能够接收width和height

HitBotCSharpDemo/ShowForm.cs

@@ -59,8 +59,9 @@ namespace HitBotCSharpDemo
         private bool isDetectionRunning = false;
         private const int SERVER_PORT = 8888; // Python服务器端口
         private const string SERVER_IP = "192.168.124.4"; // 本机IP
+        private float receivedWidth = 0;
+        private float receivedHeight = 0;
 
-        private CameraManager camManager;
         private ControlBeanEx robot;
         public ShowForm()
         {
@@ -1067,7 +1068,7 @@ namespace HitBotCSharpDemo
             try
             {
                 string fileName = "temp_detection_" + DateTime.Now.ToString("yyyyMMddHHmmss") + ".jpg";
-                string detectionFolder = Path.Combine(Application.StartupPath, "DetectionImages");
+                string detectionFolder = Path.Combine(Application.StartupPath, "DetectionImage");
                 string fullPath = Path.Combine(detectionFolder, fileName);
 
                 if (!Directory.Exists(detectionFolder))
@@ -1125,32 +1126,44 @@ namespace HitBotCSharpDemo
             {
                 // 接收图像大小
                 byte[] sizeBuffer = new byte[4];
-                int bytesRead = 0;
-                while (bytesRead < 4)
-                {
-                    int read = networkStream.Read(sizeBuffer, bytesRead, 4 - bytesRead);
-                    if (read == 0) throw new Exception("连接断开");
-                    bytesRead += read;
-                }
+                int bytesRead = ReceiveExactly(sizeBuffer, 4);
+                if (bytesRead != 4) throw new Exception("接收图像大小失败");
 
                 int imageSize = (sizeBuffer[0] << 24) | (sizeBuffer[1] << 16) |
                        (sizeBuffer[2] << 8) | sizeBuffer[3];
 
                 //MessageBox.Show($"准备接收处理结果图像，大小: {imageSize} 字节");
 
+                // 接收width
+                byte[] widthBuffer = new byte[4];
+                bytesRead = ReceiveExactly(widthBuffer, 4);
+                if (bytesRead != 4) throw new Exception("接收width失败");
+                
+                // 将字节数组转换为浮点数（大端序）
+                if (BitConverter.IsLittleEndian)
+                    Array.Reverse(widthBuffer);
+                receivedWidth = BitConverter.ToSingle(widthBuffer, 0);
+
+                // 接收height
+                byte[] heightBuffer = new byte[4];
+                bytesRead = ReceiveExactly(heightBuffer, 4);
+                if (bytesRead != 4) throw new Exception("接收height失败");
+
+                // 将字节数组转换为浮点数（大端序）
+                if (BitConverter.IsLittleEndian)
+                    Array.Reverse(heightBuffer);
+                receivedHeight = BitConverter.ToSingle(heightBuffer, 0);
+
+                MessageBox.Show($"width:{receivedWidth}, height:{receivedHeight}");
 
                 // 接收图像数据
                 byte[] imageBuffer = new byte[imageSize];
-                bytesRead = 0;
-                while (bytesRead < imageSize)
-                {
-                    int read = networkStream.Read(imageBuffer, bytesRead, imageSize - bytesRead);
-                    if (read == 0) throw new Exception("连接断开");
-                    bytesRead += read;
-                }
+                bytesRead = ReceiveExactly(imageBuffer, imageSize);
+                if (bytesRead != imageSize) throw new Exception("接收图像数据不完整");
 
                 // 保存接收到的图像
-                string receivedImagePath = Path.Combine(Application.StartupPath,
+                string startImagePath = Path.Combine(Application.StartupPath, "DetectionImage");
+                string receivedImagePath = Path.Combine(startImagePath,
                     "received_detection_" + DateTime.Now.ToString("yyyyMMddHHmmss") + ".jpg");
                 File.WriteAllBytes(receivedImagePath, imageBuffer);
 
@@ -1161,6 +1174,20 @@ namespace HitBotCSharpDemo
                 throw new Exception("接收图像失败: " + ex.Message);
             }
         }
+        // 辅助方法：确保接收指定字节数的数据
+        private int ReceiveExactly(byte[] buffer, int size)
+        {
+            int totalBytesRead = 0;
+            while (totalBytesRead < size)
+            {
+                int bytesRead = networkStream.Read(buffer, totalBytesRead, size - totalBytesRead);
+                if (bytesRead == 0)
+                    throw new Exception("连接断开");
+                totalBytesRead += bytesRead;
+            }
+            return totalBytesRead;
+        }
+
         // 在pictureBox1中显示检测结果
         private void DisplayDetectionResult(string imagePath)
         {

HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog

@@ -204,3 +204,36 @@
 2025-06-11 10:28:48.993	set_first_position_after_initial
 2025-06-11 10:28:48.993	movej_old start_pos:	-44.911701	98.662003	-75.475304	-1005.720947	end_pos:	-44.911701	98.662003	-75.475304	-1005.720886	org_sp	10.000000	end_sp	10.000000
 2025-06-11 10:28:49.275	J3 Belt Meilage=40.900181km
+2025-06-11 10:43:33.695	SDK_VERSION_V2.0.0.29_Release
+2025-06-11 10:43:33.695	robot connected
+2025-06-11 10:43:33.696	26
+2025-06-11 10:43:33.696	current generation=26
+2025-06-11 10:43:34.199	0x1a
+2025-06-11 10:43:35.053	initial joint2 2873744
+2025-06-11 10:43:35.053	C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-11 10:43:35.053	robot WritePID
+2025-06-11 10:43:35.369	initial joint1 -654075
+2025-06-11 10:43:35.420	initial joint2 2873743
+2025-06-11 10:43:35.456	initial joint3 -219842
+2025-06-11 10:43:35.502	initial joint4 -24758200
+2025-06-11 10:43:35.519	initial joint1 -654075
+2025-06-11 10:43:35.568	initial joint2 2873745
+2025-06-11 10:43:35.602	initial joint3 -219843
+2025-06-11 10:43:35.653	initial joint4 -24758200
+2025-06-11 10:43:35.672	initial joint1 -654074
+2025-06-11 10:43:35.738	initial joint2 2873745
+2025-06-11 10:43:35.785	initial joint3 -219845
+2025-06-11 10:43:35.833	initial joint4 -24758201
+2025-06-11 10:43:37.996	initial_thread initialized
+2025-06-11 10:43:37.996	servo enable
+2025-06-11 10:43:37.996	brake open
+2025-06-11 10:43:37.996	set_brake_state 0 1
+2025-06-11 10:43:38.209	robot initialized
+2025-06-11 10:43:38.775	get_scara_param -44.911598 98.662201 -75.478798 -1005.721008
+2025-06-11 10:43:38.775	get_scara_real_coor -44.911598 98.662300 -75.479500 -1005.720825
+2025-06-11 10:43:38.776	<09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
+2025-06-11 10:43:38.776	position -654072.562500	2873745.000000	-219847.937500	-24758206.000000	0.000000	0.000000	0.000000	0.000000
+2025-06-11 10:43:38.776	speed 44911.601563	98662.203125	75478.796875	1020006.687500
+2025-06-11 10:43:38.776	set_first_position_after_initial
+2025-06-11 10:43:38.777	movej_old start_pos:	-44.911598	98.662201	-75.478798	-1005.720947	end_pos:	-44.911499	98.662201	-75.478798	-1005.720886	org_sp	10.000000	end_sp	0.938537
+2025-06-11 10:43:39.076	J3 Belt Meilage=40.900356km