fix:修复拆包协议，调平后重新读取文件，空托盘检测

App/App.pro

@@ -1,16 +1,16 @@
 TEMPLATE = subdirs
 
 # 拆包项目
-# SUBDIRS += ./GrabBag/GrabBag.pro
+SUBDIRS += ./GrabBag/GrabBag.pro
 
 # 撕裂项目
-SUBDIRS += ./BeltTearing/BeltTearing.pro
+# SUBDIRS += ./BeltTearing/BeltTearing.pro
 
 #焊接
 # SUBDIRS += ./LapWeld/LapWeld.pro
 
 #工件定位
-SUBDIRS += ./Workpiece/Workpiece.pro
+# SUBDIRS += ./Workpiece/Workpiece.pro
 
 # 颗粒尺寸检测
 # SUBDIRS += ./ParticleSize/ParticleSize.pro

App/BeltTearing/BeltTearingServer/BeltTearingPresenter.cpp

@@ -322,10 +322,12 @@ void BeltTearingPresenter::sendSimulationData()
     // 使用成员变量（开流时会清除）
     m_simulationCallCount++;
 
+    m_simulationTearIdCounter = 2629344;
+
     // 固定生成2个撕裂，长度逐渐增大
     for (int i = 0; i < 2; i++) {
         SSG_beltTearingInfo tear;
-        tear.tearID = ++m_simulationTearIdCounter;
+        tear.tearID = m_simulationTearIdCounter + i;
         tear.tearStatus = keSG_tearStatus_Growing;
 
         // 撕裂长度：基础长度 + 调用次数 * 10

App/GrabBag/Doc/视觉方案.docx

@@ -17,5 +17,8 @@
   4、视觉拍出多个袋子，一次只给一个位置数据，因为下次抓包前还需再次拍照。
 四、通讯协议：
   1、机械臂-->视觉：@，视觉号，视觉模版号，启动信息，$：如@，1，3，Trig，$（触发1号视觉拍照，调用3号视觉模版，发出Trig拍照）
-  2、视觉-->机械臂：@，1，X，Y，Z，U，0/1，$（有无包），如有包时：@,1，X，Y，Z，U，1，$；无包时：@，1，0，0，0，0，0，$。
+  2、视觉-->机械臂：@，1，X，Y，Z，U，0/1/2，$（有无包/错误），
+  如有包时：@,1，X，Y，Z，U，1，$；
+  无包时：  @,1，0，0，0，0，0，$。
+  错误是：  @,1，0，0，0，0，2，$。
   3、@为帧头，$为结束符。

App/GrabBag/GrabBagApp/Presenter/Src/DetectPresenter.cpp

@@ -30,11 +30,13 @@ int DetectPresenter::DetectBag(std::vector<SVzNL3DLaserLine>& detectionDataCache
 
     // 3. 调用算法检测接口（使用当前相机的调平参数）
     std::vector<SSG_peakRgnInfo> objOps;
-    sg_getBagPosition(static_cast<SVzNL3DLaserLine*>(detectionDataCache.data()), detectionDataCache.size(), algoParam, cameraCalibParam, objOps);
+    int nErr = 0;
+    sg_getBagPosition(static_cast<SVzNL3DLaserLine*>(detectionDataCache.data()), detectionDataCache.size(), algoParam, cameraCalibParam, objOps, &nErr);
 
     // 从点云数据生成投影图像
     detectionResult.image = PointCloudImageUtils::GeneratePointCloudImage(static_cast<SVzNL3DLaserLine*>(detectionDataCache.data()),
                                                      detectionDataCache.size(), objOps);
+    detectionResult.errorCode = nErr;
     
     // 转换检测结果为UI显示格式（使用机械臂坐标系数据）
     for (size_t i = 0; i < objOps.size(); i++) {

App/GrabBag/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp

@@ -452,7 +452,7 @@ void GrabBagPresenter::onTcpDataReceivedFromCallback(const TCPClient* pClient, c
 
     std::string receivedData(pData, nLen);
     QString qData = QString::fromStdString(receivedData).trimmed();
-
+    LOG_INFO("~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~\n");
     LOG_INFO("TCP data received from client %p: %s\n", pClient, qData.toStdString().c_str());
 
     if (m_pStatus) {
@@ -1425,7 +1425,7 @@ int GrabBagPresenter::_DetectTask()
                                     m_pParameterManager->GetRgbColorPattern(),
                                     m_pParameterManager->GetFrontColorTemplate(),
                                     m_pParameterManager->GetBackColorTemplate(), detectionResult);
-        LOG_INFO("[Algo Thread] DetectBag returned: %d\n", nRet);
+        LOG_INFO("[Algo Thread] DetectBag return: %d\n", nRet);
     } catch (const std::exception& e) {
         LOG_ERROR("[Algo Thread] Exception in DetectBag: %s\n", e.what());
         if (m_pStatus) {
@@ -1450,7 +1450,7 @@ int GrabBagPresenter::_DetectTask()
     LOG_INFO("[Algo Thread] algo detected %zu objects time : %.2f ms\n", detectionResult.positions.size(), oTimeUtils.GetElapsedTimeInMilliSec());
 
     // 8. 返回检测结果
-    detectionResult.cameraIndex = m_currentCameraIndex;
+    detectionResult.cameraIndex = m_currentExecutionParams.cameraIndex;
     // 调用检测结果回调函数
     m_pStatus->OnDetectionResult(detectionResult);
 
@@ -1459,7 +1459,7 @@ int GrabBagPresenter::_DetectTask()
     m_pStatus->OnStatusUpdate(statusMsg.toStdString());
 
     // 更新机械臂协议状态（发送转换后的目标位置数据）
-    _SendDetectionResultToRobot(detectionResult, m_currentCameraIndex);
+    _SendDetectionResultToRobot(detectionResult, m_currentExecutionParams.cameraIndex);
 
     // 9. 检测完成后，将工作状态更新为"完成"
     if (m_pStatus) {
@@ -1469,8 +1469,7 @@ int GrabBagPresenter::_DetectTask()
 
     // 设置机械臂工作状态为相应相机工作完成（相机ID从1开始）
     if (m_pRobotProtocol) {
-        uint16_t workStatus = (m_currentCameraIndex == 1) ?
-            RobotProtocol::WORK_STATUS_CAMERA1_DONE : RobotProtocol::WORK_STATUS_CAMERA2_DONE;
+        uint16_t workStatus = (m_currentExecutionParams.cameraIndex == 1) ? RobotProtocol::WORK_STATUS_CAMERA1_DONE : RobotProtocol::WORK_STATUS_CAMERA2_DONE;
         m_pRobotProtocol->SetWorkStatus(workStatus);
     }
 
@@ -1542,7 +1541,7 @@ void GrabBagPresenter::_SendDetectionResultToRobot(const DetectionResult& detect
             }
         }
     } else {
-        LOG_WARNING("Robot TCP protocol not available\n");
+        LOG_WARNING("ModbusTCP protocol not available\n");
     }
     
     // 发送到串口
@@ -1585,20 +1584,18 @@ void GrabBagPresenter::_SendDetectionResultToRobot(const DetectionResult& detect
             tcpipSent = true;
         }else {
             // 无包裹时：@,1,0,0,0,0,0,$
-            result.append("0,0,0,0,0,$");  // 协议尾
+            result.append("0,0,0,0,");  // 协议尾
+            if(detectionResult.errorCode == SX_BAG_TRAY_EMPTY){
+                result.append("0,$");
+            }else{
+                result.append("2,$");
+            }
             tcpipSent = true;
         }
 
         m_pTcpServer->SendAllData(result.c_str(), result.length());
-    }
-
-    
-    // 总结发送状态
-    if (robotSent || serialSent) {
-        LOG_INFO("Detection result sent successfully (Robot TCP: %s, Serial: %s)\n", 
-                 robotSent ? "Yes" : "No", serialSent ? "Yes" : "No");
     } else {
-        LOG_WARNING("Failed to send detection result via any protocol\n");
+        LOG_WARNING("TCP server not available\n");
     }
 }
 
@@ -2124,8 +2121,7 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
 
     // 5.1 设置包裹参数（从包裹配置中获取）
     m_currentExecutionParams.bagParam = currentPackage->bagParam;
-    LOG_INFO("Using bag parameters: L=%.1f, W=%.1f, H=%.1f\n",
-             currentPackage->bagParam.bagL, currentPackage->bagParam.bagW, currentPackage->bagParam.bagH);
+    LOG_INFO("Using bag parameters: L=%.1f, W=%.1f, H=%.1f\n", currentPackage->bagParam.bagL, currentPackage->bagParam.bagW, currentPackage->bagParam.bagH);
 
     // 6. 设置调平参数（从相机配置中获取）
     if (currentCamera->planeCalibParam.isCalibrated &&
@@ -2136,11 +2132,9 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
             m_currentExecutionParams.planeCalibParam.invRMatrix[i] = currentCamera->planeCalibParam.invRMatrix[i];
         }
         m_currentExecutionParams.planeCalibParam.planeHeight = currentCamera->planeCalibParam.planeHeight;
-        LOG_INFO("Using calibrated plane parameters from camera %s (height=%.3f)\n",
-                 currentCamera->cameraName.c_str(), currentCamera->planeCalibParam.planeHeight);
+        LOG_INFO("Using calibrated plane parameters from camera %s (height=%.3f)\n", currentCamera->cameraName.c_str(), currentCamera->planeCalibParam.planeHeight);
     } else {
-        LOG_INFO("Camera %s is not calibrated, using identity matrix for plane calibration\n",
-                currentCamera->cameraName.c_str());
+        LOG_INFO("Camera %s is not calibrated, using identity matrix for plane calibration\n", currentCamera->cameraName.c_str());
     }
 
     // 7. 设置手眼标定参数（从相机配置中获取）
@@ -2152,8 +2146,7 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
         }
         LOG_INFO("Using calibrated hand-eye matrix from camera %s\n", currentCamera->cameraName.c_str());
     } else {
-        LOG_INFO("Camera %s hand-eye is not calibrated, using identity matrix\n",
-                currentCamera->cameraName.c_str());
+        LOG_INFO("Camera %s hand-eye is not calibrated, using identity matrix\n", currentCamera->cameraName.c_str());
     }
 
     LOG_INFO("Current execution parameters updated successfully\n");
@@ -2162,10 +2155,7 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
     LOG_INFO("  Package: %s\n", currentPackage->name.c_str());
 
     // 更新 ParameterManager 的当前执行参数
-    m_pParameterManager->SetCurrentExecutionParams(
-        m_currentExecutionParams.planeCalibParam,
-        m_currentExecutionParams.handEyeCalibMatrix
-    );
+    m_pParameterManager->SetCurrentExecutionParams(m_currentExecutionParams.planeCalibParam, m_currentExecutionParams.handEyeCalibMatrix);
 }
 
 // 重载版本：直接使用配置指针更新执行参数

App/GrabBag/GrabBagApp/Version.h

@@ -2,9 +2,9 @@
 #define VERSION_H
 
 
-#define GRABBAG_VERSION_STRING "1.3.3"
+#define GRABBAG_VERSION_STRING "1.3.4"
 #define GRABBAG_BUILD_STRING "0"
-#define GRABBAG_FULL_VERSION_STRING "V1.3.3_0"
+#define GRABBAG_FULL_VERSION_STRING "V1.3.4_0"
 
 // 获取版本信息的便捷函数
 inline const char* GetGrabBagVersion() {

App/GrabBag/GrabBagApp/Version.md

@@ -1,9 +1,15 @@
-#1.3.3
+# 1.3.4
+## build_0 2025-12-14
+1. 修复协议对接使用相机参数错误
+2. 修复调平后重新读取参数文件
+3. 更新算法：空托盘的判断
+
+
+# 1.3.3
 ## build_0 2025-12-10
 1. 更新算法，增加outputMode参数
 
-
-#1.3.2 
+# 1.3.2 
 ## build_2 2025-11-23
 1. config 修改默认数据
 

App/GrabBag/GrabBagApp/dialogconfigtree.cpp

@@ -958,16 +958,22 @@ void DialogConfigTree::onCameraLevelClicked()
     int x = parentGeometry.left() + (parentGeometry.width() - dlg.width()) / 2;
     int y = parentGeometry.top()  + (parentGeometry.height() - dlg.height()) / 2;
     dlg.move(x, y);
-#if 0
-    if (dlg.exec() == QDialog::Accepted) {
-        // 调平成功后，刷新相机配置显示
-        showCameraConfig(m_currentWorkPos, m_currentCamera);
-    }
-#else
-    dlg.exec();
-    showCameraConfig(m_currentWorkPos, m_currentCamera);
-#endif
 
+    dlg.exec();
+
+    // 对话框关闭后，重新加载配置文件
+    IVrConfig* vrConfig = m_presenter->GetConfig();
+    if (vrConfig) {
+        ConfigResult newConfig = vrConfig->LoadConfig(PathManager::GetInstance().GetConfigFilePath().toStdString());
+        *m_configResult = newConfig;
+    }
+
+    // 遍历所有工位的所有相机，刷新配置显示
+    for (auto& wp : m_configResult->workPositions) {
+        for (auto& cam : wp.cameras) {
+            showCameraConfig(&wp, &cam);
+        }
+    }
 }
 
 void DialogConfigTree::displayHandEyeCalibInline()

AppUtils/AppCommon/Inc/IVisionApplicationStatus.h

@@ -89,6 +89,7 @@ struct DetectionResultData {
     QImage image;
     std::vector<PositionType> positions;
     int cameraIndex = 1;  // 相机索引，默认为1（第一个相机）
+    int errorCode = 0;    // 结果错误码，0表示成功，非0表示错误
 
     // 默认构造函数
     DetectionResultData() = default;

Device/VrEyeDevice/Src/VrEyeDevice.cpp

@@ -4,6 +4,11 @@
 
 #include <functional>
 
+#ifdef VR_EYE_DEBUG_MODE
+#include "LaserDataLoader.h"
+#include <chrono>
+#endif
+
 CVrEyeDevice::CVrEyeDevice()
     : m_pHandle(nullptr)
 {
@@ -11,6 +16,15 @@ CVrEyeDevice::CVrEyeDevice()
 
 CVrEyeDevice::~CVrEyeDevice()
 {
+#ifdef VR_EYE_DEBUG_MODE
+    // 停止debug线程
+    if (m_debugRunning) {
+        m_debugRunning = false;
+        if (m_debugThread.joinable()) {
+            m_debugThread.join();
+        }
+    }
+#endif
     // 确保设备被正确关闭
     if (m_pHandle) {
         CloseDevice();
@@ -24,19 +38,28 @@ int CVrEyeDevice::InitDevice()
 
 int CVrEyeDevice::SetStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void *param)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    m_debugStatusCallback = fNotify;
+    m_debugStatusCallbackParam = param;
+    LOG_DEBUG("VR_EYE_DEBUG_MODE: Status callback stored\n");
+    return SUCCESS;
+#endif
     // 如果设备已经打开，立即设置回调
     if (m_pHandle) {
         VzNL_SetDeviceStatusNotifyEx(m_pHandle, fNotify, param);
-        LOG_DEBUG("Status callback set for opened device\n");
     } else {
         LOG_DEBUG("Status callback stored, will be set when device opens\n");
     }
-    
+
     return SUCCESS;
 }
 
 int CVrEyeDevice::OpenDevice(const char* sIP, bool bRGBD, bool bSwing, bool bFillLaser)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    LOG_DEBUG("VR_EYE_DEBUG_MODE: OpenDevice success\n");
+    return SUCCESS;
+#endif
     int nErrCode = SUCCESS;
     // 搜索设备
     VzNL_ResearchDevice(keSearchDeviceFlag_EthLaserRobotEye);
@@ -136,12 +159,21 @@ int CVrEyeDevice::OpenDevice(const char* sIP, bool bRGBD, bool bSwing, bool bFil
 
 int CVrEyeDevice::GetVersion(SVzNLVersionInfo &sVersionInfo)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    strcpy(sVersionInfo.szSDKVersion, "DEBUG_MODE_1.0.0");
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_GetVersion(m_pHandle, &sVersionInfo);
 }
 
 int CVrEyeDevice::GetDevInfo(SVzNLEyeDeviceInfoEx &sDeviceInfo)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    memset(&sDeviceInfo, 0, sizeof(SVzNLEyeDeviceInfoEx));
+    strcpy(sDeviceInfo.sEyeCBInfo.byServerIP, "192.168.1.100");
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     memcpy(&sDeviceInfo, &m_sEeyCBDeviceInfo, sizeof(SVzNLEyeDeviceInfoEx));
     return SUCCESS;
@@ -149,6 +181,10 @@ int CVrEyeDevice::GetDevInfo(SVzNLEyeDeviceInfoEx &sDeviceInfo)
 
 int CVrEyeDevice::CloseDevice()
 {
+#ifdef VR_EYE_DEBUG_MODE
+    LOG_DEBUG("VR_EYE_DEBUG_MODE: CloseDevice success\n");
+    return SUCCESS;
+#endif
     int nErrCode = SUCCESS;
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     VzNL_EndDetectLaser(m_pHandle);
@@ -162,6 +198,15 @@ int CVrEyeDevice::CloseDevice()
 
 int CVrEyeDevice::StartDetect(VzNL_AutoOutputLaserLineExCB fCallFunc, EVzResultDataType eDataType, void *param)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    LOG_DEBUG("VR_EYE_DEBUG_MODE: StartDetect\n");
+    m_debugCallback = fCallFunc;
+    m_debugCallbackParam = param;
+    m_debugDataType = eDataType;
+    m_debugRunning = true;
+    m_debugThread = std::thread(&CVrEyeDevice::DebugThreadFunc, this);
+    return SUCCESS;
+#endif
     int nErrCode = SUCCESS;
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     VzNL_SetLaserLight(m_pHandle, VzTrue);
@@ -177,6 +222,14 @@ bool CVrEyeDevice::IsDetectIng()
 
 int CVrEyeDevice::StopDetect()
 {
+#ifdef VR_EYE_DEBUG_MODE
+    LOG_DEBUG("VR_EYE_DEBUG_MODE: StopDetect\n");
+    m_debugRunning = false;
+    if (m_debugThread.joinable()) {
+        m_debugThread.join();
+    }
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_StopAutoDetect(m_pHandle);
 }
@@ -199,12 +252,19 @@ int CVrEyeDevice::GetDetectROI(SVzNLRect &leftROI, SVzNLRect &rightROI)
 
 int CVrEyeDevice::SetEyeExpose(unsigned int &exposeTime)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_ConfigEyeExpose(m_pHandle, keVzNLExposeMode_Fix, exposeTime);
 }
 
 int CVrEyeDevice::GetEyeExpose(unsigned int &exposeTime)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    exposeTime = 1000;
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     EVzNLExposeMode peExposeMode;
     return VzNL_GetConfigEyeExpose(m_pHandle, &peExposeMode, &exposeTime);
@@ -212,6 +272,9 @@ int CVrEyeDevice::GetEyeExpose(unsigned int &exposeTime)
 
 int CVrEyeDevice::SetEyeGain(unsigned int &gain)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     int nRet = VzNL_SetCameraGain(m_pHandle, keEyeSensorType_Left, gain);
     nRet |= VzNL_SetCameraGain(m_pHandle, keEyeSensorType_Right, gain);
@@ -220,24 +283,38 @@ int CVrEyeDevice::SetEyeGain(unsigned int &gain)
 
 int CVrEyeDevice::GetEyeGain(unsigned int &gain)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    gain = 100;
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_GetCameraGain(m_pHandle, keEyeSensorType_Left, reinterpret_cast<unsigned short *>(&gain));
 }
 
 int CVrEyeDevice::SetFrame(int &frame)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_SetFrameRate(m_pHandle, frame);
 }
 
 int CVrEyeDevice::GetFrame(int &frame)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    frame = 30;
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_GetFrameRate(m_pHandle, reinterpret_cast<int *>(&frame));
 }
 
 bool CVrEyeDevice::IsSupport()
 {
+#ifdef VR_EYE_DEBUG_MODE
+    return true;
+#endif
     if(!m_pHandle) return false;
 
     int nRet = 0;
@@ -247,12 +324,19 @@ bool CVrEyeDevice::IsSupport()
 
 int CVrEyeDevice::SetRGBDExposeThres(float &value)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_SetRGBAutoExposeThres(m_pHandle, value);
 }
 
 int CVrEyeDevice::GetRGBDExposeThres(float &value)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    value = 128.0f;
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     int nRet = 0;
     value = VzNL_GetRGBAutoExposeThres(m_pHandle, &nRet);
@@ -261,48 +345,78 @@ int CVrEyeDevice::GetRGBDExposeThres(float &value)
 
 int CVrEyeDevice::SetFilterHeight(double &dHeight)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_ConfigLaserLineFilterHeight(m_pHandle, dHeight);
 }
 
 int CVrEyeDevice::GetFilterHeight(double &dHeight)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    dHeight = 100.0;
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_GetLaserLineFilterHeight(m_pHandle, &dHeight);
 }
 
 int CVrEyeDevice::GetSwingSpeed(float &fSpeed)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    fSpeed = 10.0f;
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_GetSwingAngleSpeed(m_pHandle, &fSpeed);
 }
 
 int CVrEyeDevice::SetSwingSpeed(float &fSpeed)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_SetSwingAngleSpeed(m_pHandle, fSpeed);
 }
 
 int CVrEyeDevice::SetSwingAngle(float &fMin, float &fMax)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_SetSwingMotorAngle(m_pHandle, fMin, fMax);
 }
 
 int CVrEyeDevice::GetSwingAngle(float &fMin, float &fMax)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    fMin = -30.0f;
+    fMax = 30.0f;
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_GetSwingMotorAngle(m_pHandle, &fMin, &fMax);
 }
 
 int CVrEyeDevice::SetWorkRange(double &nMin, double &nMax)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_SetSwingMotorWorkRange(m_pHandle, nMin, nMax);
 }
 
 int CVrEyeDevice::GetWorkRange(double &dMin, double &dMax)
 {
+#ifdef VR_EYE_DEBUG_MODE
+    dMin = 500.0;
+    dMax = 1500.0;
+    return SUCCESS;
+#endif
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
     return VzNL_GetSwingMotorWorkRange(m_pHandle, &dMin, &dMax);
 }
@@ -314,3 +428,50 @@ int IVrEyeDevice::CreateObject(IVrEyeDevice** ppEyeDevice)
     *ppEyeDevice = p;
     return 0;
 }
+
+#ifdef VR_EYE_DEBUG_MODE
+void CVrEyeDevice::DebugThreadFunc()
+{
+    // 固定的点云文件路径
+    const std::string debugFilePath = "C:\\project\\QT\\GrabBag\\TestData\\LapWeld\\scanData_ground_1.txt";
+
+    LaserDataLoader loader;
+    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>> laserLines;
+    int lineNum = 0;
+    float scanSpeed = 0.0f;
+    int maxTimeStamp = 0;
+    int clockPerSecond = 0;
+
+    // 加载点云文件
+    int ret = loader.LoadLaserScanData(debugFilePath, laserLines, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
+    if (ret != SUCCESS) {
+        LOG_DEBUG("VR_EYE_DEBUG_MODE: Failed to load laser data from %s, error: %s\n",debugFilePath.c_str(), loader.GetLastError().c_str());
+        m_debugRunning = false;
+        return;
+    }
+
+    LOG_DEBUG("VR_EYE_DEBUG_MODE: Loaded %d laser lines from %s\n", lineNum, debugFilePath.c_str());
+
+    int currentIndex = 0;
+
+    // 循环读取并回调
+    while (m_debugRunning && currentIndex < lineNum) {
+        if (m_debugCallback && currentIndex < lineNum) {
+            auto& dataPair = laserLines[currentIndex];
+            m_debugCallback(dataPair.first, &dataPair.second, m_debugCallbackParam);
+        }
+        currentIndex++;
+
+        // 模拟采集间隔，约30ms
+        std::this_thread::sleep_for(std::chrono::milliseconds(5));
+    }
+    if (m_debugStatusCallback) {
+        m_debugStatusCallback(keDeviceWorkStatus_Device_Swing_Finish, nullptr, 0, m_debugStatusCallbackParam);
+        m_debugStatusCallback(keDeviceWorkStatus_Device_Auto_Stop, nullptr, 0, m_debugStatusCallbackParam);
+    }
+
+    // 释放数据
+    loader.FreeLaserScanData(laserLines);
+    LOG_DEBUG("VR_EYE_DEBUG_MODE: Debug thread stopped\n");
+}
+#endif

Device/VrEyeDevice/VrEyeDevice.pro

@@ -64,6 +64,15 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../../VrUtils -lVrUtils
 }
 
+INCLUDEPATH += $$PWD/../../AppUtils/CloudUtils/Inc
+win32:CONFIG(debug, debug|release) {
+    LIBS += -L../../AppUtils/CloudUtils/debug -lCloudUtils
+}else:win32:CONFIG(release, debug|release){
+    LIBS += -L../../AppUtils/CloudUtils/release -lCloudUtils
+}else:unix:!macx {
+    LIBS += -L../../AppUtils/CloudUtils -lCloudUtils
+}
+
 # 添加libmodbus依赖
 win32 {
     LIBS += -lws2_32

Device/VrEyeDevice/_Inc/VrEyeDevice.h

@@ -1,6 +1,11 @@
 #ifndef CVREYEDEVICE_H
 #define CVREYEDEVICE_H
 
+#ifdef _WIN32
+// Debug模式开关 - 修改此处开启/关闭debug功能
+#define VR_EYE_DEBUG_MODE
+#endif
+
 #include "IVrEyeDevice.h"
 #include "IVzDeviceCoreDataReader.h"
 #include "VrEyeCommon.h"
@@ -13,6 +18,13 @@
 #include "VZNL_RGBConfig.h"
 #include "VZNL_DetectLaser.h"
 
+#ifdef VR_EYE_DEBUG_MODE
+#include <thread>
+#include <atomic>
+#include <mutex>
+#include <vector>
+#endif
+
 class CVrEyeDevice : public IVrEyeDevice
 {
 public:
@@ -152,6 +164,20 @@ private:
     VZNLHANDLE                      m_pHandle = nullptr;
     SVzNLEyeDeviceInfoEx            m_sEeyCBDeviceInfo;
 
+#ifdef VR_EYE_DEBUG_MODE
+    // Debug模式相关成员
+    VzNL_AutoOutputLaserLineExCB    m_debugCallback = nullptr;
+    void*                           m_debugCallbackParam = nullptr;
+    EVzResultDataType               m_debugDataType;
+    std::atomic<bool>               m_debugRunning{false};
+    std::thread                     m_debugThread;
+    std::mutex                      m_debugMutex;
+    VzNL_OnNotifyStatusCBEx         m_debugStatusCallback = nullptr;
+    void*                           m_debugStatusCallbackParam = nullptr;
+
+    void DebugThreadFunc();
+#endif
+
 };
 
 #endif // CVREYEDEVICE_H

SDK/bagPosition/Inc/SG_bagPositioning_Export.h

@@ -71,7 +71,8 @@ SG_APISHARED_EXPORT void sg_getBagPosition(
 	//std::vector<std::vector<int>>& noisePts, 
 	const SG_bagPositionParam algoParam, 
 	const SSG_planeCalibPara poseCalibPara,
-	std::vector<SSG_peakRgnInfo>& objOps);
+	std::vector<SSG_peakRgnInfo>& objOps,
+	int* errCode);
 
 SG_APISHARED_EXPORT void sg_getBagPositionAndOrientation(
 	SVzNLXYZRGBDLaserLine* laser3DPoints,

SDK/bagPosition/Inc/SG_baseDataType.h

@@ -478,3 +478,9 @@ typedef struct
 	int markID;
 	SVzNL3DPoint mark3D;
 }SWD_charuco3DMark;
+
+typedef struct
+{
+	SVzNL3DPoint pt1;
+	SVzNL3DPoint pt2;
+}SWD_3DPointPair;

SDK/bagPosition/Inc/SG_errCode.h

@@ -19,4 +19,7 @@
 
 //¶¨×Óץȡ
 #define SX_ERR_INVLID_CUTTING_Z		-2101
-#define SX_ERR_ZERO_OBJ				-2102
+#define SX_ERR_ZERO_OBJ				-2102
+
+//뀔관
+#define SX_BAG_TRAY_EMPTY			-2201