增加串口接收线程支持，重构串口数据处理逻辑

GrabBagApp/GrabBagApp.pro

@@ -142,6 +142,15 @@ win32 {
     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

GrabBagApp/Presenter/Inc/SerialProtocol.h

@@ -6,6 +6,12 @@
 #include <string>
 #include <QTimer>
 #include <QObject>
+#include <QThread>
+#include <QMutex>
+#include <QMutexLocker>
+#include <atomic>
+#include <thread>
+#include <mutex>
 #include "ProtocolCommon.h"
 
 #include <QSerialPort>
@@ -114,11 +120,36 @@ private:
      */
     std::string BuildDataProtocol(const MultiTargetData& multiTargetData, uint16_t cameraId);
 
+    /**
+     * @brief 阻塞式串口数据接收线程函数
+     */
+    void SerialReceiveThreadFunction();
+
+    /**
+     * @brief 启动串口接收线程
+     */
+    void StartReceiveThread();
+
+    /**
+     * @brief 停止串口接收线程
+     */
+    void StopReceiveThread();
+
+    /**
+     * @brief 处理接收到的数据（线程安全）
+     */
+    void ProcessReceivedData();
+
 private:
     QSerialPort*            m_pSerialPort;          // 串口对象
     SerialStatus            m_serialStatus;         // 串口状态
     QString                 m_receiveBuffer;        // 接收缓冲区
     
+    // 线程相关
+    std::thread             m_receiveThread;        // 接收线程
+    std::atomic<bool>       m_threadRunning;       // 线程运行标志
+    std::mutex              m_bufferMutex;          // 缓冲区互斥锁
+    
     // 回调函数
     ConnectionCallback      m_connectionCallback;   // 连接状态回调
     WorkSignalCallback      m_workSignalCallback;   // 工作信号回调

GrabBagApp/Presenter/Src/GrabBagPresenter.cpp

@@ -228,7 +228,7 @@ int GrabBagPresenter::Init()
     m_pStatus->OnStatusUpdate("设备初始化完成");
 
     CheckAndUpdateWorkStatus();
-    
+#if 0
     // 初始化配置管理器
     m_pConfigManager = std::make_unique<ConfigManager>();
     if (!m_pConfigManager->Initialize(configPath.toStdString())) {
@@ -239,7 +239,7 @@ int GrabBagPresenter::Init()
     
     // 注册为配置变化监听器
     m_pConfigManager->AddConfigChangeListener(std::shared_ptr<IConfigChangeListener>(this, [](IConfigChangeListener*){}));
-    
+#endif
     m_pStatus->OnStatusUpdate("配置管理器初始化成功");
     LOG_INFO("ConfigManager initialized successfully\n");
     
@@ -947,9 +947,8 @@ void GrabBagPresenter::_SendDetectionResultToRobot(const DetectionResult& detect
         if (m_pStatus) {
             m_pStatus->OnStatusUpdate("没有检测到目标，发送空的多目标数据");
         }
-        return;
+        // 即使检测结果为0，也要发送空数据，所以不return，继续执行后面的发送逻辑
-    }
+    } else {
-    
         // 获取检测到的目标位置（已经是机械臂坐标系）
         const auto& positions = detectionResult.positions;
         multiTargetData.count = static_cast<uint16_t>(positions.size());
@@ -968,6 +967,7 @@ void GrabBagPresenter::_SendDetectionResultToRobot(const DetectionResult& detect
             // 添加到多目标数据
             multiTargetData.targets.push_back(robotTarget);
         }
+    }
     
     // 发送到机械臂（网络ModbusTCP）
     bool robotSent = false;

GrabBagApp/Presenter/Src/SerialProtocol.cpp

@@ -6,6 +6,8 @@
 #include <QThread>
 #include <sstream>
 #include <iomanip>
+#include <chrono>
+#include <thread>
 
 #include <QSerialPortInfo>
 
@@ -19,16 +21,20 @@ const QString SerialProtocol::SEPARATOR = ",";
 SerialProtocol::SerialProtocol(QObject* parent)
     : QObject(parent)
     , m_serialStatus(STATUS_DISCONNECTED)
+    , m_threadRunning(false)
 {
     m_pSerialPort = new QSerialPort(this);
     
-    // 连接信号和槽
+    // 连接信号和槽（保留原有的信号槽机制作为备用）
     connect(m_pSerialPort, &QSerialPort::readyRead, this, &SerialProtocol::OnSerialDataReceived);
     connect(m_pSerialPort, &QSerialPort::errorOccurred, this, &SerialProtocol::OnSerialError);
 }
 
 SerialProtocol::~SerialProtocol()
 {
+    // 先停止接收线程
+    StopReceiveThread();
+    // 再关闭串口
     CloseSerial();
 }
 
@@ -96,6 +102,9 @@ int SerialProtocol::OpenSerial(const std::string& portName, int baudRate,
     m_serialStatus = STATUS_CONNECTED;
     LOG_INFO("Serial port opened successfully: %s\n", portName.c_str());
     
+    // 启动接收线程
+    StartReceiveThread();
+    
     // 触发连接状态回调
     if (m_connectionCallback) {
         m_connectionCallback(true);
@@ -108,6 +117,11 @@ void SerialProtocol::CloseSerial()
 {
     if (m_pSerialPort && m_pSerialPort->isOpen()) {
         LOG_INFO("Closing serial port: %s\n", m_pSerialPort->portName().toStdString().c_str());
+        
+        // 先停止接收线程
+        StopReceiveThread();
+        
+        // 再关闭串口
         m_pSerialPort->close();
         m_serialStatus = STATUS_DISCONNECTED;
         
@@ -163,29 +177,32 @@ bool SerialProtocol::IsOpen() const
 
 void SerialProtocol::OnSerialDataReceived()
 {
-    LOG_DEBUG("OnSerialDataReceived() called\n");
+    // 注意：这个方法现在主要作为Qt信号槽的备用机制
-    LOG_DEBUG("OnSerialDataReceived() called\n");
+    // 主要的数据接收由独立线程处理
-    LOG_DEBUG("OnSerialDataReceived() called\n");
+    LOG_DEBUG("[Signal] OnSerialDataReceived() called (backup mechanism)\n");
-    LOG_DEBUG("OnSerialDataReceived() called\n");
-    LOG_DEBUG("OnSerialDataReceived() called\n");
     
+    // 如果线程正在运行，优先使用线程处理
+    if (m_threadRunning.load()) {
+        LOG_DEBUG("[Signal] Thread is running, skipping signal-based processing\n");
+        return;
+    }
     
     if (!m_pSerialPort) {
-        LOG_ERROR("Serial port is null in OnSerialDataReceived\n");
+        LOG_ERROR("[Signal] Serial port is null in OnSerialDataReceived\n");
         return;
     }
     
     if (!m_pSerialPort->isOpen()) {
-        LOG_ERROR("Serial port is not open in OnSerialDataReceived\n");
+        LOG_ERROR("[Signal] Serial port is not open in OnSerialDataReceived\n");
         return;
     }
     
     // 检查可用字节数
     qint64 bytesAvailable = m_pSerialPort->bytesAvailable();
-    LOG_INFO("Bytes available to read: %lld\n", bytesAvailable);
+    LOG_INFO("[Signal] Bytes available to read: %lld\n", bytesAvailable);
     
     if (bytesAvailable <= 0) {
-        LOG_WARNING("No bytes available but readyRead signal was triggered\n");
+        LOG_WARNING("[Signal] No bytes available but readyRead signal was triggered\n");
         return;
     }
     
@@ -193,18 +210,21 @@ void SerialProtocol::OnSerialDataReceived()
     QByteArray data = m_pSerialPort->readAll();
     QString receivedData = QString::fromUtf8(data);
     
-    LOG_INFO("Actually read %d bytes from serial port\n", data.size());
+    LOG_INFO("[Signal] Actually read %d bytes from serial port\n", data.size());
     
     if (data.isEmpty()) {
-        LOG_WARNING("readAll() returned empty data\n");
+        LOG_WARNING("[Signal] readAll() returned empty data\n");
         return;
     }
     
-    // 添加到接收缓冲区
+    // 使用互斥锁保护缓冲区
+    {
+        std::lock_guard<std::mutex> lock(m_bufferMutex);
         m_receiveBuffer += receivedData;
+    }
     
     // 打印接收到的数据
-    LOG_INFO("Received [%d bytes]: \"%s\"\n", data.size(), receivedData.toStdString().c_str());
+    LOG_INFO("[Signal] Received [%d bytes]: \"%s\"\n", data.size(), receivedData.toStdString().c_str());
     
     // 如果包含不可打印字符，额外打印ASCII码
     bool hasNonPrintable = false;
@@ -224,34 +244,11 @@ void SerialProtocol::OnSerialDataReceived()
                 asciiInfo += QString("[%1] ").arg((unsigned char)c);
             }
         }
-        LOG_INFO("%s\n", asciiInfo.toStdString().c_str());
+        LOG_INFO("[Signal] %s\n", asciiInfo.toStdString().c_str());
     }
     
-    // 查找完整的协议帧
+    // 处理接收到的数据
-    int startIndex = -1;
+    ProcessReceivedData();
-    int endIndex = -1;
-    
-    while ((startIndex = m_receiveBuffer.indexOf(PROTOCOL_START)) != -1) {
-        endIndex = m_receiveBuffer.indexOf(PROTOCOL_END, startIndex);
-        if (endIndex != -1) {
-            // 提取完整的协议帧
-            QString protocolFrame = m_receiveBuffer.mid(startIndex, endIndex - startIndex + 1);
-            
-            // 解析协议数据
-            ParseProtocolData(protocolFrame);
-            
-            // 移除已处理的数据
-            m_receiveBuffer.remove(0, endIndex + 1);
-        } else {
-            // 没有找到结束标识，等待更多数据
-            break;
-        }
-    }
-    
-    // 如果缓冲区太大，清空一部分（防止内存溢出）
-    if (m_receiveBuffer.length() > 1024) {
-        m_receiveBuffer.clear();
-    }
 }
 
 void SerialProtocol::OnSerialError(QSerialPort::SerialPortError error)
@@ -331,22 +328,32 @@ void SerialProtocol::ParseProtocolData(const QString& data)
     // 按分隔符分割数据
     QStringList parts = cleanData.split(SEPARATOR);
     
-    if (parts.isEmpty()) {
+    // 移除空的部分
-        LOG_WARNING("Empty protocol data received\n");
+    QStringList validParts;
+    for (const QString& part : parts) {
+        if (!part.isEmpty()) {
+            validParts.append(part);
+        }
+    }
+    
+    
+    if (validParts.isEmpty()) {
+        LOG_WARNING("No valid parts found in protocol data\n");
         return;
     }
     
-    QString command = parts[0];
+    QString command = validParts[0];
+    LOG_DEBUG("Extracted command: '%s'\n", command.toStdString().c_str());
     
     if (command == CMD_START) {
-        // 处理开始命令：$,START,#
+        // 处理开始命令：$,START,# 或 $,START,cameraId,#
         LOG_INFO("Received START command\n");
         
         // 默认相机ID为1，如果有更多参数可以解析
         int cameraId = 1;
-        if (parts.size() > 1) {
+        if (validParts.size() > 1) {
             bool ok;
-            cameraId = parts[1].toInt(&ok);
+            cameraId = validParts[1].toInt(&ok);
             if (!ok) {
                 cameraId = 1;
             }
@@ -355,8 +362,7 @@ void SerialProtocol::ParseProtocolData(const QString& data)
         // 触发工作信号回调
         if (m_workSignalCallback) {
             bool result = m_workSignalCallback(true, cameraId);
-            LOG_INFO("Work signal callback result: %s, camera ID: %d\n", 
+            LOG_INFO("Work signal callback result: %s, camera ID: %d\n", result ? "success" : "failed", cameraId);
-                     result ? "success" : "failed", cameraId);
         }
         
         m_serialStatus = STATUS_WORKING;
@@ -400,11 +406,6 @@ int SerialProtocol::SendData(const std::string& data)
     // 立即刷新缓冲区
     m_pSerialPort->flush();
     
-    // 等待数据发送完成
-    if (!m_pSerialPort->waitForBytesWritten(3000)) {
-        LOG_ERROR("Timeout waiting for data to be written\n");
-        return -1;
-    }
     
     LOG_DEBUG("Sent %lld bytes to serial port\n", bytesWritten);
     return SUCCESS;
@@ -432,3 +433,118 @@ std::string SerialProtocol::BuildDataProtocol(const MultiTargetData& multiTarget
     
     return ss.str();
 }
+
+// 线程方法实现
+void SerialProtocol::StartReceiveThread()
+{
+    if (m_threadRunning.load()) {
+        LOG_WARNING("Receive thread is already running\n");
+        return;
+    }
+    
+    LOG_INFO("Starting serial receive thread\n");
+    m_threadRunning.store(true);
+    
+    // 启动接收线程
+    m_receiveThread = std::thread(&SerialProtocol::SerialReceiveThreadFunction, this);
+}
+
+void SerialProtocol::StopReceiveThread()
+{
+    if (!m_threadRunning.load()) {
+        LOG_DEBUG("Receive thread is not running\n");
+        return;
+    }
+    
+    LOG_INFO("Stopping serial receive thread\n");
+    m_threadRunning.store(false);
+    
+    // 等待线程结束
+    if (m_receiveThread.joinable()) {
+        m_receiveThread.join();
+        LOG_INFO("Serial receive thread stopped\n");
+    }
+}
+
+void SerialProtocol::SerialReceiveThreadFunction()
+{
+    LOG_INFO("Serial receive thread started\n");
+    
+    while (m_threadRunning.load()) {
+        // 检查串口是否打开
+        if (!m_pSerialPort || !m_pSerialPort->isOpen()) {
+            // 串口未打开，短暂休眠后继续检查
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            continue;
+        }
+        
+        try {
+            // 使用waitForReadyRead进行阻塞式等待，超时时间100ms
+            if (m_pSerialPort->waitForReadyRead(100)) {
+                // 有数据可读
+                qint64 bytesAvailable = m_pSerialPort->bytesAvailable();
+                if (bytesAvailable > 0) {
+                    LOG_INFO("[Thread] Bytes available to read: %lld\n", bytesAvailable);
+                    
+                    // 读取所有可用数据
+                    QByteArray data = m_pSerialPort->readAll();
+                    if (!data.isEmpty()) {
+                        QString receivedData = QString::fromUtf8(data);
+                        
+                        LOG_INFO("[Thread] Actually read %d bytes from serial port\n", data.size());
+                        LOG_INFO("[Thread] Received [%d bytes]: \"%s\"\n", data.size(), receivedData.toStdString().c_str());
+                        
+                        // 使用互斥锁保护缓冲区
+                        {
+                            std::lock_guard<std::mutex> lock(m_bufferMutex);
+                            m_receiveBuffer += receivedData;
+                        }
+                        
+                        // 处理接收到的数据
+                        ProcessReceivedData();
+                    }
+                }
+            }
+        } catch (const std::exception& e) {
+            LOG_ERROR("[Thread] Exception in receive thread: %s\n", e.what());
+        } catch (...) {
+            LOG_ERROR("[Thread] Unknown exception in receive thread\n");
+        }
+    }
+    
+    LOG_INFO("Serial receive thread finished\n");
+}
+
+void SerialProtocol::ProcessReceivedData()
+{
+    std::lock_guard<std::mutex> lock(m_bufferMutex);
+    
+    // 查找完整的协议帧
+    int startIndex = -1;
+    int endIndex = -1;
+    
+    while ((startIndex = m_receiveBuffer.indexOf(PROTOCOL_START)) != -1) {
+        endIndex = m_receiveBuffer.indexOf(PROTOCOL_END, startIndex);
+        if (endIndex != -1) {
+            // 提取完整的协议帧
+            QString protocolFrame = m_receiveBuffer.mid(startIndex, endIndex - startIndex + 1);
+            
+            LOG_INFO("[Thread] Found complete protocol frame: %s\n", protocolFrame.toStdString().c_str());
+            
+            // 解析协议数据
+            ParseProtocolData(protocolFrame);
+            
+            // 移除已处理的数据
+            m_receiveBuffer.remove(0, endIndex + 1);
+        } else {
+            // 没有找到结束标识，等待更多数据
+            break;
+        }
+    }
+    
+    // 如果缓冲区太大，清空一部分（防止内存溢出）
+    if (m_receiveBuffer.length() > 1024) {
+        LOG_WARNING("[Thread] Receive buffer too large (%d bytes), clearing\n", m_receiveBuffer.length());
+        m_receiveBuffer.clear();
+    }
+}

GrabBagApp/Version.h

@@ -3,8 +3,8 @@
 
 
 #define GRABBAG_VERSION_STRING "1.0.1"
-#define GRABBAG_BUILD_STRING "1"
+#define GRABBAG_BUILD_STRING "3"
-#define GRABBAG_FULL_VERSION_STRING "V1.0.1_1"
+#define GRABBAG_FULL_VERSION_STRING "V1.0.1_3"
 
 // 获取版本信息的便捷函数
 inline const char* GetGrabBagVersion() {

GrabBagApp/Version.md

@@ -1,8 +0,0 @@
-# 1.0.1
-```
-1. 增加串口通信
-```
-# 1.0.0
-```
-初始版本
-```

GrabBagPrj/Version/Version.md

@@ -1,3 +1,7 @@
+# 1.0.1 2025-07-14
+1. 增加串口通信
+
+
 # 1.0.0.7 2025-06-29
 1. 增加双相机界面： 通过配置文件config.xml 配置双相机参数，如果没有没有配置，搜索相机进行打开
 
@@ -12,22 +16,22 @@
 3. 修改log, config的目录。 存储在用户目录下->应用名下
 4. 增加应用只能启动一个
 5. 手眼标定矩阵
-```
+    ```
-[clib]
+    [clib]
-clib_0=1
+    clib_0=1
-clib_1=0
+    clib_1=0
-clib_2=0
+    clib_2=0
-clib_3=0
+    clib_3=0
-clib_4=0
+    clib_4=0
-clib_5=1
+    clib_5=1
-clib_6=0
+    clib_6=0
-clib_7=0
+    clib_7=0
-clib_8=0
+    clib_8=0
-clib_9=0
+    clib_9=0
-clib_10=1
+    clib_10=1
-clib_11=0
+    clib_11=0
-clib_12=0
+    clib_12=0
-clib_13=0
+    clib_13=0
-clib_14=0
+    clib_14=0
-clib_15=1
+    clib_15=1
-```
+    ```

Module/ShareMem/Inc/IVrShareMem.h

@@ -8,7 +8,7 @@
  * @brief 共享内存接口类
  * 提供跨平台的共享内存创建、映射、读写操作
  */
-class VRSHAREMEM_EXPORT IVrShareMem
+class IVrShareMem
 {
 public:
     virtual ~IVrShareMem() = default;
@@ -94,12 +94,12 @@ public:
  * @brief 创建共享内存实例
  * @return 共享内存实例指针
  */
-VRSHAREMEM_EXPORT IVrShareMem* CreateShareMemInstance();
+IVrShareMem* CreateShareMemInstance();
 
 /**
  * @brief 销毁共享内存实例
  * @param instance 实例指针
  */
-VRSHAREMEM_EXPORT void DestroyShareMemInstance(IVrShareMem* instance);
+void DestroyShareMemInstance(IVrShareMem* instance);
 
 #endif // IVRSHAREMEM_H 

Module/ShareMem/ShareMem.pro

@@ -1,6 +1,7 @@
 #CONFIG -= qt
 
 TEMPLATE = lib
+CONFIG += staticlib
 DEFINES += VRSHAREMEM_LIBRARY
 
 CONFIG += c++11

Module/ShareMem/Src/VrShareMem.cpp

@@ -300,12 +300,12 @@ bool VrShareMem::CheckBounds(size_t offset, size_t size) const
 }
 
 // 导出函数实现
-VRSHAREMEM_EXPORT IVrShareMem* CreateShareMemInstance()
+IVrShareMem* CreateShareMemInstance()
 {
     return new VrShareMem();
 }
 
-VRSHAREMEM_EXPORT void DestroyShareMemInstance(IVrShareMem* instance)
+void DestroyShareMemInstance(IVrShareMem* instance)
 {
     delete instance;
 } 

VrConfig/Inc/IVrConfig.h

@@ -17,7 +17,11 @@ struct DeviceInfo
  */
 struct SerialConfig
 {
+#ifdef _WIN32
+    std::string portName = "COM8";     // 串口名称
+#else
     std::string portName = "/dev/ttyS3";     // 串口名称
+#endif
     int baudRate = 115200;               // 波特率
     int dataBits = 8;                  // 数据位
     int stopBits = 1;                  // 停止位