From 24d531af6a1d91129a84d32415957a0023b3b1a9 Mon Sep 17 00:00:00 2001
From: gg <a@b.com>
Date: Thu, 6 Feb 2025 13:49:03 +0100
Subject: [PATCH 1/2] smart camera ok memory tbt

---
 src/components/hikrobot_sc/hikrobot_sc.py | 67 ++++++++++++++---------
 1 file changed, 42 insertions(+), 25 deletions(-)

diff --git a/src/components/hikrobot_sc/hikrobot_sc.py b/src/components/hikrobot_sc/hikrobot_sc.py
index 880bdf6..4b8d6d1 100644
--- a/src/components/hikrobot_sc/hikrobot_sc.py
+++ b/src/components/hikrobot_sc/hikrobot_sc.py
@@ -19,6 +19,9 @@ class HikrobotSmartCamera(Component):
         self.simulate = "--sim-camera" in sys.argv
         self.num_cameras=1
         self.connected = False
+        self.ok_memory = True
+        self.ok_frames = []
+        self.ok_results =[]
 
     def config_changed(self):
         self.connected = False
@@ -99,32 +102,42 @@ class HikrobotSmartCamera(Component):
         for cam_idx in range(self.num_cameras):
             cam = self.cam_list[cam_idx]
             self.log.info(f"GET FRAME CAMERA # {cam_idx}")
-
-            # Trigger acquisition & test execution
-            nRet = mv_lib.MV_VS_SetCommandValue(cam["handle"], b"AcquisitionStart")
-            if nRet != MV_VS_OK:
-                self.log.error(f"CAM{cam_idx} AcquisitionStart failed! [{nRet&0xFFFFFFFF:#x}]")
-                self.connected = False
-            # get frame
-            frame_res = MV_VS_GetFrame(cam["handle"])
-            if frame_res is not None:
-                res = frame_res["res"]["ScDeviceSolutionRunningResult"]
-                frame = frame_res["frame"]
-                # rotate frame
-                if rot[cam_idx] == "1":
-                    frame = cv2.rotate(frame, cv2.ROTATE_90_CLOCKWISE)
-                if rot[cam_idx] == "2":
-                    frame = cv2.rotate(frame, cv2.ROTATE_90_COUNTERCLOCKWISE)
-                if rot[cam_idx] == "3":
-                    frame = cv2.rotate(frame, cv2.ROTATE_180)
-
-                if concat_frame is None:
-                    concat_frame = copy.deepcopy(frame)
-                else:
-                    concat_frame = cv2.hconcat([concat_frame, frame])
-                concat_results.append(not res)
+            if self.ok_results[cam_idx]:
+                # keep last good result
+                frame = self.ok_frames[cam_idx]
+                res = False
             else:
-                self.connected = False
+                # Trigger acquisition & test execution
+                nRet = mv_lib.MV_VS_SetCommandValue(cam["handle"], b"AcquisitionStart")
+                if nRet != MV_VS_OK:
+                    self.log.error(f"CAM{cam_idx} AcquisitionStart failed! [{nRet&0xFFFFFFFF:#x}]")
+                    self.connected = False
+                    frame_res = None
+                else:
+                    # get frame
+                    frame_res = MV_VS_GetFrame(cam["handle"])
+
+                if frame_res is not None:
+                    res = frame_res["res"]["ScDeviceSolutionRunningResult"]
+                    frame = frame_res["frame"]
+                    # rotate frame
+                    if rot[cam_idx] == "1":
+                        frame = cv2.rotate(frame, cv2.ROTATE_90_CLOCKWISE)
+                    if rot[cam_idx] == "2":
+                        frame = cv2.rotate(frame, cv2.ROTATE_90_COUNTERCLOCKWISE)
+                    if rot[cam_idx] == "3":
+                        frame = cv2.rotate(frame, cv2.ROTATE_180)
+                else:
+                    self.connected = False
+            if concat_frame is None:
+                concat_frame = copy.deepcopy(frame)
+            else:
+                concat_frame = cv2.hconcat([concat_frame, frame])
+            concat_results.append(not res)
+            if res:
+                self.ok_results[cam_idx] = True
+                self.ok_frames[cam_idx] = copy.deepcopy(frame)
+
         super()._get([concat_frame, concat_results])
 
     def resume(self):
@@ -132,6 +145,10 @@ class HikrobotSmartCamera(Component):
         if not self.connected:
             self.config_changed()
         if self.connected:
+            # init OK result memory
+            self.ok_frames = [None for n in range(self.num_cameras)]
+            self.ok_results = [False for n in range(self.num_cameras)]
+
             if len(self.cam_list) == self.num_cameras:
                 # Dummy acquisition for each camera to avoid reading past images
                 for cam_idx in range(self.num_cameras):

From d6c0534db62d37b5590ac354a9110605d8a6e0fc Mon Sep 17 00:00:00 2001
From: gg <a@b.com>
Date: Thu, 6 Feb 2025 15:05:50 +0100
Subject: [PATCH 2/2] smart camera ok memory tbt

---
 src/components/hikrobot_sc/hikrobot_sc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/components/hikrobot_sc/hikrobot_sc.py b/src/components/hikrobot_sc/hikrobot_sc.py
index 4b8d6d1..1b643e0 100644
--- a/src/components/hikrobot_sc/hikrobot_sc.py
+++ b/src/components/hikrobot_sc/hikrobot_sc.py
@@ -134,11 +134,11 @@ class HikrobotSmartCamera(Component):
             else:
                 concat_frame = cv2.hconcat([concat_frame, frame])
             concat_results.append(not res)
-            if res:
+            if not res:
                 self.ok_results[cam_idx] = True
                 self.ok_frames[cam_idx] = copy.deepcopy(frame)
 
-        super()._get([concat_frame, concat_results])
+        super()._get([concat_frame, self.ok_results])
 
     def resume(self):
         self.log.info(f"RESUMING")