1. 增加称重抖动参数。

2. 称重稳定后重量继续增长，重新计算稳定重量。

weigh/MsgHandler.cxx

@@ -40,6 +40,13 @@ bool MsgHandler::SetEmptyWeight(const int& empty_weight)
     return true;
 }
 
+bool MsgHandler::SetJitterWeight(const int& jitter_weight)
+{
+    this->jitter_weight = jitter_weight;
+
+    return true;
+}
+
 int MsgHandler::SendDeviceMsg(const std::vector<uint8_t>& data)
 {
     std::cout << "write to " << this->device << std::endl;

weigh/MsgHandler.hpp

@@ -11,6 +11,7 @@ public:
     int fd;
     std::string device;
     int empty_weight;
+    int jitter_weight;
     std::vector<uint8_t> m_WeightData;
 
     MsgHandler();
@@ -21,6 +22,7 @@ public:
     bool HandleDeviceMsg(T& msg);
     bool SetDevice(const std::string& device);
     bool SetEmptyWeight(const int& empty_weight);
+    bool SetJitterWeight(const int& jitter_weight);
 
     virtual bool OpenPort(const std::string& port, const std::string& baudrate);
     virtual int SendDeviceMsg(const std::vector<uint8_t>& data);

weigh/Publisher.cxx

@@ -153,15 +153,15 @@ void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
 {
     // 配置检测器 - 使用更合理的参数
     WeightStabilityDetector::Config config;
-    config.jitter_threshold = 30.0f;           // 30kg抖动阈值
+    config.jitter_threshold = handler->jitter_weight;       // 30kg抖动阈值
     config.min_weight_threshold = handler->empty_weight;    // 300kg开始检测
     config.empty_car_threshold = handler->empty_weight;     // 默认300kg为空车
     config.fast_drop_threshold = 1000.0f;                   // 快速下降1吨认为车辆离开
-    config.required_stable_count = 20;         // 20次稳定即可
+    config.required_stable_count = 24;                      // 20次稳定即可
-    config.min_jitter_count = 2;               // 至少2次非增长
+    config.min_jitter_count = 4;                            // 至少4次非增长
-    config.timeout_extra = 3;                  // 超时额外次数
+    config.timeout_extra = 4;                               // 超时额外次数
     config.window_size = 8;                                 // 窗口大小8
-    config.max_std_dev = 30.0f;                // 最大标准差30kg
+    config.max_std_dev = handler->jitter_weight;            // 最大标准差30kg
     config.enable_debug_log = false;
     config.reset_window_on_vehicle_on = true;
     config.leave_reset_delay_ms = 500;                      // 0.5秒后重置
@@ -241,7 +241,7 @@ void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
 
                 // 如果稳定，显示稳定重量
                 WeighingSystem::ScaleInfo info;
-                info.State() = 1;
+                info.State() = true;
                 if (weight < handler->empty_weight)
                 {
                     info.HasVehicle() = 0;
@@ -252,13 +252,13 @@ void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
                 }
                 if (detector.isStable())
                 {
-                    info.WeightOK() = 1;
+                    info.WeightOK() = true;
                     info.Value() = weight/1000;
                     info.StableValue() = weight/1000;
                 }
                 else
                 {
-                    info.WeightOK() = 0;
+                    info.WeightOK() = false;
                     info.Value() = weight/1000;
                     info.StableValue() = 0;
                 }

weigh/WeightStabilityDetector.cxx

@@ -274,6 +274,9 @@ void WeightStabilityDetector::checkStateTransition(float weight_kg) {
             if (isVehicleLeaving(weight_kg) || checkFastDrop(weight_kg)) {
                 transitionToState(VehicleState::VEHICLE_LEAVING);
             }
+            else if (isVehicleShaking(weight_kg)) {
+                transitionToState(VehicleState::VEHICLE_ON);
+            }
             break;
         }
             
@@ -343,6 +346,18 @@ bool WeightStabilityDetector::isVehicleLeaving(float weight_kg) const {
     return weight_kg < config_.empty_car_threshold;
 }
 
+bool WeightStabilityDetector::isVehicleShaking(float weight_kg) {
+    if (std::abs(weight_kg - previous_weight_) > config_.jitter_threshold)
+    {
+        is_leaving_state_ = false;      // 清除离开状态标记
+        stable_count_ = 0;              // 重置稳定计数
+        continuous_increase_count_ = 0; // 重置连续增长计数
+        vehicle_weight_window_.clear(); // 重置重量窗口
+        return true;
+    }
+    return false;
+}
+
 bool WeightStabilityDetector::checkFastDrop(float weight_kg) const {
     // 检查快速下降：当前重量远低于历史最高重量
     if (max_weight_ > config_.min_weight_threshold) {

weigh/WeightStabilityDetector.hpp

@@ -148,6 +148,7 @@ private:
     bool isJitterExceeded(float weight_diff) const;
     bool isVehicleOn(float weight_kg) const;
     bool isVehicleLeaving(float weight_kg) const;
+    bool isVehicleShaking(float weight_kg);
     bool checkFastDrop(float weight_kg) const;
     bool checkStableCondition() const;
     

weigh/main.cxx

@@ -79,6 +79,7 @@ int main(int argc, char** argv)
     const char* baudrate = "9600";
     const char* device = "Keli";
     int empty_weight = 300;
+    int jitter_weight = 30;
 
     for (int i = 1; i < argc; i++)
     {
@@ -106,6 +107,10 @@ int main(int argc, char** argv)
         {
             empty_weight = atoi(argv[++i]);
         }
+        else if (strcmp(argv[i], "--jitter") == 0 && i + 1 < argc)
+        {
+            jitter_weight = atoi(argv[++i]);
+        }
         else if (strcmp(argv[i], "--version") == 0)
         {
             std::cout << "Vesrion: " << PROGRAM_VERSION << "\n";
@@ -121,6 +126,7 @@ int main(int argc, char** argv)
                       << "  --port          Set port name (e.g., ttyS1)\n"
                       << "  --device        Set device name (e.g., Toledo)\n"
                       << "  --empty         Set empty weight (e.g., 300)\n"
+                      << "  --jitter        Set jitter weight (e.g., 30)\n"
                       << "  --version       Show software Version\n"
                       << "  --help          Show this help message\n";
             return EXIT_SUCCESS;
@@ -135,6 +141,8 @@ int main(int argc, char** argv)
                       << "  --baudrate      Set baudrate (e.g., 9600)\n"
                       << "  --port          Set port name (e.g., ttyS1)\n"
                       << "  --device        Set device name (e.g., Toledo)\n"
+                      << "  --empty         Set empty weight (e.g., 300)\n"
+                      << "  --jitter        Set jitter weight (e.g., 30)\n"
                       << "  --version       Show software Version\n"
                       << "  --help          Show this help message\n";
             return EXIT_FAILURE;
@@ -148,6 +156,7 @@ int main(int argc, char** argv)
     dev->OpenPort(port, baudrate);
     dev->SetDevice(device);
     dev->SetEmptyWeight(empty_weight);
+    dev->SetJitterWeight(jitter_weight);
 
     std::thread pub_thread(&PublisherApp::run, pub, dev);