编译ARM应用 & 调整撕裂协议文档

App/BeltTearing/BeltTearingServer/Version.h

@@ -1,29 +1,29 @@
-#ifndef VERSION_H
+#ifndef VERSION_H
-#define VERSION_H
+#define VERSION_H
-
+
-#define BELT_TEARING_SERVER_VERSION_STRING   "2.0.6"
+#define BELT_TEARING_SERVER_VERSION_STRING   "2.0.7"
-#define BELT_TEARING_SERVER_VERSION_BUILD    "1"
+#define BELT_TEARING_SERVER_VERSION_BUILD    "1"
-#define BELT_TEARING_SERVER_PRODUCT_NAME     "BeltTearingServer"
+#define BELT_TEARING_SERVER_PRODUCT_NAME     "BeltTearingServer"
-#define BELT_TEARING_SERVER_COMPANY_NAME     "VisionRobot"
+#define BELT_TEARING_SERVER_COMPANY_NAME     "VisionRobot"
-#define BELT_TEARING_SERVER_COPYRIGHT        "Copyright (C) 2024-2025 VisionRobot. All rights reserved."
+#define BELT_TEARING_SERVER_COPYRIGHT        "Copyright (C) 2024-2025 VisionRobot. All rights reserved."
-#define BELT_TEARING_SERVER_DESCRIPTION      "Belt Tearing Detection Server with Camera Integration"
+#define BELT_TEARING_SERVER_DESCRIPTION      "Belt Tearing Detection Server with Camera Integration"
-
+
-// 构建信息
+// 构建信息
-#define BELT_TEARING_SERVER_BUILD_DATE       __DATE__
+#define BELT_TEARING_SERVER_BUILD_DATE       __DATE__
-#define BELT_TEARING_SERVER_BUILD_TIME       __TIME__
+#define BELT_TEARING_SERVER_BUILD_TIME       __TIME__
-
+
-#ifdef _WIN32
+#ifdef _WIN32
-    #define BELT_TEARING_SERVER_PLATFORM     "Windows"
+    #define BELT_TEARING_SERVER_PLATFORM     "Windows"
-#elif __linux__
+#elif __linux__
-    #define BELT_TEARING_SERVER_PLATFORM     "Linux"
+    #define BELT_TEARING_SERVER_PLATFORM     "Linux"
-#else
+#else
-    #define BELT_TEARING_SERVER_PLATFORM     "Unknown"
+    #define BELT_TEARING_SERVER_PLATFORM     "Unknown"
-#endif
+#endif
-
+
-#ifdef _DEBUG
+#ifdef _DEBUG
-    #define BELT_TEARING_SERVER_BUILD_TYPE   "Debug"
+    #define BELT_TEARING_SERVER_BUILD_TYPE   "Debug"
-#else
+#else
-    #define BELT_TEARING_SERVER_BUILD_TYPE   "Release"
+    #define BELT_TEARING_SERVER_BUILD_TYPE   "Release"
-#endif
+#endif
-
+
-#endif // VERSION_H
+#endif // VERSION_H

App/BeltTearing/BeltTearingServer/Version.md

@@ -1,3 +1,7 @@
+# 2.0.7
+## build_1 2026-02-21
+1. 增加实时传输功能
+
 # 2.0.6
 ## build_1 2026-02-03
 1. 增加授权

App/BeltTearing/Doc/撕裂TCP通信协议.md

@@ -1,18 +1,19 @@
 # 皮带撕裂检测系统 TCP 通信协议
 
 ## 版本
-版本: 1.3
+版本: 1.4
-日期: 2026-02-12
+日期: 2026-02-21
 
 ---
 ### 版本历史
 
-| 版本 | 日期       | 修改内容         | 作者  |
+| 版本 | 日期       | 修改内容         |
-|------|------------|------------------|-------|
+|------|------------|------------------|
-| 1.3  | 2026-02-12 | 增加实时传输检测结果功能(SET_REALTIME/REALTIME_RESULT) |  |
+| 1.4  | 2026-02-21 | 开启实时上报时不再发送DETECT_RESULT，避免重复输出；<br/>增加CMD汇总表格 |
-| 1.2  | 2025-11-30 | 增加最大撕裂ID字段(maxId) |  |
+| 1.3  | 2026-02-12 | 增加实时传输检测结果功能(SET_REALTIME/REALTIME_RESULT) | 
-| 1.1  | 2025-11-16 | 修改协议长度的格式 |  |
+| 1.2  | 2025-11-30 | 增加最大撕裂ID字段(maxId) | 
-| 1.0  | 2025-11-11 | 初始版本         |  |
+| 1.1  | 2025-11-16 | 修改协议长度的格式 | 
+| 1.0  | 2025-11-11 | 初始版本         | 
 
 ---
 
@@ -36,6 +37,19 @@
 - 支持命令应答机制
 - UTF-8编码
 
+### 1.3 CMD 汇总表
+
+| msgType | 方向 | 说明 | 详细章节 |
+|---------|------|------|----------|
+| `DETECT_RESULT` | 服务器 → 客户端 | 撕裂检测结果上报（历史最大值），<br/>仅发送给**未开启**实时传输的客户端 | 4.1 |
+| `REALTIME_RESULT` | 服务器 → 客户端 | 实时检测结果上报（所有撕裂详细数据），<br/>仅发送给**已开启**实时传输的客户端 | 4.2 |
+| `SET_SPEED` | 客户端 → 服务器 | 设置皮带速度（mm/s） | 5.1 |
+| `SET_CONTROL` | 客户端 → 服务器 | 启动/停止检测 | 5.2 |
+| `SET_REALTIME` | 客户端 → 服务器 | 开启/关闭实时传输 | 5.3 |
+| `CMD_RESPONSE` | 服务器 → 客户端 | 控制命令的统一应答 | 6.1 |
+| `HEARTBEAT` | 客户端 → 服务器 | 心跳消息 | 9.1 |
+| `HEARTBEAT_ACK` | 服务器 → 客户端 | 心跳应答 | 9.1 |
+
 ---
 
 ## 2. 数据帧格式
@@ -89,7 +103,6 @@
 ### 4.1 撕裂检测结果上报
 
 **消息类型**: `DETECT_RESULT`
-
 **JSON格式**:
 ```json
 {
@@ -124,15 +137,12 @@
     "visimg": "/9j/4AAQSkZJRgABAQEAYABgAAD..."
 }
 ```
-
 ---
 
 ### 4.2 实时检测结果上报
-
 当客户端开启实时传输功能后，服务器在每次检测完成时主动上报检测结果，包含所有撕裂的详细数据。
 
 **消息类型**: `REALTIME_RESULT`
-
 **JSON格式**:
 ```json
 {
@@ -153,13 +163,6 @@
             "length": 85,
             "width": 20,
             "depth": 5
-        },
-        {
-            "id": 10003,
-            "status": 1,
-            "length": 42,
-            "width": 15,
-            "depth": 3
         }
     ],
     "visimg": "iVBORw0KGgoAAAANSUhEUgAAAAUA..."
@@ -200,7 +203,7 @@
 - 实时传输功能需要客户端通过 `SET_REALTIME` 命令开启
 - 开启后，服务器每次完成一帧检测即上报一次结果
 - 关闭实时传输后，服务器停止上报 `REALTIME_RESULT` 消息
-- `REALTIME_RESULT` 与 `DETECT_RESULT` 独立，互不影响
+- `REALTIME_RESULT` 与 `DETECT_RESULT` 互斥：开启实时传输的客户端只收到 `REALTIME_RESULT`，未开启的客户端只收到 `DETECT_RESULT`
 - 当 count 为 0 时，tears 为空数组 `[]`
 
 **示例**（无撕裂时）:

Module/ChessboardDetector/ChessboardDetector.pro

@@ -1,47 +1,47 @@
-TEMPLATE = lib
+TEMPLATE = lib
-CONFIG += staticlib c++11
+CONFIG += staticlib c++11
-DEFINES += CHESSBOARDDETECTOR_LIBRARY
+DEFINES += CHESSBOARDDETECTOR_LIBRARY
-
+
-# 包含路径
+# 包含路径
-INCLUDEPATH += ./Inc
+INCLUDEPATH += ./Inc
-INCLUDEPATH += ./_Inc
+INCLUDEPATH += ./_Inc
-INCLUDEPATH += ../../Utils/VrCommon/Inc
+INCLUDEPATH += ../../Utils/VrCommon/Inc
-
+
-# 头文件
+# 头文件
-HEADERS += \
+HEADERS += \
-    Inc/IChessboardDetector.h \
+    Inc/IChessboardDetector.h \
-    _Inc/ChessboardDetector.h
+    _Inc/ChessboardDetector.h
-
+
-# 源文件
+# 源文件
-SOURCES += \
+SOURCES += \
-    Src/ChessboardDetector.cpp
+    Src/ChessboardDetector.cpp
-
+
-# OpenCV 配置
+# OpenCV 配置
-win32 {
+win32 {
-    # Windows 平台使用 OpenCV 3.2.0
+    # Windows 平台使用 OpenCV 3.2.0
-    INCLUDEPATH += $$PWD/../../SDK/OpenCV320/include
+    INCLUDEPATH += $$PWD/../../SDK/OpenCV320/include
-
+
-    CONFIG(release, debug|release): {
+    CONFIG(release, debug|release): {
-        LIBS += -L$$PWD/../../SDK/OpenCV320/x64/vc14/lib
+        LIBS += -L$$PWD/../../SDK/OpenCV320/x64/vc14/lib
-        LIBS += -lopencv_world320
+        LIBS += -lopencv_world320
-    }
+    }
-    else:CONFIG(debug, debug|release): {
+    else:CONFIG(debug, debug|release): {
-        LIBS += -L$$PWD/../../SDK/OpenCV320/x64/vc14/lib
+        LIBS += -L$$PWD/../../SDK/OpenCV320/x64/vc14/lib
-        LIBS += -lopencv_world320d
+        LIBS += -lopencv_world320d
-    }
+    }
-
+
-    QMAKE_CXXFLAGS += /utf-8
+    QMAKE_CXXFLAGS += /utf-8
-    TARGET = ChessboardDetector
+    TARGET = ChessboardDetector
-}
+}
-
+
-unix {
+unix {
-    # Unix/Linux 平台使用 OpenCV 3.2.0 ARM
+    # Unix/Linux 平台使用 OpenCV 3.2.0 ARM
-    INCLUDEPATH += $$PWD/../../SDK/OpenCV320/Arm/aarch64/include
+    INCLUDEPATH += $$PWD/../../SDK/OpenCV320/include
-    LIBS += -L$$PWD/../../SDK/OpenCV320/Arm/aarch64
+    LIBS += -L$$PWD/../../SDK/OpenCV320/Arm/aarch64
-    LIBS += -lopencv_core -lopencv_imgproc -lopencv_calib3d -lopencv_features2d
+    LIBS += -lopencv_core -lopencv_imgproc -lopencv_calib3d -lopencv_features2d
-
+
-    QMAKE_CXXFLAGS += -fPIC
+    QMAKE_CXXFLAGS += -fPIC
-    target.path = /usr/lib
+    target.path = /usr/lib
-}
+}
-
+
-!isEmpty(target.path): INSTALLS += target
+!isEmpty(target.path): INSTALLS += target

Utils

@@ -1 +1 @@
-Subproject commit ed67ff85ff3bfdd54fb4b85899086a703853128b
+Subproject commit 7071da62403ea703981ffe77fff948266b66fdf3