拆包增加tcp协议

App/BeltTearing/BeltTearing.pro

@@ -0,0 +1,12 @@
+TEMPLATE = subdirs
+
+# 撕裂项目
+SUBDIRS += BeltTearingConfig/BeltTearingConfig.pro
+SUBDIRS += BeltTearingApp/BeltTearingApp.pro
+SUBDIRS += BeltTearingServer/BeltTearingServer.pro
+
+# 设置编译顺序依赖
+BeltTearingApp.depends += ../../../VrNets/VrTcpClient.pro
+BeltTearingApp.depends += BeltTearingConfig/BeltTearingConfig.pro
+
+BeltTearingServer.depends += BeltTearingConfig/BeltTearingConfig.pro

App/BeltTearing/BeltTearingApp/BeltTearingApp.pro

@@ -13,22 +13,24 @@ win32-msvc {
 # Include paths
 INCLUDEPATH += $$PWD/Presenter/Inc
 INCLUDEPATH += ../BeltTearingConfig/Inc
-INCLUDEPATH += ../VrNets/tcpClient/Inc
-INCLUDEPATH += ../VrUtils/Inc
+
+
+INCLUDEPATH += ../../../VrNets/tcpClient/Inc
+INCLUDEPATH += ../../../VrUtils/Inc
 
 # Link libraries
 win32:CONFIG(debug, debug|release) {
     LIBS += -L../BeltTearingConfig/debug    -lBeltTearingConfig
-    LIBS += -L../VrNets/debug               -lVrTcpClient
-    LIBS += -L../VrUtils/debug              -lVrUtils
+    LIBS += -L../../../VrNets/debug         -lVrTcpClient
+    LIBS += -L../../../VrUtils/debug        -lVrUtils
 } else:win32:CONFIG(release, debug|release) {
     LIBS += -L../BeltTearingConfig/release  -lBeltTearingConfig
-    LIBS += -L../VrNets/release             -lVrTcpClient
-    LIBS += -L../VrUtils/release            -lVrUtils
+    LIBS += -L../../../VrNets/release       -lVrTcpClient
+    LIBS += -L../../../VrUtils/release      -lVrUtils
 }else:unix:!macx {
-    LIBS += -L../BeltTearingConfig  -lBeltTearingConfig
-    LIBS += -L../VrNets             -lVrTcpClient
-    LIBS += -L../VrUtils            -lVrUtils
+    LIBS += -L../BeltTearingConfig      -lBeltTearingConfig
+    LIBS += -L../../../VrNets           -lVrTcpClient
+    LIBS += -L../../../VrUtils          -lVrUtils
 }
 
 # You can make your code fail to compile if it uses deprecated APIs.

App/BeltTearing/BeltTearingConfig/BeltTearingConfig.pro

@@ -26,13 +26,13 @@ SOURCES += \
     $$PWD/Src/VrBeltTearingConfig.cpp
 
 #utils
-INCLUDEPATH += $$PWD/../VrUtils/Inc
-INCLUDEPATH += $$PWD/../VrUtils/tinyxml2
+INCLUDEPATH += $$PWD/../../../VrUtils/Inc
+INCLUDEPATH += $$PWD/../../../VrUtils/tinyxml2
 
 win32:CONFIG(debug, debug|release) {
-    LIBS += -L../VrUtils/Debug -lVrUtils
+    LIBS += -L../../../VrUtils/Debug -lVrUtils
 }else:win32:CONFIG(release, debug|release){
-    LIBS += -L../VrUtils/release -lVrUtils
+    LIBS += -L../../../VrUtils/release -lVrUtils
 }else:unix:!macx {
     # Unix/Linux平台库链接（包括交叉编译）
     LIBS += -L../VrUtils -lVrUtils

App/BeltTearing/BeltTearingServer/BeltTearingServer.pro

@@ -15,13 +15,13 @@ win32-msvc {
 # In order to do so, uncomment the following line.
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
-INCLUDEPATH += $$PWD/../VrCommon/Inc
-INCLUDEPATH += $$PWD/../VrUtils/Inc
+INCLUDEPATH += $$PWD/../../../VrCommon/Inc
+INCLUDEPATH += $$PWD/../../../VrUtils/Inc
 INCLUDEPATH += $$PWD/Presenter/Inc
 INCLUDEPATH += $$PWD/Utils/Inc
 
-INCLUDEPATH += $$PWD/../VrConfig/Inc
-INCLUDEPATH += $$PWD/../VrEyeDevice/Inc
+INCLUDEPATH += $$PWD/../../../VrConfig/Inc
+INCLUDEPATH += $$PWD/../../../VrEyeDevice/Inc
 INCLUDEPATH += $$PWD/../BeltTearingConfig/Inc
 
 SOURCES += \
@@ -45,18 +45,18 @@ FORMS +=
 
 win32:CONFIG(debug, debug|release) {
     LIBS += -L../BeltTearingConfig/debug    -lBeltTearingConfig
-    LIBS += -L../VrEyeDevice/debug          -lVrEyeDevice
-    LIBS += -L../VrUtils/debug              -lVrUtils
+    LIBS += -L../../../VrEyeDevice/debug    -lVrEyeDevice
+    LIBS += -L../../../VrUtils/debug        -lVrUtils
 }else:win32:CONFIG(release, debug|release){
     LIBS += -L../BeltTearingConfig/release  -lBeltTearingConfig
-    LIBS += -L../VrEyeDevice/release        -lVrEyeDevice
-    LIBS += -L../VrUtils/release            -lVrUtils
+    LIBS += -L../../../VrEyeDevice/release  -lVrEyeDevice
+    LIBS += -L../../../VrUtils/release      -lVrUtils
 }else:unix:!macx {
     # Unix/Linux平台库链接（包括交叉编译）
     # 注意链接顺序：依赖关系从高到低
-    LIBS += -L../VrUtils                -lVrUtils
+    LIBS += -L../../../VrUtils          -lVrUtils
+    LIBS += -L../../../VrEyeDevice      -lVrEyeDevice
     LIBS += -L../BeltTearingConfig      -lBeltTearingConfig
-    LIBS += -L../VrEyeDevice            -lVrEyeDevice
     
     # 添加系统库依赖
     LIBS += -lpthread
@@ -64,33 +64,33 @@ win32:CONFIG(debug, debug|release) {
 
 #linux下的为unix ，windows下用的win32
 
-INCLUDEPATH += ../SDK/VzNLSDK/_Inc
-INCLUDEPATH += ../SDK/VzNLSDK/Inc
+INCLUDEPATH += ../../../SDK/VzNLSDK/_Inc
+INCLUDEPATH += ../../../SDK/VzNLSDK/Inc
 
 win32:CONFIG(release, debug|release): {
-    LIBS += -L$$PWD/../SDK/VzNLSDK/Windows/x64/Release
+    LIBS += -L$$PWD/../../../SDK/VzNLSDK/Windows/x64/Release
     LIBS += -lVzKernel -lVzNLDetect -lVzNLGraphics
 }
 else:win32:CONFIG(debug, debug|release): {
-    LIBS += -L$$PWD/../SDK/VzNLSDK/Windows/x64/Debug
+    LIBS += -L$$PWD/../../../SDK/VzNLSDK/Windows/x64/Debug
     LIBS += -lVzKerneld -lVzNLDetectd -lVzNLGraphicsd
 }
 else:unix:!macx: {
-    LIBS += -L$$PWD/../SDK/VzNLSDK/Arm/aarch64
+    LIBS += -L$$PWD/../../../SDK/VzNLSDK/Arm/aarch64
     LIBS +=  -lVzEyeSecurityLoader-shared -lVzKernel -lVzNLDetect -lVzNLGraphics
 }
 
 
 # 算法
-INCLUDEPATH += ../SDK/OpenCV320/include
+INCLUDEPATH += ../../../SDK/OpenCV320/include
 win32:CONFIG(release, debug|release): {
-    LIBS += -L$$PWD/../SDK/OpenCV320/Windows/vc14/Release -lopencv_world320
+    LIBS += -L$$PWD/../../../SDK/OpenCV320/Windows/vc14/Release -lopencv_world320
 }
 else:win32:CONFIG(debug, debug|release): {
-    LIBS += -L$$PWD/../SDK/OpenCV320/Windows/vc14/Release -lopencv_world320
+    LIBS += -L$$PWD/../../../SDK/OpenCV320/Windows/vc14/Release -lopencv_world320
 }
 else:unix:!macx: {
-    LIBS += -L$$PWD/../SDK/OpenCV320/Arm/aarch64 -lopencv_core -lopencv_imgproc -lopencv_highgui
+    LIBS += -L$$PWD/../../../SDK/OpenCV320/Arm/aarch64 -lopencv_core -lopencv_imgproc -lopencv_highgui
 }
 
 

App/GrabBag/Doc/拆垛机tcpip协议.docx

@@ -0,0 +1,30 @@
+通信方式: 
+  工控机<->相机 tcp/ip
+    工控机<->码垛机控制器 tcp/ip
+视觉系统与码垛机之间要交互的数据格式如下：
+功能
+设备名称
+方向
+设备名称
+发送字符串
+检测开始请求
+码垛机
+->
+视觉系统
+Trig
+正常回复
+视觉系统
+->
+码垛机
+1，X，y，z，rz
+检测开始请求
+码垛机
+->
+视觉系统
+Trig
+拆垛完成(检测无料)
+视觉系统
+->
+码垛机
+0
+

App/GrabBag/GrabBag.pro

@@ -0,0 +1,5 @@
+TEMPLATE = subdirs
+# 拆包项目
+SUBDIRS += GrabBagConfig/GrabBagConfig.pro
+SUBDIRS += GrabBagApp/GrabBagApp.pro
+# SUBDIRS += GrabBagConfigCmd

App/GrabBag/GrabBagApp/GrabBagApp.pro

@@ -0,0 +1,168 @@
+QT       += core gui
+QT       += serialport network
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TEMPLATE = app
+
+CONFIG += c++17
+# Add /utf-8 flag only for MSVC builds to enforce UTF-8 encoding
+win32-msvc {
+    QMAKE_CXXFLAGS += /utf-8
+}
+
+
+# You can make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+
+# 设置应用程序图标
+RC_ICONS = resource/logo.ico
+INCLUDEPATH += $$PWD/Presenter/Inc
+INCLUDEPATH += $$PWD/Utils/Inc
+
+INCLUDEPATH += $$PWD/../../../VrCommon/Inc
+INCLUDEPATH += $$PWD/../../../VrUtils/Inc
+
+INCLUDEPATH += $$PWD/../../../Module/ModbusTCPServer/Inc
+INCLUDEPATH += $$PWD/../../../Module/ShareMem/Inc
+
+INCLUDEPATH += $$PWD/../GrabBagConfig/Inc
+INCLUDEPATH += $$PWD/../../../VrEyeDevice/Inc
+
+INCLUDEPATH += $$PWD/../../../VrNets/TCPServer/Inc
+
+SOURCES += \
+    Presenter/Src/DetectPresenter.cpp \
+    Presenter/Src/GrabBagPresenter.cpp \
+    Presenter/Src/RobotProtocol.cpp \
+    Presenter/Src/SerialProtocol.cpp \
+    Presenter/Src/ConfigManager.cpp \
+    Utils/Src/LaserDataLoader.cpp \
+    Utils/Src/PathManager.cpp \
+    Utils/Src/PointCloudImageUtils.cpp \
+    devstatus.cpp \
+    dialogcamera.cpp \
+    dialogcameralevel.cpp \
+    dialogconfig.cpp \
+    main.cpp \
+    mainwindow.cpp \
+    resultitem.cpp
+
+HEADERS += \
+    Presenter/Inc/DetectPresenter.h \
+    Presenter/Inc/GrabBagPresenter.h \
+    Presenter/Inc/ProtocolCommon.h \
+    Presenter/Inc/RobotProtocol.h \
+    Presenter/Inc/SerialProtocol.h \
+    Presenter/Inc/ConfigManager.h \
+    Utils/Inc/LaserDataLoader.h \
+    Utils/Inc/PathManager.h \
+    IYGrabBagStatus.h \
+    Utils/Inc/PointCloudImageUtils.h \
+    Version.h \
+    devstatus.h \
+    dialogcamera.h \
+    dialogcameralevel.h \
+    dialogconfig.h \
+    mainwindow.h \
+    resultitem.h
+
+FORMS += \
+    devstatus.ui \
+    dialogcamera.ui \
+    dialogcameralevel.ui \
+    dialogconfig.ui \
+    mainwindow.ui \
+    resultitem.ui
+
+RESOURCES += \
+    resources.qrc
+
+
+win32:CONFIG(debug, debug|release) {
+    LIBS += -L../../../VrUtils/debug          -lVrUtils
+    LIBS += -L../GrabBagConfig/debug          -lGrabBagConfig
+    LIBS += -L../../../VrEyeDevice/debug      -lVrEyeDevice
+    LIBS += -L../../../Module/ModbusTCPServer/debug -lModbusTCPServer
+    LIBS += -L../../../Module/ShareMem/debug  -lShareMem
+    LIBS += -L../../../VrNets/debug           -lVrModbus
+    LIBS += -L../../../VrNets/debug           -lVrTcpServer
+}else:win32:CONFIG(release, debug|release){
+    LIBS += -L../../../VrUtils/release        -lVrUtils
+    LIBS += -L../GrabBagConfig/release        -lGrabBagConfig
+    LIBS += -L../../../VrEyeDevice/release    -lVrEyeDevice
+    LIBS += -L../../../Module/ModbusTCPServer/release -lModbusTCPServer
+    LIBS += -L../../../Module/ShareMem/release -lShareMem
+    LIBS += -L../../../VrNets/release         -lVrModbus
+    LIBS += -L../../../VrNets/release         -lVrTcpServer
+}else:unix:!macx {
+    # Unix/Linux平台库链接（包括交叉编译）
+    # 注意链接顺序：依赖关系从高到低
+    LIBS += -L../GrabBagConfig                -lGrabBagConfig
+    LIBS += -L../../../VrEyeDevice            -lVrEyeDevice
+    LIBS += -L../../../Module/ModbusTCPServer -lModbusTCPServer
+    LIBS += -L../../../VrNets                 -lVrModbus
+    LIBS += -L../../../Module/ShareMem        -lShareMem
+    LIBS += -L../../../VrUtils                -lVrUtils
+    LIBS += -L../../../VrNets                 -lVrTcpServer
+    
+    # 添加系统库依赖
+    LIBS += -lpthread
+}
+
+#linux下的为unix ，windows下用的win32
+
+INCLUDEPATH += ../../../SDK/VzNLSDK/_Inc
+INCLUDEPATH += ../../../SDK/VzNLSDK/Inc
+
+win32:CONFIG(release, debug|release): {
+    LIBS += -L$$PWD/../../../SDK/VzNLSDK/Windows/x64/Release
+    LIBS += -lVzKernel -lVzNLDetect -lVzNLGraphics
+}
+else:win32:CONFIG(debug, debug|release): {
+    LIBS += -L$$PWD/../../../SDK/VzNLSDK/Windows/x64/Debug
+    LIBS += -lVzKerneld -lVzNLDetectd -lVzNLGraphicsd
+}
+else:unix:!macx: {
+    LIBS += -L$$PWD/../../../SDK/VzNLSDK/Arm/aarch64
+    LIBS +=  -lVzEyeSecurityLoader-shared -lVzKernel -lVzNLDetect -lVzNLGraphics
+}
+
+
+# 算法
+INCLUDEPATH += ../../../SDK/bagPosition/Inc
+
+win32:CONFIG(release, debug|release): {
+    LIBS += -L$$PWD/../../../SDK/bagPosition/Windows/x64/Release -lbagPositioning -lbaseAlgorithm
+    LIBS += -L$$PWD/../../../SDK/OpenCV320/Windows/vc14/Release -lopencv_world320
+}
+else:win32:CONFIG(debug, debug|release): {
+    LIBS += -L$$PWD/../../../SDK/bagPosition/Windows/x64/Debug -lbagPositioning -lbaseAlgorithm
+    LIBS += -L$$PWD/../../../SDK/OpenCV320/Windows/vc14/Release -lopencv_world320
+}
+else:unix:!macx: {
+    LIBS += -L$$PWD/../../../SDK/bagPosition/Arm/aarch64 -lbagPositioning -lbaseAlgorithm
+    LIBS += -L$$PWD/../../../SDK/OpenCV320/Arm/aarch64 -lopencv_core -lopencv_imgproc -lopencv_highgui
+}
+
+# 添加libmodbus依赖
+win32 {
+    LIBS += -lws2_32
+    LIBS += Advapi32.lib
+}
+
+# Default rules for deployment.
+unix {
+    target.path = /usr/lib
+    # Link real-time library for POSIX shared memory functions
+    LIBS += -lrt
+}
+!isEmpty(target.path): INSTALLS += target
+
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target

App/GrabBag/GrabBagApp/Presenter/Inc/GrabBagPresenter.h

@@ -3,6 +3,8 @@
 
 #include <condition_variable>
 #include <thread>
+#include <map>
+#include <mutex>
 
 #include "IVrConfig.h"
 #include "IVrEyeDevice.h"
@@ -15,15 +17,20 @@
 #include "LaserDataLoader.h"
 #include "PathManager.h"
 #include "ConfigManager.h"
+#include "IYTCPServer.h"
 #include <QImage>
 #include <QPainter>
 #include <QColor>
+#include <QObject>
 #include <memory>
 
-class GrabBagPresenter : public IVrConfigChangeNotify, public IConfigChangeListener
+
+class GrabBagPresenter : public QObject, public IVrConfigChangeNotify, public IConfigChangeListener
 {
+    Q_OBJECT
+
 public:
-    GrabBagPresenter();
+    explicit GrabBagPresenter(QObject *parent = nullptr);
     ~GrabBagPresenter();
 
     // 初始化
@@ -66,7 +73,7 @@ public:
     virtual void OnSystemConfigChanged(const SystemConfig& config) override;
     virtual void OnCameraParamChanged(int cameraIndex, const CameraUIParam& cameraParam) override;
     virtual void OnAlgorithmParamChanged(const VrAlgorithmParams& algorithmParams) override;
-    
+
     // 配置管理
     ConfigManager* GetConfigManager() { return m_pConfigManager.get(); }
     
@@ -81,6 +88,7 @@ public:
     
     static void _StaticCameraNotify(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
     static void _StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pParam);
+
 private:
 
     // 相机协议相关方法
@@ -92,6 +100,15 @@ private:
     // 串口协议相关方法
     int InitSerialProtocol();
     
+    // TCP服务器相关方法
+    int InitTcpServer(int nPort);
+    // 初始化TCP服务器
+    bool startServer(quint16 port = 0); // port = 0 表示使用配置文件中的端口
+    void stopServer();
+    
+    // TCP服务器回调处理方法
+    void onTcpDataReceivedFromCallback(const TCPClient* pClient, const char* pData, const unsigned int nLen);
+    
     // 算法初始化接口
     int InitAlgorithmParams();
     
@@ -140,7 +157,11 @@ private:
 
     RobotProtocol*                  m_pRobotProtocol = nullptr;
     SerialProtocol*                 m_pSerialProtocol = nullptr;
-    
+
+    // TCP服务器相关
+    IYTCPServer*                    m_pTcpServer = nullptr;
+    quint16                         m_port = 0;
+
     // 连接状态标志
     bool                            m_bCameraConnected = false;       // 相机连接状态
     bool                            m_bRobotConnected = false;        // 机械臂连接状态

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

@@ -11,6 +11,7 @@
 #include <algorithm>
 #include <QImage>
 #include <QThread>
+#include <QUuid>
 
 #include "Version.h"
 #include "VrTimeUtils.h"
@@ -20,22 +21,26 @@
 #include "VrConvert.h"
 #include "PointCloudImageUtils.h"
 
-GrabBagPresenter::GrabBagPresenter()
-    : m_vrConfig(nullptr)
+GrabBagPresenter::GrabBagPresenter(QObject *parent)
+    : QObject(parent)
+    , m_vrConfig(nullptr)
     , m_pStatus(nullptr)
     , m_pDetectPresenter(nullptr)
     , m_pRobotProtocol(nullptr)
+    , m_pSerialProtocol(nullptr)
+    , m_pTcpServer(nullptr)
+    , m_port(0)
     , m_bCameraConnected(false)
     , m_bRobotConnected(false)
     , m_currentWorkStatus(WorkStatus::Error)
-{
+{    
     m_detectionDataCache.clear();
 }
 
 GrabBagPresenter::~GrabBagPresenter()
 {
     // 停止配置管理器
-    if (m_pConfigManager) {
+    if (m_pConfigManager) { 
         m_pConfigManager->Shutdown();
         m_pConfigManager.reset();
     }
@@ -66,6 +71,14 @@ GrabBagPresenter::~GrabBagPresenter()
         m_pSerialProtocol = nullptr;
     }
     
+    // 释放TCP服务器
+    if (m_pTcpServer) {
+        m_pTcpServer->Stop();
+        m_pTcpServer->Close();
+        delete m_pTcpServer;
+        m_pTcpServer = nullptr;
+    }
+    
     // 释放相机设备资源
     for(auto it = m_vrEyeDeviceList.begin(); it != m_vrEyeDeviceList.end(); it++)
     {
@@ -153,6 +166,14 @@ int GrabBagPresenter::Init()
         m_pStatus->OnSerialConnectionChanged(true);
     }
     
+    // 初始化TCP服务器
+    nRet = InitTcpServer(configResult.tcpServerConfig.port);
+    if (nRet != 0) {
+        m_pStatus->OnStatusUpdate("TCP服务器初始化失败");
+    } else {
+        m_pStatus->OnStatusUpdate("TCP服务器初始化成功");
+    }
+    
     m_bAlgoDetectThreadRunning = true;
     m_algoDetectThread = std::thread(&GrabBagPresenter::_AlgoDetectThread, this);
     m_algoDetectThread.detach();    
@@ -237,8 +258,7 @@ int GrabBagPresenter::InitRobotProtocol()
     // 设置工作信号回调
     m_pRobotProtocol->SetWorkSignalCallback([this](bool startWork, int cameraIndex) {
         return this->OnRobotWorkSignal(startWork, cameraIndex);
-    });
-    
+    });  
 
     LOG_INFO("Robot protocol initialization completed successfully\n");
     return nRet;
@@ -298,6 +318,111 @@ int GrabBagPresenter::InitSerialProtocol()
     }
 }
 
+// 初始化TCP服务器
+int GrabBagPresenter::InitTcpServer(int nPort)
+{
+     // 创建TCP服务器
+    if (!VrCreatYTCPServer(&m_pTcpServer)) {
+        LOG_ERROR("Failed to create VrNets TCPServer\n");
+        m_pTcpServer = nullptr;
+    }
+    
+    if (!m_pTcpServer) {
+        LOG_ERROR("TCP server is not initialized\n");
+        return ERR_CODE(DEV_OPEN_ERR);
+    }
+    
+    LOG_INFO("Initializing VrNets TCP server on port %d\n", nPort);
+    
+    // 初始化TCP服务器
+    if (!m_pTcpServer->Init(nPort, false)) {
+        LOG_ERROR("Failed to initialize VrNets TCP server on port %d\n", nPort);
+        return ERR_CODE(DEV_OPEN_ERR);
+    }
+    
+    // 创建lambda回调函数，捕获this指针
+    FunTCPServerRecv recvCallback = [this](const TCPClient* pClient, const char* pData, const unsigned int nLen) {
+        this->onTcpDataReceivedFromCallback(pClient, pData, nLen);
+    };
+    
+    // 启动TCP服务器，使用lambda回调函数
+    if (!m_pTcpServer->Start(recvCallback, false)) {
+        LOG_ERROR("Failed to start VrNets TCP server\n");
+        return ERR_CODE(DEV_OPEN_ERR);
+    }
+    
+    m_port = nPort;
+    LOG_INFO("VrNets TCP server started successfully on port %d\n", nPort);
+    return SUCCESS;
+}
+
+bool GrabBagPresenter::startServer(quint16 port)
+{
+    // 这个方法现在由InitTcpServer处理
+    return InitTcpServer(port) == SUCCESS;
+}
+
+void GrabBagPresenter::stopServer()
+{
+    if (!m_pTcpServer) {
+        return;
+    }
+    
+    m_pTcpServer->Stop();
+    m_port = 0;
+    LOG_INFO("VrNets TCP server stopped\n");
+}
+
+// TCP服务器数据接收回调处理方法
+void GrabBagPresenter::onTcpDataReceivedFromCallback(const TCPClient* pClient, const char* pData, const unsigned int nLen)
+{
+    if (!pClient || !pData || nLen == 0) {
+        return;
+    }
+    
+    std::string receivedData(pData, nLen);
+    QString qData = QString::fromStdString(receivedData).trimmed();
+    
+    LOG_INFO("TCP data received from client %p: %s\n", pClient, qData.toStdString().c_str());
+    
+    // 生成客户端ID用于标识
+    QString clientId = QString("Client_%1").arg(reinterpret_cast<intptr_t>(pClient));
+    
+    if (m_pStatus) {
+        m_pStatus->OnStatusUpdate("收到TCP数据: " + qData.toStdString());
+    }
+    
+    // 检查是否收到"Trig"命令
+    if (qData.contains("Trig")) {
+        LOG_INFO("Received Trig command, starting camera 1 detection\n");
+        
+        if (m_pStatus) {
+            m_pStatus->OnStatusUpdate("收到触发命令，启动检测");
+        }
+        
+        // 启动第一个相机检测
+        int result = StartDetection(1, false); // 启动相机1，非自动模式
+        
+        // 发送响应给客户端
+        QString response;
+        if (result != SUCCESS) {
+            response = QString("Error_%1").arg(result);
+            LOG_ERROR("Failed to start camera 1 detection, error: %d\n", result);
+        }
+        // 向客户端发送响应
+        m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
+    } else {
+        LOG_WARNING("Unknown TCP command received: %s\n", qData.toStdString().c_str());
+        if (m_pStatus) {
+            m_pStatus->OnStatusUpdate("未知TCP命令: " + qData.toStdString());
+        }
+        
+        // 发送错误响应
+        std::string err = "Unknown_Command";
+        m_pTcpServer->SendData(pClient, err.c_str(), err.length());
+    }
+}
+
 // 初始化算法参数
 int GrabBagPresenter::InitAlgorithmParams()
 {
@@ -1161,6 +1286,27 @@ void GrabBagPresenter::_SendDetectionResultToRobot(const DetectionResult& detect
     } else {
         LOG_WARNING("Serial protocol not available\n");
     }
+
+    // 发送给TCP服务端
+    bool tcpipSent = false;
+    if(m_pTcpServer){
+        if(!multiTargetData.targets.empty()){
+            std::string result = "";
+            result.append("1,");
+            result.append(std::to_string(multiTargetData.targets[0].x));
+            result.append(",");
+            result.append(std::to_string(multiTargetData.targets[0].y));
+            result.append(",");
+            result.append(std::to_string(multiTargetData.targets[0].z));
+            result.append(",");
+            result.append(std::to_string(multiTargetData.targets[0].rz));
+            m_pTcpServer->SendAllData(result.c_str(), result.length());
+        }else {
+            std::string err = "0";
+            m_pTcpServer->SendAllData(err.c_str(), err.length());
+        }
+    }
+
     
     // 总结发送状态
     if (robotSent || serialSent) {

App/GrabBag/GrabBagApp/Version.h

@@ -2,9 +2,9 @@
 #define VERSION_H
 
 
-#define GRABBAG_VERSION_STRING "1.1.3"
-#define GRABBAG_BUILD_STRING "1"
-#define GRABBAG_FULL_VERSION_STRING "V1.1.3_1"
+#define GRABBAG_VERSION_STRING "1.1.4"
+#define GRABBAG_BUILD_STRING "2"
+#define GRABBAG_FULL_VERSION_STRING "V1.1.4_2"
 
 // 获取版本信息的便捷函数
 inline const char* GetGrabBagVersion() {

App/GrabBag/GrabBagApp/Version.md

@@ -1,3 +1,10 @@
+#1.1.4 2025-09-13
+## build_2
+1. 启动图标修复
+
+## build_1
+1. 增加TCP通信接口
+
 # 1.1.3 2025-8-17
 ## build_1
 1. 发现编织袋没有调用矫正接口