拆包更新伯朗特的协议

App/GrabBag/Doc/伯朗特TCP协议对接.md

@@ -4,6 +4,7 @@
 
 | 版本 | 日期 | 修改内容 |
 |------|------|----------|
+| v1.3 | 2026-01-27 | 1.附加命令改为根据检测结果动态生成 <br/>2.PostCoordinateCommand配置项拆分为DsID、Address、SuccessValue、FailValue <br/>3.检测成功发送SuccessValue(默认10)，失败发送FailValue(默认12) |
 | v1.2 | 2026-01-24 | 1.架构改为视觉系统作为TCP服务端，机械臂作为客户端 <br/>2.移除Enabled配置，服务端始终启动 <br/>3.移除IpAddress配置，只需配置监听端口 <br/>4.camID回复与请求匹配 |
 | v1.1 | 2026-01-24 | 1.收到拍照命令不再回复结果 <br/>2.移除packID字段 <br/>3.旋转角度填到U，Angel改为Angle <br/>4.发送坐标后100ms发送附加命令 <br/>5.只发送第一个检测结果，并自动生成第二个坐标(Z+偏移量) <br/>6.端口默认改为5000 |
 | v1.0 | 2026-01-20 | 完善协议说明、添加字段详解、错误处理和使用示例 |
@@ -144,22 +145,56 @@
 
 **方向**：视觉系统 → 机械臂
 
-**说明**：发送坐标数据后100ms自动发送附加命令，内容可配置。
+**说明**：发送坐标数据后100ms自动发送附加命令，**根据检测结果动态生成**：
+- **检测成功**（有目标）：发送 SuccessValue（默认10）
+- **检测失败**（无目标）：发送 FailValue（默认12）
 
-**默认JSON格式**：
+**JSON格式**：
 ```json
 { "dsID":"www.hc-system.com.RemoteMonitor", "reqType":"command", "cmdData":["rewriteData","800","10","0"] }
 ```
 
-**配置方法**：在配置文件中设置 `PostCoordinateCommand` 字段，传入空字符串则不发送。
+**字段说明**：
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| dsID | String | 附加命令的数据源标识，可配置（PostCoordinateDsID） |
+| reqType | String | 固定为 "command" |
+| cmdData | Array | 命令数据数组 |
+
+**cmdData 数组说明**：
+
+| 索引 | 值 | 说明 |
+|------|------|------|
+| 0 | "rewriteData" | 固定命令类型 |
+| 1 | "800" | 地址，可配置（PostCoordinateAddress，默认800） |
+| 2 | "10" 或 "12" | 检测结果值：成功=SuccessValue(默认10)，失败=FailValue(默认12) |
+| 3 | "0" | 固定值 |
+
+**配置方法**：在配置文件中设置以下字段：
+- `PostCoordinateDsID`：附加命令的dsID，为空则不发送附加命令
+- `PostCoordinateAddress`：地址（默认800）
+- `PostCoordinateSuccessValue`：检测成功时的值（默认10）
+- `PostCoordinateFailValue`：检测失败时的值（默认12）
 
 ## 5. 配置说明
 
 视觉系统启动时自动启动TCP服务端，默认监听端口5000。机械臂作为客户端连接到视觉系统即可。
 
 主要配置项：
-- **监听端口**：默认5000，可在配置文件中修改
+
-- **数据源标识(dsID)**：默认 "www.hc-system.com.cam"，需与机械臂配置一致
+| 配置项 | 默认值 | 说明 |
+|------|------|------|
+| Port | 5000 | TCP服务端监听端口 |
+| DsID | www.hc-system.com.cam | 数据源标识，需与机械臂配置一致 |
+| ZOffset | 300.0 | 第二个坐标的Z轴偏移量 |
+| ZMin | -1500.0 | Z轴最小值限制 |
+| ZMax | 2500.0 | Z轴最大值限制 |
+| AngleOffset | 0.0 | 旋转角度补偿 |
+| PostCoordinateDsID | www.hc-system.com.RemoteMonitor | 附加命令的dsID，为空则不发送 |
+| PostCoordinateAddress | 800 | 附加命令的地址 |
+| PostCoordinateSuccessValue | 10 | 检测成功时发送的值 |
+| PostCoordinateFailValue | 12 | 检测失败时发送的值 |
 
 ## 6. 数据格式约束
 
@@ -215,7 +250,7 @@
     ]
 }
 
-// 100ms后发送附加命令
+// 100ms后发送附加命令（检测成功，发送SuccessValue=10）
 { "dsID":"www.hc-system.com.RemoteMonitor", "reqType":"command", "cmdData":["rewriteData","800","10","0"] }
 ```
 
@@ -233,6 +268,9 @@
         }
     ]
 }
+
+// 100ms后发送附加命令（检测失败，发送FailValue=12）
+{ "dsID":"www.hc-system.com.RemoteMonitor", "reqType":"command", "cmdData":["rewriteData","800","12","0"] }
 ```
 
 ## 8. 注意事项
@@ -245,7 +283,10 @@
    - 视觉系统发送坐标使用 "AddPoints"（注意大小写）
 5. **坐标系统**：所有坐标已通过手眼标定转换到机械臂坐标系，可直接使用
 6. **旋转角度**：旋转角度填入U字段，Angle字段固定为0
-7. **附加命令**：发送坐标后100ms自动发送附加命令，可通过配置文件设置
+7. **附加命令**：发送坐标后100ms自动发送附加命令，根据检测结果动态生成
+   - 检测成功（有目标）：发送 PostCoordinateSuccessValue（默认10）
+   - 检测失败（无目标）：发送 PostCoordinateFailValue（默认12）
+   - PostCoordinateDsID 为空则不发送附加命令
 8. **双坐标输出**：只取第一个检测结果，自动生成第二个坐标
    - ModelID=0：Z + ZOffset（偏移后的Z）
    - ModelID=1：原始Z

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

@@ -69,10 +69,13 @@ public:
     void SetDsID(const std::string& dsID);
 
     /**
-     * @brief 设置坐标发送后的附加命令
+     * @brief 设置坐标发送后附加命令的参数
-     * @param command 附加命令JSON字符串，为空则不发送
+     * @param dsID 附加命令的dsID
+     * @param address 附加命令的地址
+     * @param successValue 检测成功时的值
+     * @param failValue 检测失败时的值
      */
-    void SetPostCoordinateCommand(const std::string& command);
+    void SetPostCoordinateParams(const std::string& dsID, int address, int successValue, int failValue);
 
     /**
      * @brief 设置第二个坐标的Z轴偏移量
@@ -132,7 +135,10 @@ private:
     bool                                                m_bConnected;           // 连接状态
     uint16_t                                            m_nPort;                // TCP端口
     std::string                                         m_strDsID;              // 数据源标识
-    std::string                                         m_strPostCoordCmd;      // 坐标发送后的附加命令
+    std::string                                         m_strPostCoordDsID;     // 坐标发送后附加命令的dsID
+    int                                                 m_nPostCoordAddress;    // 坐标发送后附加命令的地址
+    int                                                 m_nPostCoordSuccessValue;  // 检测成功时的值
+    int                                                 m_nPostCoordFailValue;     // 检测失败时的值
     double                                              m_dZOffset;             // 第二个坐标Z轴偏移量
     double                                              m_dZMin;                // Z轴最小值
     double                                              m_dZMax;                // Z轴最大值

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

@@ -12,7 +12,10 @@ BolunteProtocol::BolunteProtocol()
     , m_bConnected(false)
     , m_nPort(5000)
     , m_strDsID("www.hc-system.com.cam")
-    , m_strPostCoordCmd(R"({ "dsID":"www.hc-system.com.RemoteMonitor", "reqType":"command", "cmdData":["rewriteData","800","10","0"] })")
+    , m_strPostCoordDsID("www.hc-system.com.RemoteMonitor")
+    , m_nPostCoordAddress(800)
+    , m_nPostCoordSuccessValue(10)
+    , m_nPostCoordFailValue(12)
     , m_dZOffset(300.0)
     , m_dZMin(-1500.0)
     , m_dZMax(2500.0)
@@ -132,12 +135,32 @@ int BolunteProtocol::SendCoordinateData(const MultiTargetData& multiTargetData)
     {
         LOG_INFO("Sent coordinate data: count=%d\n", multiTargetData.count);
 
-        // 100ms后发送附加命令
+        // 100ms后发送附加命令，根据检测结果拼接成功/失败值
-        if (!m_strPostCoordCmd.empty())
+        if (!m_strPostCoordDsID.empty())
         {
             std::this_thread::sleep_for(std::chrono::milliseconds(100));
-            m_pTcpServer->SendAllData(m_strPostCoordCmd.c_str(), m_strPostCoordCmd.length());
+
-            LOG_INFO("Sent post coordinate command\n");
+            // 根据检测结果选择成功/失败值
+            bool detectionSuccess = !multiTargetData.targets.empty();
+            int resultValue = detectionSuccess ? m_nPostCoordSuccessValue : m_nPostCoordFailValue;
+
+            // 动态生成附加命令JSON
+            VA::Json::Value postCmd;
+            postCmd["dsID"] = m_strPostCoordDsID;
+            postCmd["reqType"] = "command";
+
+            VA::Json::Value cmdData(VA::Json::arrayValue);
+            cmdData.append("rewriteData");
+            cmdData.append(std::to_string(m_nPostCoordAddress));
+            cmdData.append(std::to_string(resultValue));
+            cmdData.append("0");
+            postCmd["cmdData"] = cmdData;
+
+            VA::Json::FastWriter writer;
+            std::string postCmdStr = writer.write(postCmd);
+
+            m_pTcpServer->SendAllData(postCmdStr.c_str(), postCmdStr.length());
+            LOG_INFO("Sent post coordinate command: success=%d, value=%d\n", detectionSuccess, resultValue);
         }
 
         return SUCCESS;
@@ -169,9 +192,12 @@ void BolunteProtocol::SetDsID(const std::string& dsID)
     m_strDsID = dsID;
 }
 
-void BolunteProtocol::SetPostCoordinateCommand(const std::string& command)
+void BolunteProtocol::SetPostCoordinateParams(const std::string& dsID, int address, int successValue, int failValue)
 {
-    m_strPostCoordCmd = command;
+    m_strPostCoordDsID = dsID;
+    m_nPostCoordAddress = address;
+    m_nPostCoordSuccessValue = successValue;
+    m_nPostCoordFailValue = failValue;
 }
 
 void BolunteProtocol::SetZOffset(double zOffset)

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

@@ -448,7 +448,11 @@ int GrabBagPresenter::InitBolunteProtocol()
     m_pBolunteProtocol->SetZOffset(configResult.bolunteConfig.zOffset);
     m_pBolunteProtocol->SetZRange(configResult.bolunteConfig.zMin, configResult.bolunteConfig.zMax);
     m_pBolunteProtocol->SetAngleOffset(configResult.bolunteConfig.angleOffset);
-    m_pBolunteProtocol->SetPostCoordinateCommand(configResult.bolunteConfig.postCoordinateCommand);
+    m_pBolunteProtocol->SetPostCoordinateParams(
+        configResult.bolunteConfig.postCoordinateDsID,
+        configResult.bolunteConfig.postCoordinateAddress,
+        configResult.bolunteConfig.postCoordinateSuccessValue,
+        configResult.bolunteConfig.postCoordinateFailValue);
 
     // 设置连接状态回调
     m_pBolunteProtocol->SetConnectionCallback([this](bool connected) {

App/GrabBag/GrabBagApp/Version.h

@@ -2,7 +2,7 @@
 #define VERSION_H
 
 #define GRABBAG_VERSION_STRING "1.3.5"
-#define GRABBAG_BUILD_STRING "4"
+#define GRABBAG_BUILD_STRING "5"
 #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 +1,8 @@
 # 1.3.5
+## build_5 20260126
+1. 修改协议附属命令结果
+
+
 ## build_4 20260124
 1. 修复算法检测线程在析构时未退出的问题
 

App/GrabBag/GrabBagApp/dialogcamera.cpp

@@ -389,7 +389,10 @@ void DialogCamera::LoadBolunteConfig()
     ui->doubleSpinBox_bolunte_zmin->setValue(configResult->bolunteConfig.zMin);
     ui->doubleSpinBox_bolunte_zmax->setValue(configResult->bolunteConfig.zMax);
     ui->doubleSpinBox_bolunte_angleoffset->setValue(configResult->bolunteConfig.angleOffset);
-    ui->lineEdit_bolunte_postcmd->setText(QString::fromStdString(configResult->bolunteConfig.postCoordinateCommand));
+    ui->lineEdit_bolunte_postcmd->setText(QString::fromStdString(configResult->bolunteConfig.postCoordinateDsID));
+    ui->spinBox_bolunte_postaddr->setValue(configResult->bolunteConfig.postCoordinateAddress);
+    ui->spinBox_bolunte_postsuccess->setValue(configResult->bolunteConfig.postCoordinateSuccessValue);
+    ui->spinBox_bolunte_postfail->setValue(configResult->bolunteConfig.postCoordinateFailValue);
 
     LOG_INFO("Loaded Bolunte config: port=%d, zOffset=%.1f\n",
              configResult->bolunteConfig.port,
@@ -418,7 +421,10 @@ bool DialogCamera::SaveBolunteConfig()
     configResult->bolunteConfig.zMin = ui->doubleSpinBox_bolunte_zmin->value();
     configResult->bolunteConfig.zMax = ui->doubleSpinBox_bolunte_zmax->value();
     configResult->bolunteConfig.angleOffset = ui->doubleSpinBox_bolunte_angleoffset->value();
-    configResult->bolunteConfig.postCoordinateCommand = ui->lineEdit_bolunte_postcmd->text().toStdString();
+    configResult->bolunteConfig.postCoordinateDsID = ui->lineEdit_bolunte_postcmd->text().toStdString();
+    configResult->bolunteConfig.postCoordinateAddress = ui->spinBox_bolunte_postaddr->value();
+    configResult->bolunteConfig.postCoordinateSuccessValue = ui->spinBox_bolunte_postsuccess->value();
+    configResult->bolunteConfig.postCoordinateFailValue = ui->spinBox_bolunte_postfail->value();
 
     LOG_INFO("Saving Bolunte config: port=%d, zOffset=%.1f\n",
              configResult->bolunteConfig.port,

App/GrabBag/GrabBagApp/dialogcamera.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>660</width>
-    <height>620</height>
+    <height>650</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -226,7 +226,7 @@ QPushButton:disabled {
      <x>50</x>
      <y>330</y>
      <width>560</width>
-     <height>200</height>
+     <height>261</height>
     </rect>
    </property>
    <property name="font">
@@ -266,7 +266,7 @@ QPushButton:disabled {
      <rect>
       <x>110</x>
       <y>35</y>
-      <width>120</width>
+      <width>100</width>
       <height>30</height>
      </rect>
     </property>
@@ -293,8 +293,8 @@ background-color: rgb(47, 48, 52);</string>
     <property name="geometry">
      <rect>
       <x>20</x>
-      <y>75</y>
+      <y>70</y>
-      <width>120</width>
+      <width>100</width>
       <height>30</height>
      </rect>
     </property>
@@ -307,15 +307,15 @@ background-color: rgb(47, 48, 52);</string>
      <string notr="true">color: rgb(221, 225, 233);</string>
     </property>
     <property name="text">
-     <string>数据源标识:</string>
+     <string>数据标识:</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lineEdit_bolunte_dsid">
     <property name="geometry">
      <rect>
-      <x>140</x>
+      <x>110</x>
-      <y>75</y>
+      <y>70</y>
-      <width>380</width>
+      <width>411</width>
       <height>30</height>
      </rect>
     </property>
@@ -336,8 +336,8 @@ background-color: rgb(47, 48, 52);</string>
     <property name="geometry">
      <rect>
       <x>20</x>
-      <y>115</y>
+      <y>105</y>
-      <width>100</width>
+      <width>80</width>
       <height>30</height>
      </rect>
     </property>
@@ -356,9 +356,9 @@ background-color: rgb(47, 48, 52);</string>
    <widget class="QDoubleSpinBox" name="doubleSpinBox_bolunte_zoffset">
     <property name="geometry">
      <rect>
-      <x>120</x>
+      <x>110</x>
-      <y>115</y>
+      <y>105</y>
-      <width>100</width>
+      <width>91</width>
       <height>30</height>
      </rect>
     </property>
@@ -384,8 +384,8 @@ background-color: rgb(47, 48, 52);</string>
    <widget class="QLabel" name="label_bolunte_zmin">
     <property name="geometry">
      <rect>
-      <x>240</x>
+      <x>200</x>
-      <y>115</y>
+      <y>105</y>
       <width>60</width>
       <height>30</height>
      </rect>
@@ -405,9 +405,9 @@ background-color: rgb(47, 48, 52);</string>
    <widget class="QDoubleSpinBox" name="doubleSpinBox_bolunte_zmin">
     <property name="geometry">
      <rect>
-      <x>300</x>
+      <x>260</x>
-      <y>115</y>
+      <y>105</y>
-      <width>100</width>
+      <width>101</width>
       <height>30</height>
      </rect>
     </property>
@@ -433,8 +433,8 @@ background-color: rgb(47, 48, 52);</string>
    <widget class="QLabel" name="label_bolunte_zmax">
     <property name="geometry">
      <rect>
-      <x>420</x>
+      <x>360</x>
-      <y>115</y>
+      <y>105</y>
       <width>60</width>
       <height>30</height>
      </rect>
@@ -454,8 +454,8 @@ background-color: rgb(47, 48, 52);</string>
    <widget class="QDoubleSpinBox" name="doubleSpinBox_bolunte_zmax">
     <property name="geometry">
      <rect>
-      <x>480</x>
+      <x>420</x>
-      <y>115</y>
+      <y>105</y>
       <width>100</width>
       <height>30</height>
      </rect>
@@ -483,8 +483,8 @@ background-color: rgb(47, 48, 52);</string>
     <property name="geometry">
      <rect>
       <x>20</x>
-      <y>155</y>
+      <y>140</y>
-      <width>100</width>
+      <width>80</width>
       <height>30</height>
      </rect>
     </property>
@@ -503,9 +503,9 @@ background-color: rgb(47, 48, 52);</string>
    <widget class="QDoubleSpinBox" name="doubleSpinBox_bolunte_angleoffset">
     <property name="geometry">
      <rect>
-      <x>120</x>
+      <x>110</x>
-      <y>155</y>
+      <y>140</y>
-      <width>100</width>
+      <width>80</width>
       <height>30</height>
      </rect>
     </property>
@@ -531,9 +531,9 @@ background-color: rgb(47, 48, 52);</string>
    <widget class="QLabel" name="label_bolunte_postcmd">
     <property name="geometry">
      <rect>
-      <x>240</x>
+      <x>20</x>
-      <y>155</y>
+      <y>180</y>
-      <width>100</width>
+      <width>80</width>
       <height>30</height>
      </rect>
     </property>
@@ -546,15 +546,15 @@ background-color: rgb(47, 48, 52);</string>
      <string notr="true">color: rgb(221, 225, 233);</string>
     </property>
     <property name="text">
-     <string>附加命令:</string>
+     <string>附加标识:</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lineEdit_bolunte_postcmd">
     <property name="geometry">
      <rect>
-      <x>340</x>
+      <x>110</x>
-      <y>155</y>
+      <y>180</y>
-      <width>180</width>
+      <width>411</width>
       <height>30</height>
      </rect>
     </property>
@@ -571,12 +571,159 @@ background-color: rgb(47, 48, 52);</string>
      <string>为空则不发送</string>
     </property>
    </widget>
+   <widget class="QLabel" name="label_bolunte_postaddr">
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>220</y>
+      <width>81</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>14</pointsize>
+     </font>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(221, 225, 233);</string>
+    </property>
+    <property name="text">
+     <string>附加地址:</string>
+    </property>
+   </widget>
+   <widget class="QSpinBox" name="spinBox_bolunte_postaddr">
+    <property name="geometry">
+     <rect>
+      <x>110</x>
+      <y>220</y>
+      <width>80</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>14</pointsize>
+     </font>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(221, 225, 233);
+background-color: rgb(47, 48, 52);</string>
+    </property>
+    <property name="minimum">
+     <number>0</number>
+    </property>
+    <property name="maximum">
+     <number>65535</number>
+    </property>
+    <property name="value">
+     <number>800</number>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_bolunte_postsuccess">
+    <property name="geometry">
+     <rect>
+      <x>210</x>
+      <y>220</y>
+      <width>60</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>14</pointsize>
+     </font>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(221, 225, 233);</string>
+    </property>
+    <property name="text">
+     <string>成功值:</string>
+    </property>
+   </widget>
+   <widget class="QSpinBox" name="spinBox_bolunte_postsuccess">
+    <property name="geometry">
+     <rect>
+      <x>270</x>
+      <y>220</y>
+      <width>70</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>14</pointsize>
+     </font>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(221, 225, 233);
+background-color: rgb(47, 48, 52);</string>
+    </property>
+    <property name="minimum">
+     <number>0</number>
+    </property>
+    <property name="maximum">
+     <number>65535</number>
+    </property>
+    <property name="value">
+     <number>10</number>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_bolunte_postfail">
+    <property name="geometry">
+     <rect>
+      <x>360</x>
+      <y>220</y>
+      <width>60</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>14</pointsize>
+     </font>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(221, 225, 233);</string>
+    </property>
+    <property name="text">
+     <string>失败值:</string>
+    </property>
+   </widget>
+   <widget class="QSpinBox" name="spinBox_bolunte_postfail">
+    <property name="geometry">
+     <rect>
+      <x>420</x>
+      <y>220</y>
+      <width>70</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>14</pointsize>
+     </font>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(221, 225, 233);
+background-color: rgb(47, 48, 52);</string>
+    </property>
+    <property name="minimum">
+     <number>0</number>
+    </property>
+    <property name="maximum">
+     <number>65535</number>
+    </property>
+    <property name="value">
+     <number>12</number>
+    </property>
+   </widget>
   </widget>
   <widget class="QPushButton" name="btn_save">
    <property name="geometry">
     <rect>
      <x>190</x>
-     <y>560</y>
+     <y>600</y>
      <width>111</width>
      <height>38</height>
     </rect>
@@ -597,7 +744,7 @@ background-color: rgb(47, 48, 52);</string>
    <property name="geometry">
     <rect>
      <x>340</x>
-     <y>560</y>
+     <y>600</y>
      <width>111</width>
      <height>38</height>
     </rect>

App/GrabBag/GrabBagConfig/Inc/IVrConfig.h

@@ -67,7 +67,10 @@ struct BolunteConfig
     double zMin = -1500.0;                // Z轴最小值
     double zMax = 2500.0;                 // Z轴最大值
     double angleOffset = 0.0;             // 旋转角度补偿
-    std::string postCoordinateCommand = R"({ "dsID":"www.hc-system.com.RemoteMonitor", "reqType":"command", "cmdData":["rewriteData","800","10","0"] })";  // 坐标发送后的附加命令
+    std::string postCoordinateDsID = "www.hc-system.com.RemoteMonitor";  // 坐标发送后附加命令的dsID
+    int postCoordinateAddress = 800;      // 坐标发送后附加命令的地址
+    int postCoordinateSuccessValue = 10;  // 检测成功时的值
+    int postCoordinateFailValue = 12;     // 检测失败时的值
 };
 
 /**

App/GrabBag/GrabBagConfig/Src/VrConfig.cpp

@@ -476,10 +476,28 @@ ConfigResult CVrConfig::LoadConfig(const std::string& filePath)
             result.bolunteConfig.angleOffset = angleOffsetElement->DoubleText();
         }
 
-        XMLElement* postCmdElement = bolunteConfigElement->FirstChildElement("PostCoordinateCommand");
+        XMLElement* postDsIDElement = bolunteConfigElement->FirstChildElement("PostCoordinateDsID");
-        if (postCmdElement && postCmdElement->GetText())
+        if (postDsIDElement && postDsIDElement->GetText())
         {
-            result.bolunteConfig.postCoordinateCommand = postCmdElement->GetText();
+            result.bolunteConfig.postCoordinateDsID = postDsIDElement->GetText();
+        }
+
+        XMLElement* postAddressElement = bolunteConfigElement->FirstChildElement("PostCoordinateAddress");
+        if (postAddressElement)
+        {
+            result.bolunteConfig.postCoordinateAddress = postAddressElement->IntText();
+        }
+
+        XMLElement* postSuccessElement = bolunteConfigElement->FirstChildElement("PostCoordinateSuccessValue");
+        if (postSuccessElement)
+        {
+            result.bolunteConfig.postCoordinateSuccessValue = postSuccessElement->IntText();
+        }
+
+        XMLElement* postFailElement = bolunteConfigElement->FirstChildElement("PostCoordinateFailValue");
+        if (postFailElement)
+        {
+            result.bolunteConfig.postCoordinateFailValue = postFailElement->IntText();
         }
     }
 
@@ -758,9 +776,21 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
     bolunteAngleOffsetElement->SetText(configResult.bolunteConfig.angleOffset);
     bolunteConfigElement->InsertEndChild(bolunteAngleOffsetElement);
 
-    XMLElement* boluntePostCmdElement = doc.NewElement("PostCoordinateCommand");
+    XMLElement* boluntePostDsIDElement = doc.NewElement("PostCoordinateDsID");
-    boluntePostCmdElement->SetText(configResult.bolunteConfig.postCoordinateCommand.c_str());
+    boluntePostDsIDElement->SetText(configResult.bolunteConfig.postCoordinateDsID.c_str());
-    bolunteConfigElement->InsertEndChild(boluntePostCmdElement);
+    bolunteConfigElement->InsertEndChild(boluntePostDsIDElement);
+
+    XMLElement* boluntePostAddressElement = doc.NewElement("PostCoordinateAddress");
+    boluntePostAddressElement->SetText(configResult.bolunteConfig.postCoordinateAddress);
+    bolunteConfigElement->InsertEndChild(boluntePostAddressElement);
+
+    XMLElement* boluntePostSuccessElement = doc.NewElement("PostCoordinateSuccessValue");
+    boluntePostSuccessElement->SetText(configResult.bolunteConfig.postCoordinateSuccessValue);
+    bolunteConfigElement->InsertEndChild(boluntePostSuccessElement);
+
+    XMLElement* boluntePostFailElement = doc.NewElement("PostCoordinateFailValue");
+    boluntePostFailElement->SetText(configResult.bolunteConfig.postCoordinateFailValue);
+    bolunteConfigElement->InsertEndChild(boluntePostFailElement);
 
     // 保存工作点配置（新增）
     SaveWorkPositions(doc, root, configResult.workPositions);

App/GrabBag/GrabBagConfig/config/config.xml

@@ -276,6 +276,9 @@
         <ZMin>-1500.0</ZMin>
         <ZMax>2500.0</ZMax>
         <AngleOffset>0.0</AngleOffset>
-        <PostCoordinateCommand>{ "dsID":"www.hc-system.com.RemoteMonitor", "reqType":"command", "cmdData":["rewriteData","800","10","0"] }</PostCoordinateCommand>
+        <PostCoordinateDsID>www.hc-system.com.RemoteMonitor</PostCoordinateDsID>
+        <PostCoordinateAddress>800</PostCoordinateAddress>
+        <PostCoordinateSuccessValue>10</PostCoordinateSuccessValue>
+        <PostCoordinateFailValue>12</PostCoordinateFailValue>
     </BolunteConfig>
 </GrabBagConfig>