feat: 重新规划ui布局；增加左右红外以及rgb相机可视化

src/core/NetworkManager.cpp

@@ -18,6 +18,9 @@ NetworkManager::NetworkManager(QObject *parent)
 
     // 连接GVSP解析器信号
     connect(m_gvspParser, &GVSPParser::imageReceived, this, &NetworkManager::imageReceived);
+    connect(m_gvspParser, &GVSPParser::leftImageReceived, this, &NetworkManager::leftImageReceived);
+    connect(m_gvspParser, &GVSPParser::rightImageReceived, this, &NetworkManager::rightImageReceived);
+    connect(m_gvspParser, &GVSPParser::rgbImageReceived, this, &NetworkManager::rgbImageReceived);
     connect(m_gvspParser, &GVSPParser::depthDataReceived, this, &NetworkManager::depthDataReceived);
     connect(m_gvspParser, &GVSPParser::pointCloudDataReceived, this, &NetworkManager::pointCloudDataReceived);
 }
@@ -54,8 +57,8 @@ bool NetworkManager::connectToCamera(const QString &ip, int controlPort, int dat
         return false;
     }
 
-    // 设置UDP接收缓冲区大小为64MB（减少丢包）
-    m_dataSocket->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption, QVariant(64 * 1024 * 1024));
+    // 设置UDP接收缓冲区大小为256MB（最大化，减少丢包）
+    m_dataSocket->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption, QVariant(256 * 1024 * 1024));
 
     qDebug() << "Successfully bound data port" << m_dataPort;
     qDebug() << "Data socket state:" << m_dataSocket->state();
@@ -129,15 +132,66 @@ bool NetworkManager::sendStopCommand()
     return sendCommand("STOP");
 }
 
-bool NetworkManager::sendOnceCommand()
-{
-    return sendCommand("ONCE");
-}
-
 bool NetworkManager::sendExposureCommand(int exposureTime)
 {
-    QString command = QString("EXPOSURE:%1").arg(exposureTime);
-    return sendCommand(command);
+    // 同时发送结构光曝光命令（UART控制激光器，单位μs）
+    QString exposureCommand = QString("EXPOSURE:%1").arg(exposureTime);
+    bool success1 = sendCommand(exposureCommand);
+
+    // 同时发送红外相机曝光命令（通过触发脉冲宽度控制，单位μs）
+    // 下位机会将此值用作manual_trigger_pulse()的脉冲宽度参数
+    // 脉冲宽度直接决定相机的实际曝光时间
+    int irExposure = exposureTime;
+
+    // 限制在有效范围内（1000μs ~ 100000μs，避免脉冲太短导致相机无法触发）
+    if (irExposure < 1000) irExposure = 1000;
+    if (irExposure > 100000) irExposure = 100000;
+
+    QString irExposureCommand = QString("IR_EXPOSURE:%1").arg(irExposure);
+    bool success2 = sendCommand(irExposureCommand);
+
+    return success1 && success2;
+}
+
+// ========== 传输开关命令 ==========
+bool NetworkManager::sendEnableLeftIR()
+{
+    return sendCommand("ENABLE_LEFT");
+}
+
+bool NetworkManager::sendDisableLeftIR()
+{
+    return sendCommand("DISABLE_LEFT");
+}
+
+bool NetworkManager::sendEnableRightIR()
+{
+    return sendCommand("ENABLE_RIGHT");
+}
+
+bool NetworkManager::sendDisableRightIR()
+{
+    return sendCommand("DISABLE_RIGHT");
+}
+
+bool NetworkManager::sendEnableRGB()
+{
+    return sendCommand("ENABLE_RGB");
+}
+
+bool NetworkManager::sendDisableRGB()
+{
+    return sendCommand("DISABLE_RGB");
+}
+
+bool NetworkManager::sendMonocularMode()
+{
+    return sendCommand("MONOCULAR");
+}
+
+bool NetworkManager::sendBinocularMode()
+{
+    return sendCommand("BINOCULAR");
 }
 
 // ========== 槽函数 ==========