diff --git a/App/App.pro b/App/App.pro
index fb378196..f1c27549 100644
--- a/App/App.pro
+++ b/App/App.pro
@@ -45,6 +45,10 @@ isEmpty(TARGET_APP) {
         SUBDIRS += BinocularMark/BinocularMark.pro
     } else:equals(TARGET_APP, "WorkpieceProject") {
         SUBDIRS += WorkpieceProject/WorkpieceProject.pro
+    } else:equals(TARGET_APP, "WorkpiecePosition") {
+        SUBDIRS += WorkpieceProject/WorkpieceProject.pro
+    } else:equals(TARGET_APP, "WorkpieceSplice") {
+        SUBDIRS += WorkpieceProject/WorkpieceProject.pro
     } else:equals(TARGET_APP, "TunnelChannel") {
         SUBDIRS += TunnelChannel/TunnelChannel.pro
     } else:equals(TARGET_APP, "WheelMeasure") {
diff --git a/App/BeltTearing/BeltTearing.pro b/App/BeltTearing/BeltTearing.pro
index 18cc223e..6a35d762 100644
--- a/App/BeltTearing/BeltTearing.pro
+++ b/App/BeltTearing/BeltTearing.pro
@@ -1,6 +1,17 @@
 TEMPLATE = subdirs
 
-# 撕裂项目
-SUBDIRS += BeltTearingConfig/BeltTearingConfig.pro
-SUBDIRS += BeltTearingApp/BeltTearingApp.pro
-SUBDIRS += BeltTearingServer/BeltTearingServer.pro
+BeltTearingConfig.file = BeltTearingConfig/BeltTearingConfig.pro
+BeltTearingApp.file = BeltTearingApp/BeltTearingApp.pro
+BeltTearingServer.file = BeltTearingServer/BeltTearingServer.pro
+
+SUBDIRS += BeltTearingConfig
+
+equals(TARGET_APP, "BeltTearing") {
+    SUBDIRS += BeltTearingServer
+    BeltTearingServer.depends = BeltTearingConfig
+} else {
+    SUBDIRS += BeltTearingApp
+    SUBDIRS += BeltTearingServer
+    BeltTearingApp.depends = BeltTearingConfig
+    BeltTearingServer.depends = BeltTearingConfig
+}
diff --git a/App/DroneScrewbolt/DroneScrewCtrlApp/Presenter/Inc/DroneScrewCtrlPresenter.h b/App/DroneScrewbolt/DroneScrewCtrlApp/Presenter/Inc/DroneScrewCtrlPresenter.h
index bd06b753..ccc14bdd 100644
--- a/App/DroneScrewbolt/DroneScrewCtrlApp/Presenter/Inc/DroneScrewCtrlPresenter.h
+++ b/App/DroneScrewbolt/DroneScrewCtrlApp/Presenter/Inc/DroneScrewCtrlPresenter.h
@@ -80,8 +80,8 @@ private slots:
 private:
     // RTSP 拉流回调
     void onRtspFrame(const VrFFPulledFrame& frame);
-    bool initPuller(const QString& streamUrl);
-    bool startPullerOnce(const QString& streamUrl);
+    bool initPuller(const QString& streamUrl, bool quiet = false);
+    bool startPullerOnce(const QString& streamUrl, bool quiet = false);
     bool waitForRtspFirstFrame(int timeoutMs);
     bool startPullerWithRetry(const QString& streamUrl);
     void releasePuller();
@@ -128,6 +128,7 @@ private:
 
     std::atomic<bool>                 m_bConnected{false};
     std::atomic<bool>                 m_bRunning{false};
+    std::atomic<bool>                 m_liveStreamMode{false};
     std::atomic<bool>                 m_rtspReceiving{false};
     std::atomic<bool>                 m_rtspFirstFrameReported{false};
     QTimer*                           m_pReconnectTimer{nullptr};
diff --git a/App/DroneScrewbolt/DroneScrewCtrlApp/Presenter/Src/DroneScrewCtrlPresenter.cpp b/App/DroneScrewbolt/DroneScrewCtrlApp/Presenter/Src/DroneScrewCtrlPresenter.cpp
index 65dd8106..64243407 100644
--- a/App/DroneScrewbolt/DroneScrewCtrlApp/Presenter/Src/DroneScrewCtrlPresenter.cpp
+++ b/App/DroneScrewbolt/DroneScrewCtrlApp/Presenter/Src/DroneScrewCtrlPresenter.cpp
@@ -11,15 +11,18 @@
 #include <QThread>
 #include <QUrl>
 #include <QtGlobal>
+#include <algorithm>
 
 namespace
 {
 constexpr int kDefaultRtspPullPort = 8554;
 constexpr int kLegacyRtmpPublishPort = 1935;
-constexpr unsigned int kRtspOpenTimeoutMs = 5000;
-constexpr int kRtspPullMaxAttempts = 5;
+constexpr unsigned int kRtspOpenTimeoutMs = 10000;
+constexpr int kRtspPullMaxAttempts = 20;
 constexpr int kRtspPullRetryDelayMs = 500;
-constexpr int kRtspFirstFrameWaitMs = 5000;
+constexpr int kRtspFirstFrameWaitMs = 10000;
+constexpr int kControlStartTimeoutMs = 30000;
+constexpr int kControlStopTimeoutMs = 30000;
 constexpr size_t kMaxPendingMatchFrames = 30;
 constexpr qint64 kMaxPendingMatchAgeMs = 15000;
 
@@ -124,8 +127,9 @@ QSize overlayCoordinateSize(const CtrlDetectionFrame& frame, const QImage& img,
 {
     if (sourceSize.width() > 0 && sourceSize.height() > 0)
         return sourceSize;
-    return QSize(frame.imageWidth > 0 ? frame.imageWidth : img.width(),
-                 frame.imageHeight > 0 ? frame.imageHeight : img.height());
+    if (frame.imageWidth > 0 && frame.imageHeight > 0)
+        return QSize(frame.imageWidth, frame.imageHeight);
+    return img.size();
 }
 
 qint64 nowMs()
@@ -261,6 +265,7 @@ void DroneScrewCtrlPresenter::DeinitApp()
 {
     if (m_pReconnectTimer && m_pReconnectTimer->isActive()) m_pReconnectTimer->stop();
 
+    m_liveStreamMode = false;
     releasePuller();
 
     if (m_pRemote)
@@ -307,20 +312,22 @@ QString DroneScrewCtrlPresenter::resolveStreamUrl(const QString& streamUrl) cons
     return normalizeStreamUrl(streamUrl, m_cfg);
 }
 
-bool DroneScrewCtrlPresenter::initPuller(const QString& streamUrl)
+bool DroneScrewCtrlPresenter::initPuller(const QString& streamUrl, bool quiet)
 {
     releasePuller();
 
     const QString url = resolveStreamUrl(streamUrl);
     if (url.isEmpty())
     {
-        emit statusMessage(QStringLiteral("Server 未返回拉流地址"));
+        if (!quiet)
+            emit statusMessage(QStringLiteral("Server 未返回拉流地址"));
         return false;
     }
 
     if (!IVrFFMediaPuller::CreateObject(&m_pPuller) || !m_pPuller)
     {
-        emit statusMessage(QStringLiteral("创建拉流器失败"));
+        if (!quiet)
+            emit statusMessage(QStringLiteral("创建拉流器失败"));
         return false;
     }
 
@@ -339,7 +346,8 @@ bool DroneScrewCtrlPresenter::initPuller(const QString& streamUrl)
     const int ret = m_pPuller->Init(pc);
     if (ret != 0)
     {
-        emit statusMessage(QStringLiteral("打开拉流地址失败 ret=%1: %2").arg(ret).arg(url));
+        if (!quiet)
+            emit statusMessage(QStringLiteral("打开拉流地址失败 ret=%1: %2").arg(ret).arg(url));
         releasePuller();
         return false;
     }
@@ -347,19 +355,23 @@ bool DroneScrewCtrlPresenter::initPuller(const QString& streamUrl)
     return true;
 }
 
-bool DroneScrewCtrlPresenter::startPullerOnce(const QString& streamUrl)
+bool DroneScrewCtrlPresenter::startPullerOnce(const QString& streamUrl, bool quiet)
 {
     const QString url = resolveStreamUrl(streamUrl);
     if (url.isEmpty())
     {
-        emit statusMessage(QStringLiteral("Server 未返回拉流地址，配置也无法生成地址"));
+        if (!quiet)
+            emit statusMessage(QStringLiteral("Server 未返回拉流地址，配置也无法生成地址"));
         return false;
     }
     m_streamUrl = url;
 
-    emit statusMessage(QStringLiteral("正在打开拉流: %1").arg(url));
-    QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents, 20);
-    if (initPuller(url))
+    if (!quiet)
+    {
+        emit statusMessage(QStringLiteral("正在打开拉流: %1").arg(url));
+        QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents, 20);
+    }
+    if (initPuller(url, quiet))
     {
         m_rtspFirstFrameReported = false;
         m_rtspReceiving = true;
@@ -367,15 +379,18 @@ bool DroneScrewCtrlPresenter::startPullerOnce(const QString& streamUrl)
         if (startRet == 0)
         {
             m_streamUrl = url;
-            emit statusMessage(QStringLiteral("拉流器已启动: %1").arg(url));
+            if (!quiet)
+                emit statusMessage(QStringLiteral("拉流器已启动: %1").arg(url));
             return true;
         }
         m_rtspReceiving = false;
-        emit statusMessage(QStringLiteral("启动拉流器失败 ret=%1: %2").arg(startRet).arg(url));
+        if (!quiet)
+            emit statusMessage(QStringLiteral("启动拉流器失败 ret=%1: %2").arg(startRet).arg(url));
         releasePuller();
     }
 
-    emit statusMessage(QStringLiteral("启动拉流失败: %1").arg(url));
+    if (!quiet)
+        emit statusMessage(QStringLiteral("启动拉流失败: %1").arg(url));
     return false;
 }
 
@@ -405,33 +420,24 @@ bool DroneScrewCtrlPresenter::startPullerWithRetry(const QString& streamUrl)
     }
     m_streamUrl = url;
 
+    emit statusMessage(QStringLiteral("正在拉流: %1").arg(url));
+    QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents, 20);
     for (int attempt = 1; attempt <= kRtspPullMaxAttempts; ++attempt)
     {
-        emit statusMessage(QStringLiteral("正在拉流(%1/%2): %3")
-                               .arg(attempt)
-                               .arg(kRtspPullMaxAttempts)
-                               .arg(url));
-        QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents, 20);
+        const bool started = startPullerOnce(url, true);
 
-        if (startPullerOnce(url) && waitForRtspFirstFrame(kRtspFirstFrameWaitMs))
+        if (started && waitForRtspFirstFrame(kRtspFirstFrameWaitMs))
             return true;
 
-        emit statusMessage(QStringLiteral("本地 RTSP 未收到首帧(%1/%2): %3")
-                               .arg(attempt)
-                               .arg(kRtspPullMaxAttempts)
-                               .arg(url));
         releasePuller();
 
         if (attempt < kRtspPullMaxAttempts)
         {
-            emit statusMessage(QStringLiteral("本地 RTSP 拉流失败，准备重试(%1/%2): %3")
-                                   .arg(attempt + 1)
-                                   .arg(kRtspPullMaxAttempts)
-                                   .arg(url));
             processEventsForMs(kRtspPullRetryDelayMs);
         }
     }
 
+    emit statusMessage(QStringLiteral("本地 RTSP 拉流未收到首帧，Server 推流保持运行: %1").arg(url));
     return false;
 }
 
@@ -445,12 +451,15 @@ bool DroneScrewCtrlPresenter::StartLiveStream()
     if (!m_pRemote) return false;
     releasePuller();
     clearCachedDisplayState();
-    m_pRemote->StopWork(WDRemoteWorkMode::Detection);
+    m_liveStreamMode = false;
     emit statusMessage(QStringLiteral("正在请求服务端启动距离检测..."));
     QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents, 20);
-    bool ok = m_pRemote->StartWork(WDRemoteWorkMode::LiveStream) == 0;
+    const int startRet = m_pRemote->StartWork(WDRemoteWorkMode::LiveStream,
+                                              kControlStartTimeoutMs);
+    bool ok = (startRet == 0);
     if (ok)
     {
+        m_liveStreamMode = true;
         emit statusMessage(QStringLiteral("服务端已启动，正在获取拉流地址..."));
         QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents, 20);
         WDRemoteServerInfo info = m_pRemote->GetServerInfo();
@@ -463,60 +472,85 @@ bool DroneScrewCtrlPresenter::StartLiveStream()
         const bool pullOk = startPullerWithRetry(m_streamUrl);
         if (!pullOk)
         {
-            emit statusMessage(QStringLiteral("服务端已开流，但本地 RTSP 多次拉流未启动: %1").arg(m_streamUrl));
+            releasePuller();
+            emit statusMessage(QStringLiteral("Server 已开流，本地暂未拉到图像: %1").arg(m_streamUrl));
             return true;
         }
 
         emit statusMessage(QStringLiteral("Server 已开流，RTSP 已出图: %1").arg(m_streamUrl));
     }
+    if (!ok)
+    {
+        emit statusMessage(QStringLiteral("Server 启动距离检测失败 ret=%1").arg(startRet));
+        m_liveStreamMode = false;
+    }
     return ok;
 }
 
 bool DroneScrewCtrlPresenter::StopLiveStream()
 {
     if (!m_pRemote) return false;
+    m_liveStreamMode = false;
     // 停止 RTSP 拉流
     releasePuller();
-    bool ok = m_pRemote->StopWork(WDRemoteWorkMode::LiveStream) == 0;
+    const int stopRet = m_pRemote->StopWork(WDRemoteWorkMode::LiveStream,
+                                            kControlStopTimeoutMs);
+    bool ok = (stopRet == 0);
     if (ok) emit statusMessage(QStringLiteral("Server 已关流"));
+    else emit statusMessage(QStringLiteral("Server 关流失败 ret=%1").arg(stopRet));
     return ok;
 }
 
 bool DroneScrewCtrlPresenter::StartDetection()
 {
     if (!m_pRemote) return false;
+    m_liveStreamMode = false;
     // 检测模式下停止 RTSP 拉流（改用 ZMQ 原始图像通道）
     releasePuller();
     clearCachedDisplayState();
-    m_pRemote->StopWork(WDRemoteWorkMode::LiveStream);
 
     // 使用单目传输模式：仅接收左目图像，减少网络带宽消耗
     m_pRemote->SetDetectMode("mono");
 
-    bool ok = m_pRemote->StartWork(WDRemoteWorkMode::Detection) == 0;
+    const int startRet = m_pRemote->StartWork(WDRemoteWorkMode::Detection,
+                                              kControlStartTimeoutMs);
+    bool ok = (startRet == 0);
     if (ok) emit statusMessage(QStringLiteral("Server 已开始检测（单目传输）"));
+    else emit statusMessage(QStringLiteral("Server 启动精准检测失败 ret=%1").arg(startRet));
     return ok;
 }
 
 bool DroneScrewCtrlPresenter::StopDetection()
 {
     if (!m_pRemote) return false;
-    bool ok = m_pRemote->StopWork(WDRemoteWorkMode::Detection) == 0;
+    const int stopRet = m_pRemote->StopWork(WDRemoteWorkMode::Detection,
+                                            kControlStopTimeoutMs);
+    bool ok = (stopRet == 0);
     if (ok) emit statusMessage(QStringLiteral("Server 已停止检测"));
+    else emit statusMessage(QStringLiteral("Server 停止检测失败 ret=%1").arg(stopRet));
     return ok;
 }
 
 bool DroneScrewCtrlPresenter::StopAll()
 {
     if (!m_pRemote) return false;
+    m_liveStreamMode = false;
     // 停止 RTSP 拉流
     releasePuller();
     clearCachedDisplayState();
     // 两种模式都停掉，保证服务端回到空闲（幂等）
-    m_pRemote->StopWork(WDRemoteWorkMode::Detection, 1000);
-    m_pRemote->StopWork(WDRemoteWorkMode::LiveStream, 1000);
-    emit statusMessage(QStringLiteral("Server 已停止（实时/检测）"));
-    return true;
+    const int streamRet = m_pRemote->StopWork(WDRemoteWorkMode::LiveStream,
+                                              kControlStopTimeoutMs);
+    const int detectRet = m_pRemote->StopWork(WDRemoteWorkMode::Detection,
+                                              kControlStopTimeoutMs);
+    const bool ok = (streamRet == 0 && detectRet == 0);
+    if (ok)
+        emit statusMessage(QStringLiteral("Server 已停止（实时/检测）"));
+    else
+        emit statusMessage(QStringLiteral("Server 停止失败 streamRet=%1 detectRet=%2")
+                               .arg(streamRet)
+                               .arg(detectRet));
+    return ok;
 }
 
 bool DroneScrewCtrlPresenter::SetServerExposure(double exposureTime)
@@ -548,7 +582,7 @@ bool DroneScrewCtrlPresenter::PushAlgoParams(const DroneScrewAlgoUiParams& param
 void DroneScrewCtrlPresenter::onRemoteDetection(const WDRemoteDetectionFrame& f)
 {
     CtrlDetectionFrame frame = toCtrlFrame(f);
-    if (m_rtspReceiving.load())
+    if (m_liveStreamMode.load() || m_rtspReceiving.load())
     {
         {
             QMutexLocker lk(&m_lastResultMutex);
@@ -579,7 +613,15 @@ void DroneScrewCtrlPresenter::onRemoteDetection(const WDRemoteDetectionFrame& f)
     }
 
     if (!hasMatchedImage)
+    {
+        {
+            QMutexLocker lk(&m_lastResultMutex);
+            m_lastResult = frame;
+            m_bHasResult = true;
+        }
+        emit detectionResultReady(frame);
         return;
+    }
 
     {
         QMutexLocker lk(&m_lastResultMutex);
@@ -595,7 +637,7 @@ void DroneScrewCtrlPresenter::onRemoteRawImage(const WDRemoteBinocularRawImage&
     // 检测模式下板一通过 ZMQ 原始图通道发来左目图像（此时 RTSP 已关闭）。
     // 转为 QImage，走与 RTSP 相同的叠加+显示通路（onOverlayFrameReady 会叠加检测框）。
     if (!img.leftData || img.leftWidth <= 0 || img.leftHeight <= 0) return;
-    if (m_rtspReceiving.load()) return;
+    if (m_liveStreamMode.load() || m_rtspReceiving.load()) return;
 
     QImage q;
     switch (img.leftPixelFormat)
@@ -649,7 +691,9 @@ void DroneScrewCtrlPresenter::onRemoteRawImage(const WDRemoteBinocularRawImage&
         }
 
         if (!hasMatchedResult)
+        {
             return;
+        }
 
         {
             QMutexLocker lk(&m_lastResultMutex);
@@ -757,9 +801,21 @@ void DroneScrewCtrlPresenter::onRtspFrame(const VrFFPulledFrame& frame)
         return;
     }
 
+    CtrlDetectionFrame latestResult;
+    bool hasLatestResult = false;
+    if (m_liveStreamMode.load())
+    {
+        QMutexLocker lk(&m_lastResultMutex);
+        if (m_bHasResult)
+        {
+            latestResult = m_lastResult;
+            hasLatestResult = true;
+        }
+    }
+
     if (!m_rtspFirstFrameReported.exchange(true))
         emit statusMessage(QStringLiteral("RTSP 已出图"));
-    emit displayFrameReady(img, img.size(), -1, true, CtrlDetectionFrame{}, false);
+    emit displayFrameReady(img, img.size(), -1, true, latestResult, hasLatestResult);
 }
 
 void DroneScrewCtrlPresenter::onOverlayFrameReady(const QImage& img,
@@ -770,9 +826,16 @@ void DroneScrewCtrlPresenter::onOverlayFrameReady(const QImage& img,
                                                   bool hasResult)
 {
     QImage frame = img;
-    if (hasResult && !rtspFrame)
+    if (hasResult && !m_liveStreamMode.load())
     {
-        overlayDetectionBoxes(frame, result, sourceSize);
+        QSize overlaySourceSize = sourceSize;
+        if (rtspFrame)
+        {
+            overlaySourceSize = (result.imageWidth > 0 && result.imageHeight > 0)
+                                    ? QSize(result.imageWidth, result.imageHeight)
+                                    : img.size();
+        }
+        overlayDetectionBoxes(frame, result, overlaySourceSize);
     }
 
     {
@@ -839,9 +902,10 @@ void DroneScrewCtrlPresenter::overlayDetectionBoxes(QImage& img,
     if (!m_cfg.display.drawBoxes || frame.boxes.empty()) return;
 
     QPainter p(&img);
-    p.setRenderHint(QPainter::Antialiasing, true);
-    const int thickness = m_cfg.display.boxThickness > 0 ? m_cfg.display.boxThickness : 1;
+    p.setRenderHint(QPainter::Antialiasing, false);
+    const int thickness = std::max(2, m_cfg.display.boxThickness);
     QPen pen(QColor(0, 0, 0), thickness);
+    pen.setJoinStyle(Qt::MiterJoin);
     p.setPen(pen);
     QFont f = p.font();
     f.setPointSize(28);
@@ -864,10 +928,15 @@ void DroneScrewCtrlPresenter::overlayDetectionBoxes(QImage& img,
     for (size_t i = 0; i < frame.boxes.size(); ++i)
     {
         const auto& b = frame.boxes[i];
-        QRect r(qRound(static_cast<double>(b.x) * scaleX),
-                qRound(static_cast<double>(b.y) * scaleY),
-                qRound(static_cast<double>(b.width) * scaleX),
-                qRound(static_cast<double>(b.height) * scaleY));
+        if (b.width <= 0 || b.height <= 0)
+            continue;
+        const int x1 = qRound(static_cast<double>(b.x) * scaleX);
+        const int y1 = qRound(static_cast<double>(b.y) * scaleY);
+        int x2 = qRound(static_cast<double>(b.x + b.width) * scaleX) - 1;
+        int y2 = qRound(static_cast<double>(b.y + b.height) * scaleY) - 1;
+        if (x2 < x1) x2 = x1;
+        if (y2 < y1) y2 = y1;
+        QRect r(QPoint(x1, y1), QPoint(x2, y2));
         r = r.normalized().intersected(imageRect);
         if (r.isEmpty())
             continue;
diff --git a/App/DroneScrewbolt/DroneScrewCtrlApp/config/config.xml b/App/DroneScrewbolt/DroneScrewCtrlApp/config/config.xml
index e5eb90bb..f17d7cf9 100644
--- a/App/DroneScrewbolt/DroneScrewCtrlApp/config/config.xml
+++ b/App/DroneScrewbolt/DroneScrewCtrlApp/config/config.xml
@@ -25,7 +25,7 @@
     <Display drawBoxes="true"
              drawScores="true"
              drawClassId="true"
-             boxThickness="1"
+             boxThickness="2"
              maxResultListItems="200" />
 
 </DroneScrewCtrlConfig>
diff --git a/App/DroneScrewbolt/DroneScrewCtrlApp/mainwindow.cpp b/App/DroneScrewbolt/DroneScrewCtrlApp/mainwindow.cpp
index bd57bcd7..77de336b 100644
--- a/App/DroneScrewbolt/DroneScrewCtrlApp/mainwindow.cpp
+++ b/App/DroneScrewbolt/DroneScrewCtrlApp/mainwindow.cpp
@@ -556,9 +556,16 @@ void MainWindow::on_btn_start_clicked()
         ui->btn_start->setEnabled(false);
         ui->btn_detect_start->setEnabled(false);
         QApplication::processEvents();
-        if (m_pPresenter) m_pPresenter->StopAll();
-        appendLog(QStringLiteral("已请求 Server 停止"));
-        applyUiState(UiState::Idle);
+        const bool ok = m_pPresenter && m_pPresenter->StopAll();
+        if (ok)
+        {
+            appendLog(QStringLiteral("已请求 Server 停止"));
+            applyUiState(UiState::Idle);
+        }
+        else
+        {
+            appendLog(QStringLiteral("Server 停止失败，状态未切换"));
+        }
         ui->btn_start->setEnabled(true);
         ui->btn_detect_start->setEnabled(true);
     }
diff --git a/App/DroneScrewbolt/DroneScrewCtrlApp/resultitem.cpp b/App/DroneScrewbolt/DroneScrewCtrlApp/resultitem.cpp
index bb9b2bef..687f73cf 100644
--- a/App/DroneScrewbolt/DroneScrewCtrlApp/resultitem.cpp
+++ b/App/DroneScrewbolt/DroneScrewCtrlApp/resultitem.cpp
@@ -51,6 +51,17 @@ QString distanceText(const CtrlDetectionFrame& frame, int targetIndex)
                ? QStringLiteral("未测到距离")
                : distanceParts.join(" ");
 }
+
+QString distanceIndexText(const CtrlDetectionFrame& frame, int targetIndex)
+{
+    const int total = static_cast<int>(frame.distances.size());
+    if (targetIndex >= 0 && targetIndex < total)
+    {
+        const CtrlDetectionDistance& d = frame.distances[static_cast<size_t>(targetIndex)];
+        return QString::number(d.toId);
+    }
+    return QStringLiteral("-");
+}
 }
 
 ResultItem::ResultItem(QWidget* parent)
@@ -112,11 +123,7 @@ void ResultItem::setResultData(int targetIndex,
                                       .arg(static_cast<int>(frame.boxes.size())));
         else if (mode == DisplayMode::Distance)
         {
-            const int total = static_cast<int>(frame.distances.size());
-            if (targetIndex >= 0 && targetIndex < total)
-                ui->label_id->setText(QString("%1/%2").arg(targetIndex + 1).arg(total));
-            else
-                ui->label_id->setText(QString("%1/%1").arg(total));
+            ui->label_id->setText(distanceIndexText(frame, targetIndex));
         }
         else
             ui->label_id->setText(QStringLiteral("0/0"));
diff --git a/App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.cpp b/App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.cpp
index 2d5be50b..e264f07a 100644
--- a/App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.cpp
+++ b/App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.cpp
@@ -1323,6 +1323,7 @@ int DroneScrewServerPresenter::initRtspPusher(unsigned int width, unsigned int h
 
 void DroneScrewServerPresenter::releaseRtspPusher()
 {
+    std::lock_guard<std::mutex> pusherLock(m_rtspPusherMutex);
     m_bRtspStarted = false;
     if (m_pPusher)
     {
@@ -1343,6 +1344,67 @@ void DroneScrewServerPresenter::releaseRtspPusher()
     m_rtspUvInitialized = false;
     m_rtspRgaScaleDisabled = false;
     m_rtspRgaScaleLogged = false;
+    resetRtspPushState();
+}
+
+int DroneScrewServerPresenter::startRtspPusher()
+{
+    std::lock_guard<std::mutex> pusherLock(m_rtspPusherMutex);
+    if (!m_pPusher)
+        return ERR_CODE(DRONESCREW_ERR_RTSP_INIT);
+    return m_pPusher->Start();
+}
+
+void DroneScrewServerPresenter::resetRtspPushState()
+{
+    {
+        std::lock_guard<std::mutex> lk(m_rtspPushMutex);
+        m_rtspPushedFrameCounter = 0;
+        m_rtspLastPushRet = 0;
+        m_rtspLastPushFrameId = 0;
+    }
+}
+
+void DroneScrewServerPresenter::recordRtspPushResult(int ret, unsigned long long frameId)
+{
+    bool logFirstSuccess = false;
+    bool logFirstFailure = false;
+    int64_t pushedCount = 0;
+    const bool pendingEncoderOutput = (ret == ERR_CODE(DEV_RESULT_EMPTY));
+    {
+        std::lock_guard<std::mutex> lk(m_rtspPushMutex);
+        pushedCount = m_rtspPushedFrameCounter.load();
+        const int previousRet = m_rtspLastPushRet.load();
+        m_rtspLastPushFrameId = frameId;
+        if (ret == 0)
+        {
+            m_rtspLastPushRet = 0;
+            ++m_rtspPushedFrameCounter;
+            logFirstSuccess = (pushedCount == 0);
+        }
+        else if (!pendingEncoderOutput)
+        {
+            m_rtspLastPushRet = ret;
+            logFirstFailure = (!pendingEncoderOutput &&
+                               pushedCount == 0 &&
+                               previousRet != ret);
+        }
+        else if (previousRet == 0)
+        {
+            m_rtspLastPushRet = ret;
+        }
+    }
+
+    if (logFirstSuccess)
+    {
+        LOG_INFO("[RTMP] first frame pushed frame=%llu pull=%s\n",
+                 frameId, m_rtspAdvertiseUrl.toStdString().c_str());
+    }
+    else if (logFirstFailure)
+    {
+        LOG_WARN("[RTMP] push failed before first frame ret=%d frame=%llu\n",
+                 ret, frameId);
+    }
 }
 
 void DroneScrewServerPresenter::leftCameraCallback(const MvsImageData& img)
@@ -1406,12 +1468,12 @@ void DroneScrewServerPresenter::leftCameraCallback(const MvsImageData& img)
 
         // 直播相机配置为左目时，收到左目立即推流（不等右目）。
         if (isLiveStreamCameraRole("left") &&
-            m_pPusher && m_bRtspStarted.load() && img.pData)
+            m_bRtspStarted.load() && img.pData)
         {
             const int rtspRet = pushRtspFrame(img);
             if (rtspRet == 0)
                 ++rtspPushCnt;
-            else
+            else if (rtspRet != ERR_CODE(DEV_RESULT_EMPTY))
                 ++rtspFailCnt;
         }
 
@@ -1443,47 +1505,49 @@ void DroneScrewServerPresenter::rightCameraCallback(const MvsImageData& img)
 {
     try
     {
-        QMutexLocker lk(&m_frameMutex);
-
-        // 检查是否需要重新分配内存
-        if (m_rightImageData.dataSize != img.dataSize)
         {
-            if (m_rightImageData.pData != nullptr)
-            {
-                delete[] m_rightImageData.pData;
-                m_rightImageData.pData = nullptr;
-                LOG_DEBUG("[CAM] right realloc: old=%zu new=%zu frame=%llu\n",
-                          m_rightImageData.dataSize, img.dataSize, img.frameID);
-            }
+            QMutexLocker lk(&m_frameMutex);
 
-            if (img.dataSize > 0)
+            // 检查是否需要重新分配内存
+            if (m_rightImageData.dataSize != img.dataSize)
             {
-                m_rightImageData.pData = new (std::nothrow) unsigned char[img.dataSize];
-                if (!m_rightImageData.pData)
+                if (m_rightImageData.pData != nullptr)
                 {
-                    m_rightImageData.dataSize = 0;
-                    m_bRightImageReady = false;
-                    LOG_ERROR("[CAM] right alloc failed size=%zu frame=%llu\n",
-                              img.dataSize, img.frameID);
-                    return;
+                    delete[] m_rightImageData.pData;
+                    m_rightImageData.pData = nullptr;
+                    LOG_DEBUG("[CAM] right realloc: old=%zu new=%zu frame=%llu\n",
+                              m_rightImageData.dataSize, img.dataSize, img.frameID);
+                }
+
+                if (img.dataSize > 0)
+                {
+                    m_rightImageData.pData = new (std::nothrow) unsigned char[img.dataSize];
+                    if (!m_rightImageData.pData)
+                    {
+                        m_rightImageData.dataSize = 0;
+                        m_bRightImageReady = false;
+                        LOG_ERROR("[CAM] right alloc failed size=%zu frame=%llu\n",
+                                  img.dataSize, img.frameID);
+                        return;
+                    }
                 }
             }
+
+            // 复制图像数据
+            m_rightImageData.width = img.width;
+            m_rightImageData.height = img.height;
+            m_rightImageData.dataSize = img.dataSize;
+            m_rightImageData.pixelFormat = img.pixelFormat;
+            m_rightImageData.frameID = img.frameID;
+            m_rightImageData.timestamp = img.timestamp;
+
+            if (m_rightImageData.pData != nullptr && img.pData != nullptr)
+            {
+                memcpy(m_rightImageData.pData, img.pData, img.dataSize);
+            }
+
+            m_bRightImageReady = true;
         }
-
-        // 复制图像数据
-        m_rightImageData.width = img.width;
-        m_rightImageData.height = img.height;
-        m_rightImageData.dataSize = img.dataSize;
-        m_rightImageData.pixelFormat = img.pixelFormat;
-        m_rightImageData.frameID = img.frameID;
-        m_rightImageData.timestamp = img.timestamp;
-
-        if (m_rightImageData.pData != nullptr && img.pData != nullptr)
-        {
-            memcpy(m_rightImageData.pData, img.pData, img.dataSize);
-        }
-
-        m_bRightImageReady = true;
         static bool rightFirst = true;
         if (rightFirst) {
             std::ostringstream oss;
@@ -1496,12 +1560,12 @@ void DroneScrewServerPresenter::rightCameraCallback(const MvsImageData& img)
         static int rtspFailCnt = 0;
 
         if (isLiveStreamCameraRole("right") &&
-            m_pPusher && m_bRtspStarted.load() && img.pData)
+            m_bRtspStarted.load() && img.pData)
         {
             const int rtspRet = pushRtspFrame(img);
             if (rtspRet == 0)
                 ++rtspPushCnt;
-            else
+            else if (rtspRet != ERR_CODE(DEV_RESULT_EMPTY))
                 ++rtspFailCnt;
         }
 
@@ -1711,10 +1775,10 @@ int DroneScrewServerPresenter::startDetectionWork()
     }
 
     // 停止 RTSP 推流（检测和推流互斥）
-    if (m_pPusher && m_bRtspStarted.load())
+    if (m_pPusher)
     {
         LOG_DEBUG("[DETECT] stopping RTSP pusher (detection mode)\n");
-        m_pPusher->Stop();
+        releaseRtspPusher();
     }
     m_bRtspStarted = false;
     resetFrameReadyFlags();
@@ -1746,12 +1810,12 @@ int DroneScrewServerPresenter::stopDetectionWork()
         return 0;
     }
 
-    m_bIsDetecting = false;
     stopGpioTriggerLoop();
     m_bThreadExit  = true;
     if (m_detectThread.joinable())
         m_detectThread.join();
     stopImageSaveThread();
+    m_bIsDetecting = false;
     m_detectPipelineMode = kDetectPipelinePrecision;
     m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);
 
@@ -1768,6 +1832,8 @@ int DroneScrewServerPresenter::startLiveStream()
         return 0;
     }
 
+    releaseRtspPusher();
+
     if (m_bIsDetecting.load())
     {
         LOG_WARN("[LIVE] start rejected: detection is running\n");
@@ -1802,6 +1868,9 @@ int DroneScrewServerPresenter::startLiveStream()
     if (acqRet != 0)
     {
         emit statusChanged(QStringLiteral("实时传图相机采集启动失败"));
+        releaseRtspPusher();
+        m_detectPipelineMode = kDetectPipelinePrecision;
+        m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);
         return acqRet;
     }
 
@@ -1815,20 +1884,25 @@ int DroneScrewServerPresenter::startLiveStream()
         LOG_ERROR("[LIVE] RTSP pusher init failed ret=%d\n", ret);
         stopLiveCameras();
         releaseRtspPusher();
+        m_detectPipelineMode = kDetectPipelinePrecision;
+        m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);
         return ERR_CODE(DRONESCREW_ERR_RTSP_INIT);
     }
 
-    ret = m_pPusher->Start();
+    ret = startRtspPusher();
     if (ret != 0)
     {
         LOG_ERROR("[LIVE] RTSP pusher start failed ret=%d\n", ret);
         m_bRtspStarted = false;
         stopLiveCameras();
         releaseRtspPusher();
+        m_detectPipelineMode = kDetectPipelinePrecision;
+        m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);
         return ERR_CODE(DRONESCREW_ERR_RTSP_START);
     }
 
     m_rtspFrameCounter = 0;  // 重置帧计数器
+    resetRtspPushState();
     m_bRtspStarted = true;
     m_bLiveStreaming = true;
     m_bThreadExit = false;
@@ -1851,7 +1925,6 @@ int DroneScrewServerPresenter::stopLiveStream()
             releaseRtspPusher();
         else
             m_bRtspStarted = false;
-        stopImageSaveThread();
         m_rtspFrameCounter = 0;  // 重置计数器，防止下次开流时 DTS 残留
         return 0;
     }
@@ -2255,11 +2328,6 @@ QString DroneScrewServerPresenter::imageSaveModeName() const
     if (m_detectPipelineMode.load() == kDetectPipelineDistance)
         return QStringLiteral("distance");
 
-    const std::string mode = detectMode();
-    if (mode == "mono")
-        return QStringLiteral("precision_mono");
-    if (mode == "binocular")
-        return QStringLiteral("precision_binocular");
     return QStringLiteral("precision");
 }
 
@@ -2267,9 +2335,13 @@ void DroneScrewServerPresenter::startImageSaveThread(const QString& modeName)
 {
     stopImageSaveThread();
 
-    const QString dateDir = QDateTime::currentDateTime().toString(QStringLiteral("yyyyMMdd"));
+    const QDateTime now = QDateTime::currentDateTime();
+    const QString dateDir = now.toString(QStringLiteral("yyyyMMdd"));
+    const QString sessionName = QStringLiteral("%1_%2")
+                                    .arg(modeName,
+                                         now.toString(QStringLiteral("HHmmss_zzz")));
     const QString sessionDir =
-        QDir(QDir(QString::fromLatin1(kImageSaveRootDir)).filePath(dateDir)).filePath(modeName);
+        QDir(QDir(QString::fromLatin1(kImageSaveRootDir)).filePath(dateDir)).filePath(sessionName);
     if (!QDir().mkpath(sessionDir))
     {
         LOG_WARN("[SAVE] create image save dir failed: %s\n",
@@ -2294,9 +2366,9 @@ void DroneScrewServerPresenter::stopImageSaveThread()
     const bool shouldJoin = m_imageSaveThread.joinable();
     {
         std::lock_guard<std::mutex> lk(m_imageSaveMutex);
+        m_imageSaveQueue.clear();
         if (!shouldJoin)
         {
-            m_imageSaveQueue.clear();
             m_imageSaveSessionDir.clear();
             m_imageSaveThreadExit = false;
             return;
@@ -2397,12 +2469,11 @@ void DroneScrewServerPresenter::imageSaveThreadFunc()
                 return m_imageSaveThreadExit.load() || !m_imageSaveQueue.empty();
             });
 
+            if (m_imageSaveThreadExit.load())
+                break;
+
             if (m_imageSaveQueue.empty())
-            {
-                if (m_imageSaveThreadExit.load())
-                    break;
                 continue;
-            }
 
             job = std::move(m_imageSaveQueue.front());
             m_imageSaveQueue.pop_front();
@@ -2422,7 +2493,7 @@ void DroneScrewServerPresenter::imageSaveThreadFunc()
                      static_cast<int>(img.width),
                      QImage::Format_Grayscale8);
             const QString filePath = QDir(job.dirPath).filePath(
-                QStringLiteral("%1Image_%2.png").arg(prefix).arg(job.index));
+                QStringLiteral("%1_%2Image.png").arg(job.index).arg(prefix));
             if (!q.save(filePath, "PNG"))
             {
                 LOG_WARN("[SAVE] image save failed: %s\n",
@@ -3142,20 +3213,34 @@ int DroneScrewServerPresenter::pushRtspFrame(const MvsImageData& img)
 {
     try
     {
+        std::lock_guard<std::mutex> pusherLock(m_rtspPusherMutex);
         if (!m_pPusher) return ERR_CODE(DRONESCREW_ERR_RTSP_INIT);
         if (!m_bLiveStreaming.load() || !m_bRtspStarted.load()) return 0;
         if (!img.pData || img.dataSize == 0 || img.width == 0 || img.height == 0)
-            return ERR_CODE(DATA_ERR_INVALID);
+        {
+            const int ret = ERR_CODE(DATA_ERR_INVALID);
+            recordRtspPushResult(ret, img.frameID);
+            return ret;
+        }
 
         const unsigned int outWidth = m_rtspWidth > 0 ? m_rtspWidth : img.width;
         const unsigned int outHeight = m_rtspHeight > 0 ? m_rtspHeight : img.height;
         if (outWidth == 0 || outHeight == 0)
-            return ERR_CODE(DATA_ERR_INVALID);
+        {
+            const int ret = ERR_CODE(DATA_ERR_INVALID);
+            recordRtspPushResult(ret, img.frameID);
+            return ret;
+        }
 
         if (img.pixelFormat == kMvsPixelTypeMono8)
         {
             const size_t monoSize = static_cast<size_t>(img.width) * static_cast<size_t>(img.height);
-            if (img.dataSize < monoSize) return ERR_CODE(DATA_ERR_LEN);
+            if (img.dataSize < monoSize)
+            {
+                const int ret = ERR_CODE(DATA_ERR_LEN);
+                recordRtspPushResult(ret, img.frameID);
+                return ret;
+            }
 
             const size_t ySize = static_cast<size_t>(outWidth) *
                                  static_cast<size_t>(outHeight);
@@ -3236,27 +3321,39 @@ int DroneScrewServerPresenter::pushRtspFrame(const MvsImageData& img)
             const int64_t ptsUs = static_cast<int64_t>(
                 (static_cast<double>(frameIdx) / streamFps) * 1000000.0
             );
-            return m_pPusher->PushFrame(m_rtspFrameBuffer.data(), m_rtspFrameBuffer.size(), ptsUs);
+            const int ret = m_pPusher->PushFrame(m_rtspFrameBuffer.data(),
+                                                 m_rtspFrameBuffer.size(),
+                                                 ptsUs);
+            recordRtspPushResult(ret, img.frameID);
+            return ret;
         }
 
-        return ERR_CODE(DATA_ERR_INVALID);
+        const int ret = ERR_CODE(DATA_ERR_INVALID);
+        recordRtspPushResult(ret, img.frameID);
+        return ret;
     }
     catch (const std::bad_alloc& e)
     {
         LOG_ERROR("[RTSP] push memory allocation failed frame=%llu src=%ux%u: %s\n",
                   img.frameID, img.width, img.height, e.what());
-        return ERR_CODE(DATA_ERR_MEM);
+        const int ret = ERR_CODE(DATA_ERR_MEM);
+        recordRtspPushResult(ret, img.frameID);
+        return ret;
     }
     catch (const std::exception& e)
     {
         LOG_ERROR("[RTSP] push exception frame=%llu src=%ux%u: %s\n",
                   img.frameID, img.width, img.height, e.what());
-        return ERR_CODE(DATA_ERR_INVALID);
+        const int ret = ERR_CODE(DATA_ERR_INVALID);
+        recordRtspPushResult(ret, img.frameID);
+        return ret;
     }
     catch (...)
     {
         LOG_ERROR("[RTSP] push unknown exception frame=%llu src=%ux%u\n",
                   img.frameID, img.width, img.height);
-        return ERR_CODE(DATA_ERR_INVALID);
+        const int ret = ERR_CODE(DATA_ERR_INVALID);
+        recordRtspPushResult(ret, img.frameID);
+        return ret;
     }
 }
diff --git a/App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.h b/App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.h
index 90decb2f..0cb507fe 100644
--- a/App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.h
+++ b/App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.h
@@ -210,8 +210,11 @@ private:
     int  prepareLiveStreamAcquisition();
     void resetFrameReadyFlags();
     int  initRtspPusher(unsigned int width, unsigned int height, unsigned int fps);
+    int  startRtspPusher();
     void releaseRtspPusher();
     int  pushRtspFrame(const MvsImageData& img);
+    void resetRtspPushState();
+    void recordRtspPushResult(int ret, unsigned long long frameId);
     bool tryRgaScaleMonoToY(const MvsImageData& img,
                             unsigned char* dstY,
                             unsigned int outWidth,
@@ -308,6 +311,11 @@ private:
     std::atomic<int>                   m_detectPipelineMode{0}; // 0=precision, 1=distance
     std::atomic<int>                   m_activeTriggerFps{2};
     std::atomic<int64_t>               m_rtspFrameCounter{0};  // 相对帧计数（推流启动时重置）
+    std::mutex                         m_rtspPusherMutex;
+    std::mutex                         m_rtspPushMutex;
+    std::atomic<int64_t>               m_rtspPushedFrameCounter{0};
+    std::atomic<int>                   m_rtspLastPushRet{0};
+    std::atomic<unsigned long long>    m_rtspLastPushFrameId{0};
     std::vector<unsigned char>         m_rtspFrameBuffer;
     std::vector<unsigned int>          m_rtspScaleX;
     std::vector<unsigned int>          m_rtspScaleY;
diff --git a/App/DroneScrewbolt/DroneScrewServer/DroneScrewZmqProtocol.cpp b/App/DroneScrewbolt/DroneScrewServer/DroneScrewZmqProtocol.cpp
index b4f317fa..fb4cb906 100644
--- a/App/DroneScrewbolt/DroneScrewServer/DroneScrewZmqProtocol.cpp
+++ b/App/DroneScrewbolt/DroneScrewServer/DroneScrewZmqProtocol.cpp
@@ -25,7 +25,7 @@
 namespace
 {
 constexpr int kRawImageZlibLevel = 9;
-constexpr bool kUseFixedPrecisionMonoRawMjpeg = false;
+constexpr bool kUseFixedPrecisionMonoRawMjpeg = true;
 constexpr int kFixedPrecisionMonoRawMjpegQuality = 25;
 constexpr int kFixedPrecisionMonoRawScaleDiv = 4;
 
diff --git a/App/DroneScrewbolt/result.png b/App/DroneScrewbolt/result.png
new file mode 100644
index 00000000..ad904261
Binary files /dev/null and b/App/DroneScrewbolt/result.png differ
diff --git a/App/WorkpieceProject/WorkpieceProject.pro b/App/WorkpieceProject/WorkpieceProject.pro
index 8d4334e0..06982dc7 100644
--- a/App/WorkpieceProject/WorkpieceProject.pro
+++ b/App/WorkpieceProject/WorkpieceProject.pro
@@ -1,9 +1,21 @@
 # WorkpieceProject.pro
-# 工件项目总工程文件
-
 TEMPLATE = subdirs
 
-SUBDIRS += \
-    WorkpieceProjectConfig/WorkpieceProjectConfig.pro \
-    WorkpiecePositionApp/WorkpiecePositionApp.pro \
-    WorkpieceSpliceApp/WorkpieceSpliceApp.pro
+WorkpieceProjectConfig.file = WorkpieceProjectConfig/WorkpieceProjectConfig.pro
+WorkpiecePositionApp.file = WorkpiecePositionApp/WorkpiecePositionApp.pro
+WorkpieceSpliceApp.file = WorkpieceSpliceApp/WorkpieceSpliceApp.pro
+
+SUBDIRS += WorkpieceProjectConfig
+
+equals(TARGET_APP, "WorkpiecePosition") {
+    SUBDIRS += WorkpiecePositionApp
+    WorkpiecePositionApp.depends = WorkpieceProjectConfig
+} else:equals(TARGET_APP, "WorkpieceSplice") {
+    SUBDIRS += WorkpieceSpliceApp
+    WorkpieceSpliceApp.depends = WorkpieceProjectConfig
+} else {
+    SUBDIRS += WorkpiecePositionApp
+    SUBDIRS += WorkpieceSpliceApp
+    WorkpiecePositionApp.depends = WorkpieceProjectConfig
+    WorkpieceSpliceApp.depends = WorkpieceProjectConfig
+}
diff --git a/Module/FFMediaStream/Src/CVrFFMediaPusher.cpp b/Module/FFMediaStream/Src/CVrFFMediaPusher.cpp
index d295ec4e..2ff4d776 100644
--- a/Module/FFMediaStream/Src/CVrFFMediaPusher.cpp
+++ b/Module/FFMediaStream/Src/CVrFFMediaPusher.cpp
@@ -585,7 +585,7 @@ int CVrFFMediaPusher::PushFrame(const void* data, size_t size, int64_t ptsUs)
         mpp_packet_deinit(&packet);
         mpp_buffer_put(pktBuf);
         LOG_DEBUG("FFMediaPusher: encode produced no packet (warmup)\n");
-        return SUCCESS;  // 跳过，不算失败
+        return ERR_CODE(DEV_RESULT_EMPTY);
     }
 
     MppBuffer encodedBuf = mpp_packet_get_buffer(encodedPacket);
@@ -618,7 +618,7 @@ int CVrFFMediaPusher::PushFrame(const void* data, size_t size, int64_t ptsUs)
     {
         releaseEncodedPacket();
         LOG_DEBUG("FFMediaPusher: encode produced empty packet data\n");
-        return SUCCESS;  // 跳过，不算失败
+        return ERR_CODE(DEV_RESULT_EMPTY);
     }
 
     // 4) 写入 RTSP（独立 AVPacket，pts rescale 到 muxer 时基）
@@ -678,8 +678,7 @@ int CVrFFMediaPusher::PushFrame(const void* data, size_t size, int64_t ptsUs)
             // 微秒 → muxer 实际时基
             av_packet_rescale_ts(avpkt, AVRational{1, 1000000},
                                  m_fmtCtx->streams[0]->time_base);
-            // Single video stream: write directly to avoid interleave buffering latency.
-            aret = av_write_frame(m_fmtCtx, avpkt);
+            aret = av_interleaved_write_frame(m_fmtCtx, avpkt);
 
             // RTMP 推流需要强制刷新缓冲区，否则数据会积压不发送
             if (aret >= 0 && m_fmtCtx->pb)
@@ -689,7 +688,7 @@ int CVrFFMediaPusher::PushFrame(const void* data, size_t size, int64_t ptsUs)
         }
         else
         {
-            aret = 0; // 已停止，丢弃本帧
+            aret = AVERROR_EOF; // 已停止，丢弃本帧
         }
     }
 
@@ -697,7 +696,7 @@ int CVrFFMediaPusher::PushFrame(const void* data, size_t size, int64_t ptsUs)
 
     if (aret < 0)
     {
-        LOG_DEBUG("FFMediaPusher: av_write_frame fail %d\n", aret);
+        LOG_DEBUG("FFMediaPusher: av_interleaved_write_frame fail %d\n", aret);
         return ERR_CODE(DEV_CTRL_ERR);
     }
 
diff --git a/Module/Module.pro b/Module/Module.pro
index 57a1d69f..798ace13 100644
--- a/Module/Module.pro
+++ b/Module/Module.pro
@@ -3,27 +3,59 @@
 
 TEMPLATE = subdirs
 
-SUBDIRS += \
-    ShareMem \
-    BinocularMarkReceiver \
-    ModbusTCPServer \
-    ModbusTCPClient \
-    AuthModule \
-    HandEyeCalib \
-    ChessboardDetector \
-    FFMediaStream \
-    ZeroMQClient \
-    ZeroMQServer \
-    ZeroMQPubSub \
-    WDRemoteReceiver
+isEmpty(TARGET_APP) {
+    SUBDIRS += \
+        ShareMem \
+        BinocularMarkReceiver \
+        ModbusTCPServer \
+        ModbusTCPClient \
+        AuthModule \
+        HandEyeCalib \
+        ChessboardDetector \
+        FFMediaStream \
+        ZeroMQClient \
+        ZeroMQServer \
+        ZeroMQPubSub \
+        WDRemoteReceiver
+} else {
+    SUBDIRS += \
+        ShareMem \
+        BinocularMarkReceiver \
+        ModbusTCPServer \
+        AuthModule
+
+    contains(TARGET_APP, "^(BagThreadPosition|HoleDetection|StatorPosition|WorkpieceHole)$") {
+        SUBDIRS += ModbusTCPClient
+    }
+
+    contains(TARGET_APP, "^(ScrewPosition|WorkpieceHole|DiscHolePose|TireHolePose|RodAndBarPosition|RodWeldSeam)$") {
+        SUBDIRS += HandEyeCalib
+    }
+
+    contains(TARGET_APP, "^(DroneScrewServer|DroneScrewCtrlApp|DroneScrewbolt)$") {
+        SUBDIRS += FFMediaStream ZeroMQPubSub
+    }
+
+    contains(TARGET_APP, "^(DroneScrewServer|DroneScrewbolt)$") {
+        SUBDIRS += ZeroMQServer
+    }
+
+    contains(TARGET_APP, "^(DroneScrewCtrlApp|DroneScrewbolt)$") {
+        SUBDIRS += ZeroMQClient WDRemoteReceiver
+    }
+}
 
 # 设置依赖关系
 # 注意：SUBDIRS 必须用短名（目录名）注册，qmake 会自动查找 子目录/同名.pro，
 # 这样 .depends 才能生效。若写成 "WDRemoteReceiver/WDRemoteReceiver.pro" 路径形式，
 # 该依赖不会被 qmake 关联，make -j 并行编译时会出现 "cannot find -lZeroMQClient"。
 # WDRemoteReceiver 是动态库，链接 ZeroMQClient / ZeroMQPubSub 静态库，必须先构建它们。
-WDRemoteReceiver.depends = ZeroMQClient ZeroMQPubSub
+contains(SUBDIRS, WDRemoteReceiver) {
+    WDRemoteReceiver.depends = ZeroMQClient ZeroMQPubSub AuthModule
+}
 
 win32-msvc {
     SUBDIRS += CloudShow
 }
+
+SUBDIRS = $$unique(SUBDIRS)
diff --git a/Module/WDRemoteReceiver/Src/WDRemoteReceiver.cpp b/Module/WDRemoteReceiver/Src/WDRemoteReceiver.cpp
index 2eabf045..6433c0ce 100644
--- a/Module/WDRemoteReceiver/Src/WDRemoteReceiver.cpp
+++ b/Module/WDRemoteReceiver/Src/WDRemoteReceiver.cpp
@@ -686,13 +686,9 @@ int WDRemoteReceiver::StartWork(int timeoutMs)
 int WDRemoteReceiver::StartWork(WDRemoteWorkMode mode, int timeoutMs)
 {
     std::lock_guard<std::mutex> stateLock(m_mtxWorkState);
-    const WorkState oldState = m_workState;
 
     if (mode == WDRemoteWorkMode::LiveStream)
     {
-        if (oldState == WorkState::LiveStream)
-            return 0;
-
         Json::Value stopReq;
         stopReq["cmd"] = "stop";
         Json::FastWriter w;
@@ -734,9 +730,6 @@ int WDRemoteReceiver::StartWork(WDRemoteWorkMode mode, int timeoutMs)
         return 0;
     }
 
-    if (oldState == WorkState::Detection)
-        return 0;
-
     Json::Value stopStreamReq;
     stopStreamReq["cmd"] = "stop_stream";
     Json::FastWriter w;