更新采集算法

调整保存测量结果api增加手动对齐

app/src/main/java/com/iflytop/profilometer/ProfilometerApplication.java

@@ -70,7 +70,7 @@ public class ProfilometerApplication extends Application {
         userDao.insertAdminUserIfNotExists();
 
         BaseProfileRecordPointSetDao baseProfileRecordPointSetDao = new BaseProfileRecordPointSetDao(this);
-        BaseProfileRecordPointSet baseProfileRecordPointSet = baseProfileRecordPointSetDao.getBaseProfileRecordPointSetByCode("60");
+        BaseProfileRecordPointSet baseProfileRecordPointSet = baseProfileRecordPointSetDao.getBaseProfileRecordPointSetByCode("GX-60");
         if (baseProfileRecordPointSet == null) {
             baseProfileRecordPointSet = new BaseProfileRecordPointSet();
             baseProfileRecordPointSet.setName("60型标准轨");

app/src/main/java/com/iflytop/profilometer/api/measure/MeasureApi.java

@@ -109,6 +109,17 @@ public class MeasureApi {
         profileRecordPointSet.setProfileRecordUuid(profileRecordDescription.getUuid());
         profileRecordPointSet.setLeftPoints(JSONUtil.toJsonStr(leftPoint));
         profileRecordPointSet.setRightPoints(JSONUtil.toJsonStr(rightPoint));
+        List<XYPoint> alignPoints = JSONUtil.toList(params.get("alignPoints"), XYPoint.class);
+        if (alignPoints == null || alignPoints.isEmpty()) {
+            alignPoints = taskState.getAlignPointSetList();
+        }
+        if (alignPoints.isEmpty()) {
+            List<XYPoint> leftPointsRevers = new ArrayList<>(leftPoint);
+            Collections.reverse(leftPointsRevers);
+            alignPoints.addAll(leftPointsRevers);
+            alignPoints.addAll(rightPoint);
+        }
+        profileRecordPointSet.setAlignPoints(JSONUtil.toJsonStr(alignPoints));
         profileRecordPointSetDao.insertProfileRecordPointSet(profileRecordPointSet);
 
         return Result.success();

app/src/main/java/com/iflytop/profilometer/core/bluetooth/BleDeviceDriver.java

@@ -1,14 +1,14 @@
 package com.iflytop.profilometer.core.bluetooth;
 
 import com.iflytop.profilometer.core.migration.channel.BleDeviceUartChannel;
+import com.iflytop.profilometer.core.migration.config.AppConstantConfig;
 import com.iflytop.profilometer.core.migration.factory.TPMIPacketFactory;
-import com.iflytop.profilometer.core.migration.measure.AppConstantConfig;
 import com.iflytop.profilometer.core.migration.type.DeviceAppearance;
 import com.iflytop.profilometer.core.migration.type.protocol.TPMIPacket;
 import com.iflytop.profilometer.model.bo.RailProfileMeasureTaskState;
 
 public class BleDeviceDriver {
-    static final public Integer CMD_OVERTIME = 50;
+    static final public Integer CMD_OVERTIME = 2000;
     private final BleDeviceUartChannel uartChannel;
 
     private RailProfileMeasureTaskState taskState = new RailProfileMeasureTaskState();
@@ -56,7 +56,7 @@ public class BleDeviceDriver {
      * 启动位移采样（启动测量）
      */
     public void startSampling() {
-        TPMIPacket packet = TPMIPacketFactory.buildStartPosSampleCmd(AppConstantConfig.POINT_REPORT_PERIOD);
+        TPMIPacket packet = TPMIPacketFactory.buildStartPosSampleCmd(AppConstantConfig.SAMPLE_PERIOD);
         uartChannel.sendCommand(packet, CMD_OVERTIME);
     }
 

app/src/main/java/com/iflytop/profilometer/core/bluetooth/BleDeviceListener.java

@@ -26,9 +26,10 @@ public class BleDeviceListener implements BleDeviceOnReportListener {
 
     @Override
     public void onPosReport(TPMIPosReport report) {
-//        Log.i(TAG, "位置信息上报:");
-//        Log.i(TAG, "ARM0角度 " + report.getArm1Angle());
-//        Log.i(TAG, "ARM1角度" + report.getArm2Angle());
+//        Log.i(TAG, "位置信息上报:" + report.getIndexAsInt());
+//        for (int i = 0; i < report.getPosReportNum(); i++) {
+//            Log.i(TAG, "ARM0角度 " + report.getArm1Angle(i) + " ARM1角度 " + report.getArm2Angle(i));
+//        }
         RailProfileDrawerService railProfileDrawerService = SystemService.getInstance().getRailProfileDrawerService();
         railProfileDrawerService.processStateReport(report);
     }

app/src/main/java/com/iflytop/profilometer/core/bluetooth/BleManager.java

@@ -10,6 +10,7 @@ import android.bluetooth.BluetoothDevice;
 import android.bluetooth.BluetoothGatt;
 import android.bluetooth.BluetoothGattCallback;
 import android.bluetooth.BluetoothGattCharacteristic;
+import android.bluetooth.BluetoothGattDescriptor;
 import android.bluetooth.BluetoothGattService;
 import android.bluetooth.BluetoothManager;
 import android.bluetooth.BluetoothProfile;
@@ -459,14 +460,28 @@ public class BleManager {
             @Override
             public void onServicesDiscovered(BluetoothGatt gatt, int status) {
                 if (status == BluetoothGatt.GATT_SUCCESS) {
+                    Log.d(TAG, "服务发现成功，目标服务存在");
+                    // 获取目标服务
                     BluetoothGattService service = gatt.getService(SERVICE_UUID);
                     if (service != null) {
-                        Log.d(TAG, "服务发现成功，目标服务存在");
-                        connectionSuccess.set(true);
-                    } else {
-                        Log.e(TAG, "服务发现成功，但未找到目标服务");
-                        connectionSuccess.set(false);
+                        // 获取通知特征
+                        BluetoothGattCharacteristic notifyCharacteristic = service.getCharacteristic(NOTIFY_CHARACTERISTIC_UUID);
+                        if (notifyCharacteristic != null) {
+                            // 启用通知
+                            gatt.setCharacteristicNotification(notifyCharacteristic, true);
+                            // 获取描述符
+                            BluetoothGattDescriptor descriptor = notifyCharacteristic.getDescriptor(CLIENT_CHARACTERISTIC_CONFIG_UUID);
+                            if (descriptor != null) {
+                                descriptor.setValue(BluetoothGattDescriptor.ENABLE_NOTIFICATION_VALUE);
+                                gatt.writeDescriptor(descriptor);
+                            } else {
+                                Log.e(TAG, "未发现描述符 " + CLIENT_CHARACTERISTIC_CONFIG_UUID);
+                            }
+                        } else {
+                            Log.e(TAG, "未发现通知特征 " + NOTIFY_CHARACTERISTIC_UUID);
+                        }
                     }
+                    connectionSuccess.set(true);
                 } else {
                     Log.e(TAG, "服务发现失败，错误码：" + status);
                     connectionSuccess.set(false);
@@ -476,6 +491,7 @@ public class BleManager {
                 }
             }
 
+
             @Override
             public void onCharacteristicChanged(BluetoothGatt gatt, BluetoothGattCharacteristic characteristic) {
                 if (NOTIFY_CHARACTERISTIC_UUID.equals(characteristic.getUuid())) {
@@ -490,7 +506,7 @@ public class BleManager {
             public void onCharacteristicWrite(BluetoothGatt gatt, BluetoothGattCharacteristic characteristic, int status) {
                 if (status != BluetoothGatt.GATT_SUCCESS) {
                     Log.i(TAG, "数据写入失败，错误码：" + status);
-                }else{
+                } else {
                     Log.i(TAG, "数据写入成功" + status);
                 }
             }

app/src/main/java/com/iflytop/profilometer/core/db/helper/MyDatabaseHelper.java

@@ -7,7 +7,7 @@ import android.database.sqlite.SQLiteOpenHelper;
 public class MyDatabaseHelper extends SQLiteOpenHelper {
 
     private static final String DATABASE_NAME = "app.db";
-    private static final int DATABASE_VERSION = 11; // 升级版本号
+    private static final int DATABASE_VERSION = 12; // 升级版本号
 
     // 表名
     public static final String TABLE_APP_USER = "app_user";

app/src/main/java/com/iflytop/profilometer/core/migration/channel/BleDeviceUartChannel.java

@@ -9,25 +9,27 @@ import com.iflytop.profilometer.core.migration.type.protocol.TPMIBasicReport;
 import com.iflytop.profilometer.core.migration.type.protocol.TPMIPacket;
 import com.iflytop.profilometer.core.migration.type.protocol.TPMIPosReport;
 
-import java.util.concurrent.ArrayBlockingQueue;
-import java.util.concurrent.BlockingQueue;
-import java.util.concurrent.Semaphore;
-import java.util.concurrent.TimeUnit;
+import java.nio.ByteBuffer;
+import java.util.concurrent.*;
 
 public class BleDeviceUartChannel {
-
     public interface OnBleReportListener {
         void onReportReceived(TPMIPacket packet);
     }
 
     private OnBleReportListener reportListener;
     private BleDeviceOnReportListener deviceOnReportListener;
-    private final byte[] buffer = new byte[1024];
-    private int bufferLen = 0;
 
+    private final ByteBuffer receiveBuffer = ByteBuffer.allocate(10240);
     private final CommandTransactionContext ctCxt = new CommandTransactionContext();
+    private final BlockingQueue<TPMIPacket> reportPacketList = new ArrayBlockingQueue<>(100);
 
-    private BlockingQueue<TPMIPacket> reportPacketList = new ArrayBlockingQueue<>(100);
+    private final ExecutorService bleExecutor = Executors.newSingleThreadExecutor(r -> {
+        Thread t = new Thread(r);
+        t.setName("ble-handler-thread");
+        t.setPriority(Thread.MAX_PRIORITY);
+        return t;
+    });
 
     public static class CommandTransactionContext {
         private TPMIPacket txPacket;
@@ -42,7 +44,7 @@ public class BleDeviceUartChannel {
         }
 
         synchronized TPMIPacket clearCtCxt() {
-            var packet = this.rxPacket;
+            TPMIPacket packet = this.rxPacket;
             this.rxPacket = null;
             this.txPacket = null;
             this.semaphore = null;
@@ -50,19 +52,12 @@ public class BleDeviceUartChannel {
             return packet;
         }
 
-        void waitCxt(Integer overtime) throws InterruptedException {
-            this.semaphore.tryAcquire(overtime, TimeUnit.MILLISECONDS);
+        void waitCxt(Integer timeoutMs) throws InterruptedException {
+            this.semaphore.tryAcquire(timeoutMs, TimeUnit.MILLISECONDS);
         }
 
         synchronized void trySetReceiptPacket(TPMIPacket packet) {
-            if (this.txPacket == null) {
-//                log.warn("rx receipt but no tx packet, ignore");
-                return;
-            }
-            if (this.waitIndex != packet.getIndex()) {
-//                log.warn("rx receipt but index not match, expect {}, but {}", this.waitIndex, packet.getIndex());
-                return;
-            }
+            if (txPacket == null || waitIndex != packet.getIndex()) return;
             this.rxPacket = packet;
             this.semaphore.release();
         }
@@ -80,56 +75,54 @@ public class BleDeviceUartChannel {
         this.deviceOnReportListener = listener;
     }
 
-    public synchronized TPMIPacket sendCommand(TPMIPacket tx, Integer overtime) {
-        Log.i("BLE", "TX PACKET :" + tx);
+    public synchronized TPMIPacket sendCommand(TPMIPacket tx, Integer timeoutMs) {
+        Log.i("BLE", "TX PACKET: " + tx);
         ctCxt.newCtCxt(tx);
-
         BleManager.getInstance().sendMessage(tx.rawpacket);
-
         try {
-            ctCxt.waitCxt(overtime);
-        } catch (InterruptedException ignored) {
+            ctCxt.waitCxt(timeoutMs);
+        } catch (InterruptedException e) {
+            Thread.currentThread().interrupt();
         }
         return ctCxt.clearCtCxt();
     }
 
     private void handleReceivedData(byte[] data) {
-//        Log.d("BLE", "收到原始数据: " + Arrays.toString(data));
+        bleExecutor.execute(() -> processIncomingData(data));
+    }
 
-        // 追加到缓冲区
-        if (bufferLen + data.length > buffer.length) {
-            Log.w("BLE", "BLE缓冲区溢出，已清空");
-            bufferLen = 0;
-        }
-        System.arraycopy(data, 0, buffer, bufferLen, data.length);
-        bufferLen += data.length;
-
-        int offset = 0;
-        while (offset < bufferLen) {
-            var report = TPMIPacketFactory.analysisRawRxData(buffer, bufferLen, offset);
-            if (report.result.equals(TPMIPacketFactory.PacketAnalysisResult.SUC)) {
-//                Log.d("BLE", "BLE协议包解析成功: " + report.packet);
-//                if (reportListener != null) {
-//                    reportListener.onReportReceived(report.packet);
-//                }
-                if (deviceOnReportListener != null) {
-                    dispatchTypedPacket(report.packet);
+    private void processIncomingData(byte[] data) {
+        synchronized (receiveBuffer) {
+            if (receiveBuffer.remaining() < data.length) {
+                Log.w("BLE", "BLE缓冲区溢出，已清空");
+                receiveBuffer.clear();
+            }
+            receiveBuffer.put(data);
+            receiveBuffer.flip(); // 切换为读模式
+
+            while (receiveBuffer.remaining() > 0) {
+                int offset = receiveBuffer.position();
+                var report = TPMIPacketFactory.analysisRawRxData(
+                        receiveBuffer.array(),
+                        receiveBuffer.limit(),
+                        offset
+                );
+
+                if (report.result == TPMIPacketFactory.PacketAnalysisResult.SUC) {
+                    if (reportListener != null) reportListener.onReportReceived(report.packet);
+                    if (deviceOnReportListener != null) dispatchTypedPacket(report.packet);
+                    receiveBuffer.position(offset + report.packet.getPacketLen());
+                    Log.i("BLE","SUC : " + report.packet.getPacketLen());
+                } else if (report.result == TPMIPacketFactory.PacketAnalysisResult.PACKE_NOT_FULLY_RECEIVED) {
+//                    Log.i("BLE","PACKE_NOT_FULLY_RECEIVED : " + data.length);
+                    break;
+                } else {
+                    receiveBuffer.position(offset + 1);
                 }
-                offset += report.packet.getPacketLen();
-            } else if (report.result.equals(TPMIPacketFactory.PacketAnalysisResult.CHECKSUM_ERROR)) {
-                Log.w("BLE", "BLE数据包校验失败，跳过 1 字节");
-                offset += 1;
-            } else if (report.result.equals(TPMIPacketFactory.PacketAnalysisResult.PACKE_NOT_FULLY_RECEIVED)) {
-                break;
-            } else {
-                offset += 1;
             }
-        }
 
-        // 移除已处理部分数据
-        if (offset > 0 && offset <= bufferLen) {
-            System.arraycopy(buffer, offset, buffer, 0, bufferLen - offset);
-            bufferLen -= offset;
+            // 保留未解析部分
+            receiveBuffer.compact(); // 相当于 left shift：将未读部分移到开头
         }
     }
 
@@ -146,12 +139,9 @@ public class BleDeviceUartChannel {
     }
 
     private void processRXPacket(TPMIPacket rx) {
-        if (rx.getPacketType().equals(TPMIPacket.PacketType.RESPONSE)) {
+        if (rx.getPacketType() == TPMIPacket.PacketType.RESPONSE) {
             ctCxt.trySetReceiptPacket(rx);
-        } else if (rx.getPacketType().equals(TPMIPacket.PacketType.REPORT)) {
-            /*
-             *	处理上报包
-             */
+        } else if (rx.getPacketType() == TPMIPacket.PacketType.REPORT) {
             reportPacketList.offer(rx);
         }
     }

app/src/main/java/com/iflytop/profilometer/core/migration/measure/AppConstantConfig.java → app/src/main/java/com/iflytop/profilometer/core/migration/config/AppConstantConfig.java

@@ -1,9 +1,9 @@
-package com.iflytop.profilometer.core.migration.measure;
+package com.iflytop.profilometer.core.migration.config;
 
 public class AppConstantConfig {
 	public static final int HEARTBEAT_INTERVAL  = 10000;
 
 	//100ms上报一次点位
-	public static final int POINT_REPORT_PERIOD = 3;
+	public static final int SAMPLE_PERIOD = 1;
 
 }

app/src/main/java/com/iflytop/profilometer/core/migration/measure/drawer/RailProfileDrawer.java

@@ -1,5 +1,8 @@
 package com.iflytop.profilometer.core.migration.measure.drawer;
 
+import android.util.Log;
+
+import com.iflytop.profilometer.core.migration.config.AppConstantConfig;
 import com.iflytop.profilometer.core.migration.measure.drawer.type.MeasureSide;
 import com.iflytop.profilometer.core.migration.measure.drawer.type.RailProfileDrawerListener;
 import com.iflytop.profilometer.core.migration.measure.drawer.type.RailProfileDrawerState;
@@ -7,6 +10,7 @@ import com.iflytop.profilometer.core.migration.measure.drawer.type.RailProfileMe
 import com.iflytop.profilometer.core.migration.measure.drawer.type.XYPoint;
 
 public class RailProfileDrawer {
+	private static final String TAG = "measurer";
 	/*
 	 * 	轮廓绘制，启动信号判断相关参数
 	 *   逻辑:
@@ -21,7 +25,7 @@ public class RailProfileDrawer {
 	 *		静止判断位置阈值(毫米)
 	 * 				STILL_JUDGE_THRESHOLD
 	 */
-	public static final double PRECISION                                           = 0.2;// mm 满足13cm，1500个点
+	public static final double PRECISION                                           = 0.12;// mm 满足13cm，1500个点
 	public static final int    OUTLINE_START_RECORD_SIG_JUDGE_TIME_THRESHOLD       = 1500;
 	public static final int    START_OUTLINE_RECORDING_TIMING_JUDGMENT_AREA_HIGHT  = 30;
 	public static final int    START_OUTLINE_RECORDING_TIMING_JUDGMENT_AREA_WEIGHT = 50;
@@ -37,9 +41,9 @@ public class RailProfileDrawer {
 	}
 
 	Config                    cfg       = new Config(); // 配置
-	RailProfileDrawerState state     = new RailProfileDrawerState();
+	RailProfileDrawerState    state     = new RailProfileDrawerState();
 	RailProfileDrawerListener railProfileDrawerListener;
-	MeasureSide startSide = MeasureSide.LEFT;
+	MeasureSide               startSide = MeasureSide.LEFT;
 
 	public RailProfileDrawer(RailProfileDrawerListener railProfileDrawerListener) {
 		this.railProfileDrawerListener = railProfileDrawerListener;
@@ -48,8 +52,8 @@ public class RailProfileDrawer {
 
 	synchronized public void startDraw(double arm1Length, double arm2Length, double pulleyRadius,
 									   double profilometerHight) {
-//		log.info("startDraw arm1Length:{} arm2Length:{} pulleyRadius:{} profilometerHight:{}", arm1Length, arm2Length,
-//				pulleyRadius, profilometerHight);
+		Log.i(TAG, String.format("startDraw arm1Length:%s arm2Length:%s pulleyRadius:%s profilometerHight:%s",
+				arm1Length, arm2Length, pulleyRadius, profilometerHight));
 		this.cfg.arm1Length               = arm1Length;
 		this.cfg.arm2Length               = arm2Length;
 		this.cfg.pulleyRadius             = pulleyRadius;
@@ -141,7 +145,7 @@ public class RailProfileDrawer {
 				}
 
 				if (!expectSide.equals(side)) {
-//					log.warn("用户启动记录方向错误");
+					Log.w(TAG, "用户启动记录方向错误");
 					railProfileDrawerListener.onErrorStartRecordProfileSig();
 					state.stayStillDurationCnt = 0;
 				} else {
@@ -168,7 +172,7 @@ public class RailProfileDrawer {
 			//			}
 			//			}
 
-			if (distance(state.lastPulleyPoint, newPulleyPoint) < 0.002) {
+			if (distance(state.lastPulleyPoint, newPulleyPoint) < 0.005) {
 				//				log.info("same point, skip");
 				return;
 			}
@@ -222,7 +226,7 @@ public class RailProfileDrawer {
 				if (speedNow > 100) {
 					state.errorSpeedDetectedCnt++;
 					if (state.errorSpeedDetectedCnt > 3) {
-//						log.warn("error speed detected, speed:{}", speedNow);
+						Log.w(TAG, String.format("error speed detected, speed:%s", speedNow));
 						state.speedNow = speedNow;
 						if (!state.errorSpeedDetected) {
 							state.errorSpeedDetected = true;

app/src/main/java/com/iflytop/profilometer/core/migration/measure/drawer/type/RailProfileDrawerState.java

@@ -17,7 +17,7 @@ public class RailProfileDrawerState {
 	public boolean        errorSpeedDetected                      = false; // 用户移动滑轮的速度过快
 	public int            errorSpeedDetectedCnt                   = 0; // 用户移动滑轮的速度过快
 	//	public ZLockList<XYPoint> pulleyPoints                            = new ZLockList<>(10);
-	public RefPointFinder pulleyPointsRecordForTangentCalculation = new RefPointFinder(0.01);
+	public RefPointFinder pulleyPointsRecordForTangentCalculation = new RefPointFinder(0.05);
 	public RefPointFinder pulleyPointDirectionJudge               = new RefPointFinder(0.3); // 滑轮点位方向判断
 
 	public ZLockList<XYPoint> leftPulleyRecord  = new ZLockList<>(); // 记录滑轮点位

app/src/main/java/com/iflytop/profilometer/core/migration/measure/drawer/type/XYPoint.java

@@ -44,4 +44,12 @@ public class XYPoint {
 		}
 		return false;
 	}
+
+	public void setX(double x) {
+		this.x = x;
+	}
+
+	public void setY(double y) {
+		this.y = y;
+	}
 }

app/src/main/java/com/iflytop/profilometer/core/migration/type/protocol/TPMIPacket.java

@@ -206,6 +206,9 @@ public class TPMIPacket {
         return (byte) (rawpacket[P_DATA_LEN_OFF] + FIX_PACKET_LEN);
     }
 
+    public byte getDataLen() {
+        return (byte) (rawpacket[P_DATA_LEN_OFF]);
+    }
 
     public byte getIndex() {
         return rawpacket[P_INDEX_OFF];

app/src/main/java/com/iflytop/profilometer/core/migration/type/protocol/TPMIPosReport.java

@@ -1,30 +1,39 @@
 package com.iflytop.profilometer.core.migration.type.protocol;
 
 
-import androidx.annotation.NonNull;
-
 import cn.hutool.core.lang.Assert;
 
 public class TPMIPosReport extends TPMIPacket {
 
-	public TPMIPosReport(byte[] data) {
-		super(data);
-		Assert.isTrue(Command.SAMPLE_VAL_REPORT.equals(getCommand()), "Invalid command");
-	}
+    public TPMIPosReport(byte[] data) {
+        super(data);
+        Assert.isTrue(Command.SAMPLE_VAL_REPORT.equals(getCommand()), "Invalid command");
+    }
+
+    public Integer getPosReportNum() {
+        return this.getDataLen() / 8;
+    }
 
-	//value:ARM0角度
-	public Integer getArm1Angle() {
-		return this.getDataAsInt(0);
-	}
+    //value:ARM0角度
+    public Integer getArm1Angle(Integer off) {
+        return this.getDataAsInt(off * 2);
+    }
 
-	//value:ARM1角度
-	public Integer getArm2Angle() {
-		return this.getDataAsInt(1);
-	}
+    //value:ARM1角度
+    public Integer getArm2Angle(Integer off) {
+        return this.getDataAsInt(1 + off * 2);
+    }
 
 
-	@NonNull
     public String toString() {
-		return String.format("ARM0Angle:%d ARM1Angle:%d ", getArm1Angle(), getArm2Angle());
-	}
+        StringBuilder sb = new StringBuilder();
+        sb.append("{");
+        for (int i = 0; i < getPosReportNum(); i++) {
+            sb.append("[").append(getArm1Angle(i)).append(",").append(getArm2Angle(i)).append("]");
+            if (i < getPosReportNum() - 1)
+                sb.append(", ");
+        }
+        sb.append('}');
+        return sb.toString();
+    }
 }

app/src/main/java/com/iflytop/profilometer/model/entity/ProfileRecordPointSet.java

@@ -6,6 +6,7 @@ public class ProfileRecordPointSet extends BaseEntity {
     private String profileRecordUuid;
     private String leftPoints;
     private String rightPoints;
+    private String alignPoints;
 
     public String getProfileRecordUuid() {
         return profileRecordUuid;
@@ -30,4 +31,12 @@ public class ProfileRecordPointSet extends BaseEntity {
     public void setRightPoints(String rightPoints) {
         this.rightPoints = rightPoints;
     }
+
+    public String getAlignPoints() {
+        return alignPoints;
+    }
+
+    public void setAlignPoints(String alignPoints) {
+        this.alignPoints = alignPoints;
+    }
 }

app/src/main/java/com/iflytop/profilometer/service/RailProfileDrawerService.java

@@ -30,7 +30,9 @@ public class RailProfileDrawerService implements RailProfileDrawerListener {
             return;
         }
         if (packet instanceof TPMIPosReport report) {
-            railProfileDrawer.processRawEncoderData(report.getArm1Angle(), report.getArm2Angle());
+            for (int i = 0; i < report.getPosReportNum(); i++) {
+                railProfileDrawer.processRawEncoderData(report.getArm1Angle(i), report.getArm2Angle(i));
+            }
         }
     }
 
@@ -80,7 +82,6 @@ public class RailProfileDrawerService implements RailProfileDrawerListener {
      */
     @Override
     public void onErrorStartRecordProfileSig() {
-        Log.i("RailProfileDrawerService", "用户启动记录方向错误");
         RailProfileMeasureTaskState taskState = SystemService.getInstance().getTaskState();
         taskState.setWrongSide(true);
 
@@ -125,11 +126,11 @@ public class RailProfileDrawerService implements RailProfileDrawerListener {
      */
     @Override
     public void onErrorSpeedDetected() {
-        Log.i("RailProfileDrawerService", "移动超速，图像可能会发生失真");
-        Map<String, Object> map = new HashMap<>();
-        map.put("type", "measure-event");
-        map.put("data", RailProfileMeasureTaskEvent.SPEED_DETECTED);
-        WebSocketManager.send(JSONUtil.toJsonStr(map));
+//        Log.i("RailProfileDrawerService", "移动超速，图像可能会发生失真");
+//        Map<String, Object> map = new HashMap<>();
+//        map.put("type", "measure-event");
+//        map.put("data", RailProfileMeasureTaskEvent.SPEED_DETECTED);
+//        WebSocketManager.send(JSONUtil.toJsonStr(map));
     }
 
     public RailProfileDrawer getRailProfileDrawer() {