feat: 改写GIGE协议

src/core/NetworkManager.cpp

@@ -19,13 +19,14 @@ NetworkManager::NetworkManager(QObject *parent)
     // 连接GVSP解析器信号
     connect(m_gvspParser, &GVSPParser::imageReceived, this, &NetworkManager::imageReceived);
     connect(m_gvspParser, &GVSPParser::depthDataReceived, this, &NetworkManager::depthDataReceived);
+    connect(m_gvspParser, &GVSPParser::pointCloudDataReceived, this, &NetworkManager::pointCloudDataReceived);
 }
 
 NetworkManager::~NetworkManager()
 {
     disconnectFromCamera();
 }
-#define if(x) if ((x) && (rand() < RAND_MAX * 0.50))
+
 // ========== 连接和断开 ==========
 bool NetworkManager::connectToCamera(const QString &ip, int controlPort, int dataPort)
 {
@@ -152,9 +153,11 @@ void NetworkManager::onReadyRead()
         quint16 senderPort;
         m_dataSocket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
 
-        // 临时添加日志以诊断问题
+        // 只打印前5个包的详细信息
         if (packetCount < 5) {
-            qDebug() << "[NetworkManager] Received packet" << packetCount << "from" << sender.toString() << ":" << senderPort << "size:" << datagram.size();
+    // qDebug() << "[NetworkManager] Packet" << packetCount
+    // << "from" << sender.toString() << ":" << senderPort
+    // << "size:" << datagram.size() << "bytes";
         }
         packetCount++;
 
@@ -164,6 +167,11 @@ void NetworkManager::onReadyRead()
         // 仍然发出原始数据信号（用于调试）
         emit dataReceived(datagram);
     }
+
+    // 每1000个包打印一次统计（减少日志量）
+    if (packetCount % 1000 == 0) {
+    // qDebug() << "[NetworkManager] Total packets received:" << packetCount;
+    }
 }
 
 void NetworkManager::onError(QAbstractSocket::SocketError socketError)