feat: 优化双相机布局和调试数据存储

fix(螺杆定位): 修改TCP协议只输出一个目标点

App/ScrewPosition/Doc/螺杆定位TCP协议文档.md

@@ -71,15 +71,15 @@ RX = 89.211
 格式：
 
 ```text
-PointNum_AX1_AY1_AZ1_A1_B1_C1_X1_Y1_Z1_A1_B1_C1/AX2_AY2_AZ2_A2_B2_C2_X2_Y2_Z2_A2_B2_C2/\r\n
+PointNum_AX_AY_AZ_A_B_C_X_Y_Z_A_B_C\r\n
 ```
 
-每个目标由 12 个浮点组成：先 **接近点** (`AX/AY/AZ + A/B/C`)，再 **目标点** (`X/Y/Z + A/B/C`)，两者姿态完全相同。
+每次只发送一个目标（第一个），由 12 个浮点组成：先 **接近点** (`AX/AY/AZ + A/B/C`)，再 **目标点** (`X/Y/Z + A/B/C`)，两者姿态完全相同。
 
 示例：
 
 ```text
-2_90.500_200.300_50.100_15.500_-2.300_45.000_100.500_200.300_50.100_15.500_-2.300_45.000/110.000_210.500_48.000_-5.000_1.200_30.000_120.000_210.500_48.000_-5.000_1.200_30.000/\r\n
+1_90.500_200.300_50.100_15.500_-2.300_45.000_100.500_200.300_50.100_15.500_-2.300_45.000\r\n
 0\r\n
 ```
 

App/ScrewPosition/ScrewPositionApp/Presenter/Inc/ScrewPositionTCPProtocol.h

@@ -41,8 +41,9 @@ public:
 
     // Protocol:
     //   request : T1_X_Y_Z_A_B_C\r\n
-    //   response: PointNum_AX1_AY1_AZ1_A1_B1_C1_X1_Y1_Z1_A1_B1_C1/.../\r\n
-    //   每个目标 12 个浮点：先接近点(AX/AY/AZ + A/B/C)，后目标点(X/Y/Z + A/B/C)，两者姿态相同
+    //   response: PointNum_AX_AY_AZ_A_B_C_X_Y_Z_A_B_C\r\n
+    //   PointNum 为检测到的目标数量，每次只发送第一个目标的 12 个浮点
+    //   先接近点(AX/AY/AZ + A/B/C)，后目标点(X/Y/Z + A/B/C)，两者姿态相同
     int SendTextResult(const std::string& text, const TCPClient* pClient = nullptr);
 
 private:

App/ScrewPosition/ScrewPositionApp/Presenter/Src/TCPServerMethods.cpp

@@ -132,16 +132,18 @@ void ScrewPositionPresenter::_SendDetectionResultToTCP(const DetectionResult& re
     int count = static_cast<int>(result.positions.size());
     std::string resultText = std::to_string(count);
 
-    for (const auto& pos : result.positions) {
+    // 每次只发送一个目标，取第一个
+    if (!result.positions.empty()) {
+        const auto& pos = result.positions.front();
         double angle1 = 0.0;
         double angle2 = 0.0;
         double angle3 = 0.0;
         ReorderPoseAngles(pos.roll, pos.pitch, pos.yaw, poseOutputOrder, angle1, angle2, angle3);
 
-        // 每组输出 12 个浮点：先接近点(X/Y/Z/A/B/C)，后目标点(X/Y/Z/A/B/C)，姿态相同
+        // 输出 12 个浮点：先接近点(AX/AY/AZ + A/B/C)，后目标点(X/Y/Z + A/B/C)，姿态相同
         char buf[512];
         std::snprintf(buf, sizeof(buf),
-                      "_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f/",
+                      "_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f_%.3f",
                       pos.approachX, pos.approachY, pos.approachZ, angle1, angle2, angle3,
                       pos.x, pos.y, pos.z, angle1, angle2, angle3);
         resultText += buf;

App/ScrewPosition/ScrewPositionApp/Version.h

@@ -3,8 +3,8 @@
 
 
 #define SCREWPOSITION_APP_NAME "螺杆定位"
-#define SCREWPOSITION_VERSION_STRING "1.1.5"
-#define SCREWPOSITION_BUILD_STRING "3"
+#define SCREWPOSITION_VERSION_STRING "1.1.6"
+#define SCREWPOSITION_BUILD_STRING "1"
 #define SCREWPOSITION_FULL_VERSION_STRING "V" SCREWPOSITION_VERSION_STRING "_" SCREWPOSITION_BUILD_STRING
 
 // 获取版本信息的便捷函数

App/ScrewPosition/ScrewPositionApp/Version.md

@@ -1,6 +1,12 @@
-# 1.1.5 2026-04-19
+# 1.1.6 2026-04-25
 ## build_1
+1. 双相机
+
+# 1.1.5 2026-04-19
+## build_1-5
 1. 增加目标点的偏移并且协议更新
+2. 目标只输出一个目标
+3. 调试姿态转换
 
 # 1.1.4 2026-04-19
 ## build_1

App/ScrewPosition/ScrewPositionApp/mainwindow.cpp

@@ -28,6 +28,7 @@
 #include <QGraphicsView>
 #include <QPushButton>
 #include "ScrewPositionPresenter.h"
+#include "ResultListLayoutHelper.h"
 
 #include "Version.h"
 #include "IVrUtils.h"
@@ -399,7 +400,7 @@ void MainWindow::OnCameraCountChanged(int cameraCount)
 {
     // 设置设备状态widget中的相机数量
     if (m_deviceStatusWidget) {
-        m_deviceStatusWidget->setCameraCount(cameraCount);
+        m_deviceStatusWidget->setCameraCount(cameraCount, true);
 
         // 设置相机名称（从配置文件中读取）
         if (m_presenter) {
@@ -415,6 +416,7 @@ void MainWindow::OnCameraCountChanged(int cameraCount)
         }
     }
 
+
     // 如果只有一个相机，更新状态消息
     if (cameraCount < 2) {
         updateStatusLog(tr("系统使用单相机模式"));

App/WheelMeasure/WheelMeasureApp/Version.h

@@ -3,7 +3,7 @@
 
 
 #define WHEELMEASURE_APP_NAME "轮眉高度测量"
-#define WHEELMEASURE_VERSION_STRING "1.1.5"
+#define WHEELMEASURE_VERSION_STRING "1.1.6"
 #define WHEELMEASURE_BUILD_STRING "1"
 #define WHEELMEASURE_FULL_VERSION_STRING "V" WHEELMEASURE_VERSION_STRING "_" WHEELMEASURE_BUILD_STRING
 

App/WheelMeasure/WheelMeasureApp/Version.md

@@ -1,3 +1,7 @@
+# 1.1.6
+## build_1 2026-04-25
+1. 优化存储数据
+
 # 1.1.5
 ## build_1 2026-04-20
 1. 补偿系数

App/WheelMeasure/WheelMeasureApp/WheelMeasureApp.pro

@@ -152,3 +152,6 @@ else:unix:!macx: {
 qnx: target.path = /tmp/$${TARGET}/bin
 else: unix:!android: target.path = /opt/$${TARGET}/bin
 !isEmpty(target.path): INSTALLS += target
+
+DISTFILES += \
+    Version.md

AppAlgo/workpieceHolePositioning/Inc/SG_baseAlgo_Export.h

@@ -4,6 +4,11 @@
 #include <vector>
 #include <opencv2/opencv.hpp>
 
+//向量叉乘
+SG_APISHARED_EXPORT SVzNL3DPoint vec3_cross(const SVzNL3DPoint& a, const SVzNL3DPoint& b);
+
+//逆时针旋转时 θ > 0 ；顺时针旋转时 θ < 0 
+SG_APISHARED_EXPORT SVzNL3DPoint wd_rotate2D(const SVzNL3DPoint& pt, const double angle);
 
 //滤除离群点:z跳变门限方法（大于门限视为不连续，根据连续段点数量判断噪声）
 SG_APISHARED_EXPORT void sg_lineDataRemoveOutlier(
@@ -872,3 +877,15 @@ SG_APISHARED_EXPORT void scanLinesSmooting3x3(
     std::vector< std::vector<SVzNL3DPosition>>& gridDataInput,
     std::vector< std::vector<SVzNL3DPosition>>& smoothingData
 );
+
+
+SG_APISHARED_EXPORT void WD_getHoleInfo(
+    std::vector< std::vector<SVzNL3DPosition>>& scanLines,
+    const SSG_lineSegParam lineSegPara,
+    const SSG_outlierFilterParam filterParam,
+    const SSG_treeGrowParam growParam,
+    const double valieCommonNumRatio,
+    std::vector<SWD_segFeatureTree>& segTrees_v,
+    std::vector<SWD_segFeatureTree>& segTrees_h,
+    std::vector<SSG_intPair>& validObjects
+);

AppAlgo/workpieceHolePositioning/Inc/SG_errCode.h

@@ -44,3 +44,6 @@
 //拓普发工件定位
 #define SX_ERR_UNKNOWN_OBJECT				-2501
 
+//配天工件定位
+#define SX_ERR_UNKNOWN_PLATE_DIR		-2601
+

AppUtils/AppCommon/AppCommon.pro

@@ -35,13 +35,15 @@ HEADERS += \
     Inc/BasePresenter.h \
     Inc/VrCommonConfig.h \
     Inc/ProtocolCommon.h \
-    Inc/TCPServerProtocol.h
+    Inc/TCPServerProtocol.h \
+    Inc/DebugDataSaver.h
 
 # 源文件
 SOURCES += \
     Src/SingleInstanceManager.cpp \
     Src/BasePresenter.cpp \
-    Src/TCPServerProtocol.cpp
+    Src/TCPServerProtocol.cpp \
+    Src/DebugDataSaver.cpp
 
 # Windows平台库链接
 win32:CONFIG(release, debug|release): {

AppUtils/AppCommon/Inc/BasePresenter.h

@@ -15,6 +15,7 @@
 #include "VrCommonConfig.h"  // 包含公共配置结构体
 #include "LaserDataLoader.h"  // 激光数据加载器
 #include "IVisionApplicationStatus.h"  // 工作状态枚举
+#include "DebugDataSaver.h"  // 调试数据异步存储
 
 // 前向声明
 class IYModbusTCPServer;
@@ -573,6 +574,9 @@ protected:
     // 调试参数
     VrDebugParam                    m_debugParam;
 
+    // 调试数据异步存储
+    DebugDataSaver                  m_debugDataSaver;
+
 private:
     // 启动ModbusTCP服务（在Init中调用）
     int StartModbusServer(int port = 5020);

AppUtils/AppCommon/Inc/DebugDataSaver.h

@@ -0,0 +1,60 @@
+#ifndef DEBUG_DATA_SAVER_H
+#define DEBUG_DATA_SAVER_H
+
+#include <string>
+#include <vector>
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include <queue>
+#include <atomic>
+#include "VZNL_Types.h"
+
+class DebugDataSaver
+{
+public:
+    explicit DebugDataSaver(int maxThreads = 4);
+    ~DebugDataSaver();
+
+    // 异步保存点云数据（内部深拷贝数据，不阻塞调用线程）
+    // timestamp: 检测时刻的时间戳，格式 YYYYMMDD_HHmmss
+    // 调用方需在持有数据锁时调用，DeepCopyData 会在调用线程完成深拷贝
+    void SaveAsync(const std::string& basePath,
+                   const std::string& timestamp,
+                   const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& data,
+                   const std::string& deviceName = "");
+
+    // 停止所有工作线程（等待队列中任务完成后退出）
+    void Stop();
+
+private:
+    struct SaveTask {
+        std::string filePath;
+        std::string deviceName;
+        std::vector<std::pair<EVzResultDataType, SVzLaserLineData>> data;
+    };
+
+    void WorkerThread();
+
+    // 深拷贝检测数据（含原始指针数组的完整拷贝）
+    static std::vector<std::pair<EVzResultDataType, SVzLaserLineData>> DeepCopyData(
+        const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& src);
+
+    // 释放深拷贝的数据
+    static void FreeData(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& data);
+
+    // 生成带日期目录的完整保存路径: basePath/YYYYMMDD/pointcloud[_deviceName]_YYYYMMDD_HHmmss_NNN.txt
+    // timestamp: 检测时刻的时间戳，格式 YYYYMMDD_HHmmss
+    // deviceName: 设备名称（为空时不包含在文件名中）
+    std::string GenerateSavePath(const std::string& basePath, const std::string& timestamp, const std::string& deviceName = "");
+
+    int m_maxThreads;
+    std::vector<std::thread> m_workers;
+    std::queue<SaveTask> m_taskQueue;
+    std::mutex m_queueMutex;
+    std::condition_variable m_queueCondition;
+    std::atomic<bool> m_running;
+    std::atomic<int> m_taskCounter{0};
+};
+
+#endif // DEBUG_DATA_SAVER_H

AppUtils/AppCommon/Src/BasePresenter.cpp

@@ -39,6 +39,9 @@ BasePresenter::~BasePresenter()
     // 停止检测线程
     StopAlgoDetectThread();
 
+    // 停止调试数据异步存储
+    m_debugDataSaver.Stop();
+
     // 释放检测数据缓存中的动态内存
     ClearDetectionDataCache();
 
@@ -282,12 +285,13 @@ int BasePresenter::InitCamera(std::vector<DeviceInfo>& cameraList, bool bRGB, bo
     LOG_INFO("[BasePresenter] init eyedevice list\n");
     // 初始化相机列表，预分配空间
     m_vrEyeDeviceList.resize(cameraCount, std::make_pair("", nullptr));
+    LOG_INFO("[BasePresenter] camera count : %d\n", cameraCount);
     for(int i = 0; i < cameraCount; i++)
     {
         m_vrEyeDeviceList[i] = std::make_pair(cameraList[i].name, nullptr);
+        LOG_INFO("[BasePresenter] camera %d name : %s, ip : %s\n", i, cameraList[i].name.c_str(), cameraList[i].ip.c_str());
     }
 
-    LOG_INFO("[BasePresenter] camera count : %d\n", cameraCount);
 
     // 尝试初始化所有相机
     bool allCamerasConnected = true;
@@ -496,37 +500,41 @@ int BasePresenter::DetectTask()
         LOG_INFO("[BasePresenter] 检测数据缓存大小: %zu\n", m_detectionDataCache.size());
     }
 
-    // 2. 调试模式 - 保存点云数据
+    // 2. 调试模式 - 异步保存点云数据
     if (debugParam.enableDebug && debugParam.savePointCloud) {
         // 确定输出路径
         QString outputPath;
         if (debugParam.debugOutputPath.empty()) {
-            // 默认使用应用程序目录下的 debug 子目录
             outputPath = QCoreApplication::applicationDirPath() + "/debug";
         } else {
             outputPath = QString::fromStdString(debugParam.debugOutputPath);
         }
 
-        // 确保输出目录存在
+        // 确保输出根目录存在
         QDir dir(outputPath);
         if (!dir.exists()) {
             dir.mkpath(".");
         }
 
-        // 生成带时间戳的文件名
-        QString timestamp = QDateTime::currentDateTime().toString("yyyyMMdd_HHmmss");
-        QString fileName = QString("%1/pointcloud_%2.txt").arg(outputPath).arg(timestamp);
+        // 在检测时刻生成时间戳，确保文件名反映实际检测时间
+        std::string timestamp = QDateTime::currentDateTime().toString("yyyyMMdd_HHmmss").toStdString();
 
-        if (debugParam.printDetailLog) {
-            LOG_INFO("[BasePresenter] 保存点云数据到: %s\n", fileName.toStdString().c_str());
+        // 获取当前相机名称，用于生成更直观的文件名
+        std::string deviceName;
+        int arrayIndex = m_currentCameraIndex - 1;
+        LOG_INFO("[BasePresenter] currentCameraIndex: %d, arrayIndex: %d\n", m_currentCameraIndex, arrayIndex);
+        if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
+            deviceName = m_vrEyeDeviceList[arrayIndex].first;
         }
 
-        // 保存点云数据
-        int saveRet = SaveDetectionDataToFile(fileName.toStdString());
-        if (saveRet != SUCCESS) {
-            LOG_WARNING("[BasePresenter] 保存点云数据失败，错误码: %d\n", saveRet);
-        } else {
-            LOG_INFO("[BasePresenter] 点云数据保存成功\n");
+        if (debugParam.printDetailLog) {
+            LOG_INFO("[BasePresenter] 提交点云数据异步保存任务，路径: %s，时间: %s，设备: %s\n", outputPath.toStdString().c_str(), timestamp.c_str(), deviceName.c_str());
+        }
+
+        // 深拷贝数据后异步保存，不阻塞检测流程
+        {
+            std::lock_guard<std::mutex> lock(m_detectionDataMutex);
+            m_debugDataSaver.SaveAsync(outputPath.toStdString(), timestamp, m_detectionDataCache, deviceName);
         }
     }
 

AppUtils/AppCommon/Src/DebugDataSaver.cpp

@@ -0,0 +1,185 @@
+#include "DebugDataSaver.h"
+#include "LaserDataLoader.h"
+#include "VrLog.h"
+#include "VrError.h"
+#include <QDir>
+#include <QString>
+#include <cstring>
+
+DebugDataSaver::DebugDataSaver(int maxThreads)
+    : m_maxThreads(std::max(1, std::min(maxThreads, 4)))
+    , m_running(true)
+{
+    for (int i = 0; i < m_maxThreads; ++i) {
+        m_workers.emplace_back(&DebugDataSaver::WorkerThread, this);
+    }
+    LOG_INFO("[DebugDataSaver] 已启动 %d 个存储线程\n", m_maxThreads);
+}
+
+DebugDataSaver::~DebugDataSaver()
+{
+    Stop();
+}
+
+void DebugDataSaver::Stop()
+{
+    if (!m_running.exchange(false)) {
+        return;
+    }
+
+    m_queueCondition.notify_all();
+
+    for (auto& worker : m_workers) {
+        if (worker.joinable()) {
+            worker.join();
+        }
+    }
+    m_workers.clear();
+
+    // 释放队列中未处理的任务
+    while (!m_taskQueue.empty()) {
+        FreeData(m_taskQueue.front().data);
+        m_taskQueue.pop();
+    }
+
+    LOG_INFO("[DebugDataSaver] 已停止\n");
+}
+
+void DebugDataSaver::SaveAsync(const std::string& basePath, const std::string& timestamp, const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& data, const std::string& deviceName)
+{
+    if (data.empty() || !m_running) return;
+
+    SaveTask task;
+    task.deviceName = deviceName;
+    task.filePath = GenerateSavePath(basePath, timestamp, deviceName);
+    task.data = DeepCopyData(data);
+
+    {
+        std::lock_guard<std::mutex> lock(m_queueMutex);
+        m_taskQueue.push(std::move(task));
+    }
+    m_queueCondition.notify_one();
+}
+
+void DebugDataSaver::WorkerThread()
+{
+    LaserDataLoader dataLoader;
+
+    while (true) {
+        SaveTask task;
+        {
+            std::unique_lock<std::mutex> lock(m_queueMutex);
+            m_queueCondition.wait(lock, [this] {
+                return !m_taskQueue.empty() || !m_running;
+            });
+
+            if (!m_running && m_taskQueue.empty()) {
+                break;
+            }
+            if (m_taskQueue.empty()) {
+                continue;
+            }
+
+            task = std::move(m_taskQueue.front());
+            m_taskQueue.pop();
+        }
+
+        int lineNum = static_cast<int>(task.data.size());
+        float scanSpeed = 0.0f;
+        int maxTimeStamp = 0;
+        int clockPerSecond = 0;
+
+        int result = dataLoader.SaveLaserScanData(task.filePath, task.data, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
+
+        if (result == SUCCESS) {
+            LOG_INFO("[DebugDataSaver] 保存成功: %s (%d行)\n", task.filePath.c_str(), lineNum);
+        } else {
+            LOG_ERROR("[DebugDataSaver] 保存失败: %s, 错误: %s\n", task.filePath.c_str(), dataLoader.GetLastError().c_str());
+        }
+
+        FreeData(task.data);
+    }
+}
+
+std::vector<std::pair<EVzResultDataType, SVzLaserLineData>> DebugDataSaver::DeepCopyData(
+    const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& src)
+{
+    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>> dst;
+    dst.reserve(src.size());
+
+    for (const auto& item : src) {
+        EVzResultDataType dataType = item.first;
+        const SVzLaserLineData& srcLine = item.second;
+
+        SVzLaserLineData dstLine;
+        memset(&dstLine, 0, sizeof(SVzLaserLineData));
+
+        if (srcLine.nPointCount > 0) {
+            if (dataType == keResultDataType_Position) {
+                dstLine.p3DPoint = new SVzNL3DPosition[srcLine.nPointCount];
+                if (srcLine.p3DPoint) {
+                    memcpy(dstLine.p3DPoint, srcLine.p3DPoint, sizeof(SVzNL3DPosition) * srcLine.nPointCount);
+                }
+                dstLine.p2DPoint = new SVzNL2DPosition[srcLine.nPointCount];
+                if (srcLine.p2DPoint) {
+                    memcpy(dstLine.p2DPoint, srcLine.p2DPoint, sizeof(SVzNL2DPosition) * srcLine.nPointCount);
+                }
+            } else if (dataType == keResultDataType_PointXYZRGBA) {
+                dstLine.p3DPoint = new SVzNLPointXYZRGBA[srcLine.nPointCount];
+                if (srcLine.p3DPoint) {
+                    memcpy(dstLine.p3DPoint, srcLine.p3DPoint, sizeof(SVzNLPointXYZRGBA) * srcLine.nPointCount);
+                }
+                dstLine.p2DPoint = new SVzNL2DLRPoint[srcLine.nPointCount];
+                if (srcLine.p2DPoint) {
+                    memcpy(dstLine.p2DPoint, srcLine.p2DPoint, sizeof(SVzNL2DLRPoint) * srcLine.nPointCount);
+                }
+            }
+        }
+
+        dstLine.nPointCount = srcLine.nPointCount;
+        dstLine.llTimeStamp = srcLine.llTimeStamp;
+        dstLine.llFrameIdx = srcLine.llFrameIdx;
+        dstLine.nEncodeNo = srcLine.nEncodeNo;
+        dstLine.fSwingAngle = srcLine.fSwingAngle;
+        dstLine.bEndOnceScan = srcLine.bEndOnceScan;
+
+        dst.push_back(std::make_pair(dataType, dstLine));
+    }
+
+    return dst;
+}
+
+void DebugDataSaver::FreeData(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& data)
+{
+    LaserDataLoader loader;
+    loader.FreeLaserScanData(data);
+    data.clear();
+}
+
+std::string DebugDataSaver::GenerateSavePath(const std::string& basePath, const std::string& timestamp, const std::string& deviceName)
+{
+    // 从时间戳提取日期部分作为子文件夹名（前8位：YYYYMMDD）
+    std::string dateFolder = timestamp.substr(0, 8);
+
+    QString fullPath = QString::fromStdString(basePath) + "/" + QString::fromStdString(dateFolder);
+
+    QDir dir(fullPath);
+    if (!dir.exists()) {
+        dir.mkpath(".");
+    }
+
+    int taskId = m_taskCounter.fetch_add(1);
+    QString fileName;
+    if (!deviceName.empty()) {
+        fileName = QString("%1/%2_%3_%4.txt").arg(fullPath)
+                        .arg(taskId, 4, 10, QChar('0'))
+                       .arg(QString::fromStdString(deviceName))
+                       .arg(QString::fromStdString(timestamp));
+    } else {
+        fileName = QString("%1/pointcloud_%2_%3.txt").arg(fullPath)
+                       .arg(QString::fromStdString(timestamp))
+                       .arg(taskId, 4, 10, QChar('0'));
+    }
+
+    return fileName.toStdString();
+}

AppUtils/UICommon/Inc/DeviceStatusWidget.h

@@ -40,7 +40,8 @@ public:
     void setCamera2Name(const QString& name);
 
     // 设置相机数量（用于控制相机二的显示和布局方向）
-    void setCameraCount(int cameraCount);
+    // cameraCount>=2 时 horizontal 有效：true=横向不调整布局，false=纵向（默认）
+    void setCameraCount(int cameraCount, bool horizontal = false);
 
     // 设置机械臂是否可见（默认可见）
     void setRobotVisible(bool visible);
@@ -76,6 +77,9 @@ private:
     // 相机数量
     int m_cameraCount;
 
+    // 双相机布局方向（true=横向，false=纵向）
+    bool m_horizontalLayout;
+
     // 相机是否可点击
     bool m_cameraClickable;
 

AppUtils/UICommon/Src/DeviceStatusWidget.cpp

@@ -13,6 +13,7 @@ DeviceStatusWidget::DeviceStatusWidget(QWidget *parent)
     , m_camera2Name("")
     , m_robotVisible(true)
     , m_cameraCount(1)
+    , m_horizontalLayout(false)
     , m_cameraClickable(true)
 {
     ui->setupUi(this);
@@ -235,13 +236,14 @@ void DeviceStatusWidget::updateSerialStatus(bool isConnected)
 }
 
 // 设置相机数量（用于控制相机二的显示和布局方向）
-void DeviceStatusWidget::setCameraCount(int cameraCount)
+void DeviceStatusWidget::setCameraCount(int cameraCount, bool horizontal)
 {
-    LOG_DEBUG("setCameraCount cameraCount: %d \n", cameraCount);
+    LOG_DEBUG("setCameraCount cameraCount: %d, horizontal: %d\n", cameraCount, horizontal);
 
     // 检查是否在主线程中
     if (QThread::currentThread() == this->thread()) {
         m_cameraCount = cameraCount;
+        m_horizontalLayout = horizontal;
 
         // 如果相机数量小于2，隐藏相机二相关的UI元素
         bool showCamera2 = (cameraCount >= 2);
@@ -261,12 +263,15 @@ void DeviceStatusWidget::setCameraCount(int cameraCount)
             }
         }
 
-        // 更新布局
+        // 横向布局时不需要调整布局
+        if (!horizontal) {
             updateLayout();
+        }
     } else {
         // 在其他线程中，使用队列方式确保线程安全
-        QMetaObject::invokeMethod(this, [this, cameraCount]() {
+        QMetaObject::invokeMethod(this, [this, cameraCount, horizontal]() {
             m_cameraCount = cameraCount;
+            m_horizontalLayout = horizontal;
 
             // 如果相机数量小于2，隐藏相机二相关的UI元素
             bool showCamera2 = (cameraCount >= 2);
@@ -286,8 +291,10 @@ void DeviceStatusWidget::setCameraCount(int cameraCount)
                 }
             }
 
-            // 更新布局
+            // 横向布局时不需要调整布局
+            if (!horizontal) {
                 updateLayout();
+            }
         }, Qt::QueuedConnection);
     }
 }

GrabBagPrj/AppList.md

@@ -8,15 +8,15 @@
 | 2 | 皮带撕裂 | BeltTearingServer | 2.0.8.1 |
 | 3 | 孔洞检测 | HoleDetection | 1.1.6.2 |
 | 4 | 棒材定位 | RodAndBarPosition | 1.1.0.1 |
-| 5 | 车轮拱高测量 | WheelMeasure | 1.1.5.1 |
+| 5 | 车轮拱高测量 | WheelMeasure | 1.1.6.1 |
 | 6 | 定子定位 | StatorPosition | 1.0.0.1 |
 | 7 | 焊接 | LapWeld | 1.0.0.1 |
 | 8 | 工件定位 | Workpiece | 1.0.3.0 |
 | 9 | 颗粒尺寸检测 | ParticleSize | 1.0.0.0 |
 | 10 | 双目标记检测 | BinocularMarkServer | 1.0.0.4 |
 | 11 | 铁路隧道槽道测量 | TunnelChannel | 1.0.0.3 |
-| 12 | 螺杆定位 | ScrewPosition | 1.1.5.3 |
+| 12 | 螺杆定位 | ScrewPosition | 1.1.6.1 |
 | 13 | 包裹拆线位置定位 | BagThreadPosition | 1.0.0.4 |
-| 14 | 工件孔定位 | WorkpieceHole | 1.1.3.1 |
+| 14 | 工件孔定位 | WorkpieceHole | 1.1.3.2 |
 | 16 | 坑孔定位 | HolePitPosition | 无 |
 

Utils

@@ -1 +1 @@
-Subproject commit 598cd176f5390520aa400dbe8cb7cc7b7a213b91
+Subproject commit c088ad39c4b0ee5d41d9a6ec2ca5f1efdaea9bf6