->iEndCount_ % this->vecDataSourceConfig_.size()))
             {
@@ -225,7 +229,8 @@ APP_ERROR SelectBestEngine::Process()
             }
             continue;
         }
-        this->iEndCount_ = 0;
+        LogInfo << " --- >>> 有数据  数据源: " << pVSelectBestData->iDataSource;
+        if (g_car_type) this->iEndCount_ = 0;
 
         if (this->strImagePath_.empty())
         {
diff --git a/engine/WSServerEngine/WSServerEngine.cpp b/engine/WSServerEngine/WSServerEngine.cpp
index e88228e..6f09777 100644
--- a/engine/WSServerEngine/WSServerEngine.cpp
+++ b/engine/WSServerEngine/WSServerEngine.cpp
@@ -143,10 +143,14 @@ void WSServerEngine::stop()
 std::string WSServerEngine::onCMD(CMDConnData &conn, int argc, const char **argv)
 {
     std::string msg = argv[0];
+
+    if (msg == "heartbeat") return "";
+
     std::string strShow = "VCarContainer 收到 " + conn.ip + " 的信息：" + msg;
     LogInfo << strShow;
     outputQueMap_[strPort0_]->push(std::static_pointer_cast<std::string>(std::make_shared<std::string>(msg)), true);
     this->sendAllClient(strShow);
+    return "";
 }
 
 void WSServerEngine::sendAllClient(const std::string &msg)
diff --git a/main.cpp b/main.cpp
index b25dd45..9bee8c0 100644
--- a/main.cpp
+++ b/main.cpp
@@ -28,6 +28,7 @@ std::atomic_bool app_flag(true);
 
 std::atomic<int> g_identify_type(0);
 std::atomic<int> g_come_direction(0);
+std::atomic<int> g_car_type(0);
 
 void SigHandler(int iSigno)
 {