拆包更新算法

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

@@ -224,6 +224,7 @@ int DetectPresenter::DetectBag(
         // 1. 使用成员变量算法参数（已在初始化时从XML读取）
         LOG_INFO("[Algo Thread] Using algorithm parameters from XML configuration\n");
         LOG_INFO("  Bag: L=%.1f, W=%.1f, H=%.1f\n",algoParam.bagParam.bagL, algoParam.bagParam.bagW, algoParam.bagParam.bagH);
+        LOG_INFO("  supportRotate=%d, outputMode=%d\n",algoParam.supportRotate, algoParam.outputMode);
         LOG_INFO("  Filter: continuityTh=%.1f, outlierTh=%.1f\n", algoParam.filterParam.continuityTh, algoParam.filterParam.outlierTh);
     
         LOG_INFO("  Corner: minEndingGap=%.1f, minEndingGap_z=%.1f, scale=%.1f, cornerTh=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",

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

@@ -894,6 +894,8 @@ int GrabBagPresenter::InitAlgorithmParams()
     LOG_INFO("projectType: %s\n", ProjectTypeToString(m_projectType).c_str());
     LOG_INFO("Algorithm parameters initialized successfully via ParameterManager\n");
 
+    _UpdateCurrentExecutionParams();
+
     return SUCCESS;
 }
 

App/GrabBag/GrabBagApp/Version.h

@@ -2,7 +2,7 @@
 #define VERSION_H
 
 #define GRABBAG_VERSION_STRING "1.3.6"
-#define GRABBAG_BUILD_STRING "1"
+#define GRABBAG_BUILD_STRING "2"
 #define GRABBAG_FULL_VERSION_STRING "V" GRABBAG_VERSION_STRING "_" GRABBAG_BUILD_STRING
 
 // 获取版本信息的便捷函数

App/GrabBag/GrabBagApp/Version.md

@@ -1,4 +1,7 @@
 # 1.3.6
+## build_2 20260205
+1. 更新算法
+
 ## build_1 20260129
 1. 增加授权判断
 

App/GrabBag/GrabBagConfig/Inc/IVrConfig.h

@@ -301,7 +301,7 @@ struct VrAlgorithmParams
     VrHsvCmpParam           hsvCmpParam;
     VrRgbColorPattern       rgbColorPattern;
     VrColorTemplateParam    colorTemplateParam;
-    int                     supportRotate = 1;
+    int                     supportRotate = 0;
     int                     outputMode = 0;  // 输出模式：0 - 从大到小， 1 - 从小到大
 };
 

App/WorkpieceHole/Doc/workpiecehole_plc.mthings

@@ -19,32 +19,32 @@
 					<CURVE IsShow="0" />
 					<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
 				</DATA>
-				<DATA Name="1_x" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2002" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
+				<DATA Name="1_x" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2002" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
 					<TIMEOUT Time="2000" ResendCount="0" />
 					<CURVE IsShow="0" />
 					<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
 				</DATA>
-				<DATA Name="1_y" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2004" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
+				<DATA Name="1_y" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2004" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
 					<TIMEOUT Time="2000" ResendCount="0" />
 					<CURVE IsShow="0" />
 					<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
 				</DATA>
-				<DATA Name="1_z" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2006" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
+				<DATA Name="1_z" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2006" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
 					<TIMEOUT Time="2000" ResendCount="0" />
 					<CURVE IsShow="0" />
 					<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
 				</DATA>
-				<DATA Name="1_r" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2008" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
+				<DATA Name="1_r" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2008" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
 					<TIMEOUT Time="2000" ResendCount="0" />
 					<CURVE IsShow="0" />
 					<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
 				</DATA>
-				<DATA Name="1_p" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2010" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
+				<DATA Name="1_p" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2010" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
 					<TIMEOUT Time="2000" ResendCount="0" />
 					<CURVE IsShow="0" />
 					<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
 				</DATA>
-				<DATA Name="1_y" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2012" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
+				<DATA Name="1_y" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2012" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="1" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
 					<TIMEOUT Time="2000" ResendCount="0" />
 					<CURVE IsShow="0" />
 					<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />

AppAlgo/bagPosition/Inc/SG_baseDataType.h

@@ -25,6 +25,20 @@ typedef struct
 	double yawAngle;   //偏转角：绕Z轴的偏转, 弧度
 }SSG_6AxisAttitude;
 
+typedef struct
+{
+	double x;
+	double y;
+	double z;
+}SWD3DPoint;
+
+typedef struct
+{
+	int lineIdx;
+	int ptIdx;
+	SWD3DPoint point;
+}SWDIndexing3DPoint;
+
 typedef struct
 {
 	bool validFlag;  //指示结果是否有效
@@ -48,6 +62,17 @@ typedef struct
 	int idx;
 }SSG_intPair;
 
+typedef struct
+{
+	int featurType;
+	int featureIdx_v;
+	int featureIdx_h;
+	int clusterID;
+	int flag;
+	int lineIdx;
+	int ptIdx;
+}SSG_featureClusteringInfo;
+
 typedef struct
 {
 	double left;
@@ -56,6 +81,12 @@ typedef struct
 	double bottom;
 }SSG_ROIRectD;
 
+typedef struct
+{
+	SVzNL3DPoint center;
+	double radius;
+}SWD_HoleInfo;
+
 struct HSV {
 	double h; // 色相 (0-360)
 	double s; // 饱和度 (0-1)
@@ -157,6 +188,20 @@ typedef struct
 	double jumpCornerTh_2;
 }SSG_cornerParam;
 
+typedef struct
+{
+	double segGapTh_y;  //y方向连续段门限。大于此门限，为不连续
+	double segGapTh_z;  //z方向连续段门限。大于此门限，为不连续
+	double distScale;  //计算方向角的窗口比例尺
+}SSG_lineSegParam;
+
+typedef struct
+{
+	double minJumpZ;  //z方向跳变门限
+	double minK;  //跳变的最小斜率
+	SVzNLRangeD widthRange;  //z方向连续段门限。大于此门限，为不连续
+}SSG_raisedFeatureParam;
+
 typedef struct
 {
 	double scale_angle;  //计算方向角的窗口比例尺
@@ -184,6 +229,7 @@ typedef struct
 	int endPtIdx;
 	SVzNL3DPoint startPt;
 	SVzNL3DPoint endPt;
+	double featureValue;
 }SWD_segFeature;
 
 typedef struct
@@ -247,6 +293,18 @@ typedef struct
 	int angleChkScalePos; //仅用于加速angleCheck的速度
 }SSG_featureTree;
 
+typedef struct
+{
+	int treeState;
+	int treeType;
+	int sLineIdx;
+	int eLineIdx;
+	double tree_value;
+	SSG_ROIRectD roi;
+	std::vector< SSG_basicFeatureGap> treeNodes;
+	int angleChkScalePos; //仅用于加速angleCheck的速度
+}SSG_gapFeatureTree;
+
 typedef struct
 {
 	int treeState;
@@ -483,4 +541,35 @@ typedef struct
 {
 	SVzNL3DPoint pt1;
 	SVzNL3DPoint pt2;
-}SWD_3DPointPair;
+}SWD_3DPointPair;
+
+typedef struct
+{
+	int pkId;
+	int lineIdx;
+	int ptIdx;
+	int cptIndex;  //圆周扫描上的点序
+	//double cornerAngle;  //以点为中心的两侧弦的夹角
+	double R;
+	double angle;
+	double x;
+	double y;
+	double z;
+}SWD_polarPt;
+
+typedef struct
+{
+	int cptIndex;
+	int L1_ptIndex;
+	int L2_ptIndex;
+	double cornerAngle;
+	int cornerDir;
+}SWD_polarPeakInfo;
+
+typedef struct
+{
+	int clusterIdx;
+	int ptSize;
+	SVzNL3DRangeD roi3D;
+	SVzNLRect roi2D;
+}SWD_clustersInfo;

AppAlgo/bagPosition/Inc/SG_errCode.h

@@ -7,6 +7,7 @@
 #define SG_ERR_LABEL_INFO_ERROR		-1004
 #define SG_ERR_INVLD_SORTING_MODE	-1005
 #define SG_ERR_INVLD_Q_SCALE		-1006
+#define SG_ERR_ZERO_OBJECTS			-1007
 
 //BQ_workpiece
 #define SX_ERR_INVLD_VTREE_NUM		-2001
@@ -16,6 +17,7 @@
 #define SX_ERR_ZERO_CONTOUR_PT		-2005
 #define SX_ERR_INVLID_RPEAK_NUM		-2006
 #define SX_ERR_INVLID_RPEAK_PAIR	-2007
+#define SX_ERR_INVLID_MARK_NUM		-2008
 
 //땍綾婁혤
 #define SX_ERR_INVLID_CUTTING_Z		-2101
@@ -23,3 +25,7 @@
 
 //뀔관
 #define SX_BAG_TRAY_EMPTY			-2201
+
+//汽车轮眉高度测量
+#define SX_ERR_INVALID_ARC			-2301
+

AppUtils/CloudUtils/Src/LaserDataLoader.cpp

@@ -9,6 +9,14 @@
 #include "VrLog.h"
 #include <iomanip>
 
+// 辅助函数：去除字符串末尾的 \r 字符（处理 Windows 格式的 CR LF 换行符）
+static inline void TrimCarriageReturn(std::string& str)
+{
+    if (!str.empty() && str.back() == '\r') {
+        str.pop_back();
+    }
+}
+
 LaserDataLoader::LaserDataLoader()
 {
     m_lastError.clear();
@@ -57,12 +65,15 @@ int LaserDataLoader::LoadLaserScanData(const std::string& fileName,
 
     bool bFindLineNum = true;
     int nLaserPointIdx = 0;
-    
+
     while (std::getline(inputFile, line)) {
+        // 去除行末的 \r 字符（处理 Windows 格式的 CR LF 换行符）
+        TrimCarriageReturn(line);
+
         if (line.find("LineNum:") == 0) {
             sscanf(line.c_str(), "LineNum:%d", &lineNum);
         } else if (line.find("DataType:") == 0) {
-        
+
         } else if (line.find("Line_") == 0) {
 
             if(false == bFindLineNum) {
@@ -513,6 +524,9 @@ int LaserDataLoader::_GetLaserType(const std::string& fileName, EVzResultDataTyp
 
     bool bFind = false;
     while (std::getline(inputFile, linedata)) {
+        // 去除行末的 \r 字符（处理 Windows 格式的 CR LF 换行符）
+        TrimCarriageReturn(linedata);
+
         if (linedata.find("{") == 0) {
             // 修复正则表达式以匹配实际数据格式
             // XYZ格式: {x,y,z}-{leftX,leftY}-{rightX,rightY}

Device/GlLineLaserDevice/Src/GlLineLaserDevice.cpp

@@ -6,9 +6,6 @@
 #include <chrono>
 #include <algorithm>
 
-// 静态成员初始化
-CGlLineLaserDevice* CGlLineLaserDevice::s_pInstance = nullptr;
-
 CGlLineLaserDevice::CGlLineLaserDevice()
     : m_nDeviceId(0)
     , m_bDeviceOpen(false)
@@ -65,7 +62,7 @@ int CGlLineLaserDevice::OpenDevice(const char* sIP, bool bRGBD, bool bSwing, boo
     memset(&ethConfig, 0, sizeof(ethConfig));
     
     if (sIP && strlen(sIP) > 0) {
-        LOG_ERROR("open IP address format: %s\n", sIP);
+        LOG_DEBUG("open IP address format: %s\n", sIP);
         // 解析IP字符串 "x.x.x.x"
         int ip[4];
         if (sscanf(sIP, "%d.%d.%d.%d", &ip[0], &ip[1], &ip[2], &ip[3]) == 4) {
@@ -197,24 +194,10 @@ int CGlLineLaserDevice::StartDetect(VzNL_AutoOutputLaserLineExCB fCallFunc, EVzR
     m_bStopDetect = false;
     m_ullFrameIndex = 0;
 
-    // 设置回调实例指针
+    // 启动数据采集线程（主动轮询模式）
-    s_pInstance = this;
-
-    // 设置批处理回调
-    int ret = GLX8_2_SetBatchOneTimeDataHandler(m_nDeviceId, BatchDataCallback);
-    if (ret != 0) {
-        LOG_ERROR("GLX8_2_SetBatchOneTimeDataHandler failed: %d\n", ret);
-        return ERR_CODE(DEV_CTRL_ERR);
-    }
-
-    // 开始批处理采集（立即开始）
-    ret = GLX8_2_StartMeasureWithCallback(m_nDeviceId, 0);
-    if (ret != 0) {
-        LOG_ERROR("GLX8_2_StartMeasureWithCallback failed: %d\n", ret);
-        return ERR_CODE(DEV_CTRL_ERR);
-    }
-
     m_bDetecting = true;
+    m_detectThread = std::thread(&CGlLineLaserDevice::DetectThreadFunc, this);
+
     LOG_DEBUG("Detection started\n");
 
     return SUCCESS;
@@ -239,8 +222,12 @@ int CGlLineLaserDevice::StopDetect()
         LOG_ERROR("GLX8_2_StopMeasure failed: %d\n", ret);
     }
 
+    // 等待线程结束
+    if (m_detectThread.joinable()) {
+        m_detectThread.join();
+    }
+
     m_bDetecting = false;
-    s_pInstance = nullptr;
 
     // 通知状态变化
     if (m_pStatusCallback) {
@@ -253,48 +240,89 @@ int CGlLineLaserDevice::StopDetect()
     return SUCCESS;
 }
 
-// 批处理数据回调（静态函数）
+// 数据采集线程函数（主动轮询模式，参考 test_deal_atch_datas）
-void CGlLineLaserDevice::BatchDataCallback(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj)
+void CGlLineLaserDevice::DetectThreadFunc()
 {
-    if (s_pInstance) {
+    LOG_DEBUG("Detect thread started\n");
-        s_pInstance->ProcessBatchData(info, DataObj);
+
+    while (!m_bStopDetect) {
+        // 启动批处理（参考 test_deal_atch_datas）
+        int ret = GLX8_2_StartMeasure(m_nDeviceId, 5000);  // 5秒超时
+        if (ret != 0) {
+            LOG_ERROR("GLX8_2_StartMeasure failed: %d\n", ret);
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            continue;
+        }
+
+        // 等待一小段时间让设备准备好
+        std::this_thread::sleep_for(std::chrono::milliseconds(50));
+
+        // 获取批处理数据（参考 test_batch_datas）
+        GetBatchData();
+
+        // 批处理完成后等待一段时间再开始下一次
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
+
+    LOG_DEBUG("Detect thread stopped\n");
 }
 
-// 处理批处理数据
+// 获取批处理数据（参考 test_batch_datas 的流程）
-void CGlLineLaserDevice::ProcessBatchData(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj)
+void CGlLineLaserDevice::GetBatchData()
 {
-    if (!m_pDetectCallback || m_bStopDetect) {
+    GLX8_2_STR_CALLBACK_INFO info;
-        return;
+    memset(&info, 0, sizeof(info));
-    }
 
-    int width = info->xPoints;
+    const int maxBatchLines = m_nBatchLines;
-    int batchCount = info->BatchPoints;
-    LOG_DEBUG("BatchPoints: %d, xPoints: %d\n", batchCount, width);
 
-    // 获取整个批次的轮廓数据（连续内存，大小为 BatchPoints * xPoints）
+    // 确保缓存足够大
-    int32_t* batchProfileData = GLX8_2_GetBatchProfilePoint(DataObj, 0);
+    size_t totalPoints = static_cast<size_t>(m_nProfileWidth) * maxBatchLines;
-    if (!batchProfileData) {
-        LOG_WARNING("No profile data in batch\n");
-        return;
-    }
-
-    // 拷贝整个批次数据到本地缓存，避免回调期间数据被覆盖
-    size_t totalPoints = static_cast<size_t>(batchCount) * width;
     if (m_profileBuffer.size() < totalPoints) {
         m_profileBuffer.resize(totalPoints);
     }
-    memcpy(m_profileBuffer.data(), batchProfileData, totalPoints * sizeof(int32_t));
+    if (m_intensityBuffer.size() < totalPoints) {
+        m_intensityBuffer.resize(totalPoints);
+    }
+
+    std::vector<uint32_t> encoderBuffer(maxBatchLines);
+
+    // 使用 GLX8_2_ReceiveDataAuto 顺序获取批处理数据
+    int ret = GLX8_2_ReceiveDataAuto(m_nDeviceId, &info,
+                                      m_profileBuffer.data(),
+                                      m_intensityBuffer.data(),
+                                      encoderBuffer.data());
+
+    if (ret != 0) {
+        LOG_WARNING("GLX8_2_ReceiveDataAuto failed: %d\n", ret);
+        return;
+    }
+
+    int batchCount = info.BatchPoints;
+    int width = info.xPoints;
+
+    if (batchCount <= 0 || width <= 0) {
+        LOG_WARNING("Invalid batch data: batchCount=%d, width=%d\n", batchCount, width);
+        return;
+    }
+
+    LOG_DEBUG("Received batch: %d lines, width: %d, startEncoder: %d\n",
+              batchCount, width, info.startEncoder);
 
     // 确保位置缓存足够大
     if (m_positionBuffer.size() < static_cast<size_t>(width)) {
         m_positionBuffer.resize(width);
     }
 
-    // 逐行处理数据并回调
+    // 逐行处理数据并回调（转换为xyz点云数据）
     for (int lineIdx = 0; lineIdx < batchCount; lineIdx++) {
+        if (m_bStopDetect) {
+            break;
+        }
+
         // 计算当前行在缓存中的偏移
         const int32_t* lineProfile = m_profileBuffer.data() + static_cast<size_t>(lineIdx) * width;
+
+        // 转换为xyz坐标
         ConvertProfileToPosition(lineProfile, width, lineIdx);
 
         // 填充 SVzLaserLineData 结构
@@ -309,32 +337,33 @@ void CGlLineLaserDevice::ProcessBatchData(const GLX8_2_STR_CALLBACK_INFO* info,
         laserLineData.llFrameIdx = m_ullFrameIndex;
         laserLineData.llTimeStamp = std::chrono::duration_cast<std::chrono::microseconds>(
             std::chrono::steady_clock::now().time_since_epoch()).count();
-        laserLineData.nEncodeNo = info->startEncoder + lineIdx;
+        laserLineData.nEncodeNo = encoderBuffer[lineIdx];  // 使用实际的编码器值
         laserLineData.fSwingAngle = 0.0f;  // 线激光没有摆动角度
         laserLineData.bEndOnceScan = (lineIdx == batchCount - 1) ? VzTrue : VzFalse;
 
-        // 回调
+        // 回调给上层应用
-        m_pDetectCallback(m_eDataType, &laserLineData, m_pDetectCallbackParam);
+        if (m_pDetectCallback) {
+            m_pDetectCallback(m_eDataType, &laserLineData, m_pDetectCallbackParam);
+        }
 
         m_ullFrameIndex++;
     }
 
-    LOG_DEBUG("Processed %d lines, xPoints: %d\n", batchCount, width);
+    LOG_DEBUG("Processed %d lines, total frames: %llu\n", batchCount, m_ullFrameIndex);
-    // 如果是最后一个批处理，通知完成
-    if (info->returnStatus != 0) {
-        StopDetect();
-    }
 }
 
 // 将轮廓数据转换为位置数据
 void CGlLineLaserDevice::ConvertProfileToPosition(const int32_t* profileData, int count, int lineIndex)
 {
+    // lineIndex 参数保留用于未来扩展，当前使用 m_ullFrameIndex 计算全局偏移
+    (void)lineIndex;
+
     // 确保缓存足够大
     if (m_positionBuffer.size() < static_cast<size_t>(count)) {
         m_positionBuffer.resize(count);
     }
 
-    // 计算Y偏移（基于行索引）
+    // 计算Y偏移（基于全局帧索引）
     double yOffset = static_cast<double>(m_ullFrameIndex) * m_dYPitch;
 
     // 转换每个点

Device/GlLineLaserDevice/_Inc/GlLineLaserDevice.h

@@ -127,10 +127,15 @@ private:
     // 内部方法
 
     /**
-     * @brief 数据采集线程函数
+     * @brief 数据采集线程函数（主动轮询模式，参考 test_deal_atch_datas）
      */
     void DetectThreadFunc();
 
+    /**
+     * @brief 获取批处理数据（参考 test_batch_datas 的流程）
+     */
+    void GetBatchData();
+
     /**
      * @brief 将 gl_linelaser_sdk 的轮廓数据转换为 SVzNL3DPosition
      * @param profileData 轮廓数据（int32_t，单位0.01um）
@@ -139,19 +144,6 @@ private:
      * @return 转换后的位置数据数组
      */
     void ConvertProfileToPosition(const int32_t* profileData, int count, int lineIndex);
-
-    /**
-     * @brief 批处理数据回调（静态函数）
-     */
-    static void BatchDataCallback(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj);
-
-    /**
-     * @brief 处理批处理数据
-     */
-    void ProcessBatchData(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj);
-
-    // 用于回调的实例指针
-    static CGlLineLaserDevice* s_pInstance;
 };
 
 #endif // CGLLINELASERDEVICE_H