GrabBag/App/DroneScrewbolt/DroneScrewServer/main.cpp

#include <QCoreApplication>
#include <QTimer>
#include <QDir>
#include <QFileInfo>
#include <QFile>
#include <QJsonObject>
#include <QStringList>
#include <iostream>
#include <chrono>

#if defined(__linux__)
#include <signal.h>
#include <execinfo.h>
#include <unistd.h>
#include <sys/syscall.h>
#include <dlfcn.h>
#include <pthread.h>
#include <exception>
#include <typeinfo>
#include <cxxabi.h>
#include <thread>
#include <sstream>
#include <cstring>
#endif

#include "DroneScrewServerPresenter.h"
#include "DroneScrewZmqProtocol.h"
#include "Version.h"
#include "VrLog.h"
#include "VrError.h"

#if defined(__linux__)
// ========== exit() 拦截 ==========
// libff_media.so 内部线程在错误条件下会直接调用 exit() 导致整个进程崩溃。
// 我们拦截 exit() 调用：主线程的 exit 正常放行，子线程的 exit 改为只结束该线程。

namespace
{
// 真正的 exit 函数指针，启动时初始化
typedef void (*real_exit_t)(int);
real_exit_t g_real_exit = nullptr;

bool g_exitHookInstalled = false;
} // namespace

extern "C" void exit(int status)
{
    // 递归保护：如果 exit hook 内部再次调用 exit，直接走 _exit
    static thread_local bool g_inExitHook = false;
    if (g_inExitHook)
        _exit(status);
    g_inExitHook = true;

    // 首次调用时获取真正的 exit 地址
    if (!g_real_exit)
    {
        g_real_exit = reinterpret_cast<real_exit_t>(dlsym(RTLD_NEXT, "exit"));
        if (!g_real_exit)
            _exit(status); // 极端情况：拿不到真 exit，直接用 _exit
    }

    // 判断是否为主线程（主线程的 tid == pid）
    const pid_t tid = static_cast<pid_t>(syscall(SYS_gettid));
    const pid_t pid = getpid();

    // 获取线程 ID 字符串
    std::ostringstream oss;
    oss << std::this_thread::get_id();

    if (tid == pid)
    {
        // 主线程调用 exit() — 正常退出流程
        LOG_ERROR("========================================\n");
        LOG_ERROR("[EXIT-HOOK] exit(%d) called from MAIN thread tid=%d, passing through to real exit\n",
                  status, static_cast<int>(tid));
        LOG_ERROR("========================================\n");
        g_real_exit(status);
    }
    else
    {
        // 子线程调用 exit() — 记录 backtrace 并仅结束该线程
        LOG_ERROR("========================================\n");
        LOG_ERROR("[EXIT-HOOK] exit(%d) called from NON-MAIN thread! tid=%d c++id=%s\n",
                  status, static_cast<int>(tid), oss.str().c_str());
        LOG_ERROR("[EXIT-HOOK] Preventing process exit — terminating this thread only.\n");

        // 打印调用栈
        void* array[30];
        const int size = backtrace(array, 30);
        LOG_ERROR("[EXIT-HOOK-BACKTRACE] %d frames:\n", size);
        char** messages = backtrace_symbols(array, size);
        if (messages)
        {
            for (int i = 0; i < size; i++)
                LOG_ERROR("  [%d] %s\n", i, messages[i]);
            free(messages);
        }
        LOG_ERROR("========================================\n");

        // 仅退出当前线程，进程继续运行
        pthread_exit(nullptr);
    }
}

namespace
{
QString procStatusValue(const char* key)
{
#if defined(__linux__)
    QFile f(QStringLiteral("/proc/self/status"));
    if (!f.open(QIODevice::ReadOnly | QIODevice::Text))
        return QString();

    const QByteArray prefix = QByteArray(key) + ':';
    while (!f.atEnd())
    {
        const QByteArray line = f.readLine().trimmed();
        if (line.startsWith(prefix))
            return QString::fromLatin1(line.mid(prefix.size()).trimmed());
    }
#else
    Q_UNUSED(key);
#endif
    return QString();
}

#if defined(__linux__)

std::string getThreadIdStr()
{
    std::ostringstream oss;
    oss << std::this_thread::get_id();
    return oss.str();
}

void terminateHandler()
{
    LOG_ERROR("========================================\n");
    LOG_ERROR("[TERMINATE] std::terminate() called! thread=%s\n", getThreadIdStr().c_str());
    LOG_ERROR("========================================\n");

    // 尝试获取未捕获的异常信息
    auto eptr = std::current_exception();
    if (eptr)
    {
        try
        {
            std::rethrow_exception(eptr);
        }
        catch (const std::exception& e)
        {
            int status = 0;
            char* demangled = abi::__cxa_demangle(typeid(e).name(), nullptr, nullptr, &status);
            LOG_ERROR("[TERMINATE] uncaught exception type: %s\n",
                      (status == 0 && demangled) ? demangled : typeid(e).name());
            LOG_ERROR("[TERMINATE] what(): %s\n", e.what());
            if (demangled) free(demangled);
        }
        catch (...)
        {
            LOG_ERROR("[TERMINATE] uncaught exception (unknown type, not std::exception)\n");
        }
    }
    else
    {
        LOG_ERROR("[TERMINATE] no active exception (terminate called without exception)\n");
    }

    // 打印调用栈
    void* array[30];
    const int size = backtrace(array, 30);
    LOG_ERROR("[TERMINATE-BACKTRACE] Stack trace (%d frames):\n", size);

    char** messages = backtrace_symbols(array, size);
    if (messages)
    {
        for (int i = 0; i < size; i++)
            LOG_ERROR("  [%d] %s\n", i, messages[i]);
        free(messages);
    }
    else
    {
        LOG_ERROR("  (backtrace_symbols failed)\n");
    }

    LOG_ERROR("========================================\n");
    LOG_ERROR("[TERMINATE] aborting...\n");
    LOG_ERROR("========================================\n");

    // 刷新日志后调用默认 abort
    std::abort();
}

void atexitHandler()
{
    LOG_ERROR("========================================\n");
    LOG_ERROR("[ATEXIT] Program is exiting normally!\n");
    LOG_ERROR("========================================\n");

    // 打印调用栈看是谁调用了 exit
    void* array[30];
    const int size = backtrace(array, 30);
    LOG_ERROR("[ATEXIT-BACKTRACE] Exit call stack (%d frames):\n", size);

    char** messages = backtrace_symbols(array, size);
    if (messages)
    {
        for (int i = 0; i < size; i++)
            LOG_ERROR("  [%d] %s\n", i, messages[i]);
        free(messages);
    }
    else
    {
        LOG_ERROR("  (backtrace_symbols failed)\n");
    }

    LOG_ERROR("========================================\n");
}

void signalHandler(int sig)
{
    const char* sigName = "UNKNOWN";
    switch (sig)
    {
        case SIGSEGV: sigName = "SIGSEGV (Segmentation Fault)"; break;
        case SIGABRT: sigName = "SIGABRT (Abort)"; break;
        case SIGTERM: sigName = "SIGTERM (Termination)"; break;
        case SIGINT:  sigName = "SIGINT (Interrupt)"; break;
        case SIGILL:  sigName = "SIGILL (Illegal Instruction)"; break;
        case SIGFPE:  sigName = "SIGFPE (Floating Point Exception)"; break;
        case SIGBUS:  sigName = "SIGBUS (Bus Error)"; break;
        case SIGPIPE: sigName = "SIGPIPE (Broken Pipe)"; break;
        default: break;
    }

    LOG_ERROR("========================================\n");
    LOG_ERROR("[SIGNAL] Caught signal %d: %s\n", sig, sigName);
    LOG_ERROR("========================================\n");

    // 打印调用栈
    void* array[30];
    const int size = backtrace(array, 30);
    LOG_ERROR("[BACKTRACE] Stack trace (%d frames):\n", size);

    char** messages = backtrace_symbols(array, size);
    if (messages)
    {
        for (int i = 0; i < size; i++)
            LOG_ERROR("  [%d] %s\n", i, messages[i]);
        free(messages);
    }
    else
    {
        LOG_ERROR("  (backtrace_symbols failed)\n");
    }

    LOG_ERROR("========================================\n");

    // 对于致命信号，调用默认处理器
    signal(sig, SIG_DFL);
    raise(sig);
}
#endif

}

int main(int argc, char* argv[])
{
    QCoreApplication app(argc, argv);
    app.setApplicationName(DRONESCREWSERVER_PRODUCT_NAME);
    app.setApplicationVersion(DRONESCREWSERVER_VERSION_STRING);
    app.setOrganizationName(DRONESCREWSERVER_COMPANY_NAME);

    VrLogUtils::InitLog();
    VrLogUtils::EnableTime(false);

#if defined(__linux__)
    // 注册 std::terminate 处理器（捕获未处理 C++ 异常，优先级最高）
    std::set_terminate(terminateHandler);
    LOG_INFO("[TERMINATE] std::terminate handler registered, main thread=%s\n",
             getThreadIdStr().c_str());

    // 注册 atexit 处理器（捕获正常退出）
    atexit(atexitHandler);
    LOG_INFO("[ATEXIT] Exit handler registered\n");

    // 注册信号处理器
    signal(SIGSEGV, signalHandler);  // 段错误
    signal(SIGABRT, signalHandler);  // 异常终止
    signal(SIGTERM, signalHandler);  // 终止信号
    signal(SIGINT,  signalHandler);  // 中断信号 (Ctrl+C)
    signal(SIGILL,  signalHandler);  // 非法指令
    signal(SIGFPE,  signalHandler);  // 浮点异常
    signal(SIGBUS,  signalHandler);  // 总线错误
    signal(SIGPIPE, signalHandler);  // 管道破裂
    LOG_INFO("[SIGNAL] Signal handlers registered\n");

    // 屏蔽 ffmedia 库的 WARN 日志（仅在 ERROR 时打印）
    extern unsigned int ff_log_level;
    ff_log_level = 0;  // 0=ERROR only, 1=WARN

    // exit() 拦截已在链接时生效（本可执行文件定义的 exit 符号优先级高于 libc）
    // 子线程调用 exit() 时仅结束该线程，不会杀死整个进程
    LOG_INFO("[EXIT-HOOK] exit() interceptor active: main-thread exit passes through, child-thread exit converts to pthread_exit\n");
#endif

    LOG_DEBUG("===========================================\n");
    LOG_INFO(" %s\n", DRONESCREWSERVER_PRODUCT_NAME);
    LOG_INFO(" V%s_%s  built %s %s\n", DRONESCREWSERVER_VERSION_STRING,
             DRONESCREWSERVER_VERSION_BUILD, __DATE__, __TIME__);
    LOG_DEBUG("===========================================\n");

    qRegisterMetaType<DroneScrewResult>("DroneScrewResult");
    qRegisterMetaType<DroneScrewAlgoParams>("DroneScrewAlgoParams");
    qRegisterMetaType<MvsImageData>("MvsImageData");

    DroneScrewServerPresenter presenter;
    DroneScrewZmqProtocol     zmq;

    QString simulationImageDirArg;
    bool simulationArgSpecified = false;
    const QStringList args = QCoreApplication::arguments();
    for (int i = 1; i < args.size(); ++i)
    {
        const QString arg = args.at(i);
        if (arg == QStringLiteral("--simulate-dir") ||
            arg == QStringLiteral("--sim-dir"))
        {
            simulationArgSpecified = true;
            if (i + 1 >= args.size())
            {
                LOG_ERROR("[SIM] missing directory after %s\n",
                          arg.toStdString().c_str());
                return ERR_CODE(FILE_ERR_NOEXIST);
            }
            simulationImageDirArg = args.at(++i);
            continue;
        }

        const QString simulateDirPrefix = QStringLiteral("--simulate-dir=");
        const QString simDirPrefix = QStringLiteral("--sim-dir=");
        if (arg.startsWith(simulateDirPrefix))
        {
            simulationArgSpecified = true;
            simulationImageDirArg = arg.mid(simulateDirPrefix.size());
            continue;
        }
        if (arg.startsWith(simDirPrefix))
        {
            simulationArgSpecified = true;
            simulationImageDirArg = arg.mid(simDirPrefix.size());
            continue;
        }

        if (!arg.startsWith(QStringLiteral("-")) && !simulationArgSpecified)
        {
            simulationArgSpecified = true;
            simulationImageDirArg = arg;
        }
    }

    // 信号槽：协议 → presenter
    QObject::connect(&zmq, &DroneScrewZmqProtocol::rawImagePublishEnabledRequested,
                     &presenter, &DroneScrewServerPresenter::setRawPubEnabled,
                     Qt::DirectConnection);
    QObject::connect(&zmq, &DroneScrewZmqProtocol::detectModeRequested,
                     &presenter, &DroneScrewServerPresenter::setDetectMode,
                     Qt::DirectConnection);
    QObject::connect(&zmq, &DroneScrewZmqProtocol::setExposureRequested,
                     &presenter, &DroneScrewServerPresenter::handleSetExposure);
    QObject::connect(&zmq, &DroneScrewZmqProtocol::setGainRequested,
                     &presenter, &DroneScrewServerPresenter::handleSetGain);
    QObject::connect(&zmq, &DroneScrewZmqProtocol::updateAlgoParamsRequested,
                     &presenter, &DroneScrewServerPresenter::handleUpdateAlgoParams);

    // presenter → 协议（发布检测结果）
    QObject::connect(&presenter, &DroneScrewServerPresenter::detectionResult,
                     &zmq, &DroneScrewZmqProtocol::publishDetectionResult);

    // presenter → 协议（原始图像 PUB）— 同步连接，回调内立即拷贝完成
    QObject::connect(&presenter, &DroneScrewServerPresenter::rawImageReady,
                     &zmq, &DroneScrewZmqProtocol::publishRawImage,
                     Qt::DirectConnection);

    zmq.setSingleDetectionHandler([&presenter]() {
        return presenter.runSingleDetection();
    });
    zmq.setStartWorkHandler([&presenter]() {
        return presenter.startDetectionWork();
    });
    zmq.setStopWorkHandler([&presenter]() {
        return presenter.stopDetectionWork();
    });
    zmq.setFinalDetectionResultProvider([&presenter](DroneScrewResult& result) {
        return presenter.getLastFinalDetectionResult(result);
    });
    zmq.setStartLiveStreamHandler([&presenter]() {
        return presenter.startLiveStream();
    });
    zmq.setStopLiveStreamHandler([&presenter]() {
        return presenter.stopLiveStream();
    });
    zmq.setSwapCameraRolesHandler([&presenter]() {
        return presenter.swapCameraRoles();
    });
    zmq.setServerInfoProvider([&presenter]() {
        return presenter.getRuntimeInfo();
    });
    zmq.setCalibrationInfoProvider([&presenter]() {
        return presenter.getCalibrationInfo();
    });

    // 配置文件 —— 运行时配置优先（runtime_config.xml 不会被部署覆盖），
    // config/config.xml 仅作为出厂默认值。
    const QString appDir = QCoreApplication::applicationDirPath();
    const QString runtimeCfgPath = QDir(appDir).filePath("runtime_config.xml");

    auto findDefaultConfig = [&]() -> QString {
        const QString a = QDir(appDir).filePath("config/config.xml");
        if (QFileInfo::exists(a)) return a;
        const QString b = QDir::current().filePath("config/config.xml");
        if (QFileInfo::exists(b)) return b;
        return QString();
    };

    // 之后所有 saveConfiguration 调用都写到 runtime_config.xml
    presenter.setConfigFilePath(runtimeCfgPath);

    if (QFileInfo::exists(runtimeCfgPath))
    {
        // 正常路径：加载持久化的运行时配置
        LOG_INFO("[CONFIG] loading runtime config: %s\n", runtimeCfgPath.toStdString().c_str());
        if (!presenter.loadConfiguration(runtimeCfgPath))
        {
            LOG_WARN("[CONFIG] runtime config load failed, falling back to defaults\n");
            const QString fallback = findDefaultConfig();
            if (!fallback.isEmpty())
                presenter.loadConfiguration(fallback);
            // loadConfiguration 会覆盖 m_configFilePath，需要重新指回 runtime 路径
            presenter.setConfigFilePath(runtimeCfgPath);
        }
    }
    else
    {
        // 首次部署：加载出厂默认配置，然后直接复制到 runtime_config.xml
        const QString defaultCfg = findDefaultConfig();
        if (!defaultCfg.isEmpty())
        {
            LOG_INFO("[CONFIG] first run, loading default: %s\n", defaultCfg.toStdString().c_str());
            presenter.loadConfiguration(defaultCfg);
            // loadConfiguration 会覆盖 m_configFilePath，需要重新指回 runtime 路径
            presenter.setConfigFilePath(runtimeCfgPath);

            // 直接复制默认配置文件到运行时位置，保留所有元素
            if (QFile::copy(defaultCfg, runtimeCfgPath))
                LOG_INFO("[CONFIG] default config copied to: %s\n", runtimeCfgPath.toStdString().c_str());
            else
                LOG_WARN("[CONFIG] failed to copy default config to: %s\n", runtimeCfgPath.toStdString().c_str());
        }
        else
        {
            LOG_INFO("[CONFIG] no config file found, using defaults\n");
        }
    }

    // 初始化各子系统
    if (simulationArgSpecified)
    {
        const QString trimmed = simulationImageDirArg.trimmed();
        if (trimmed.isEmpty())
        {
            LOG_ERROR("[SIM] simulation image directory is empty\n");
            return ERR_CODE(FILE_ERR_NOEXIST);
        }

        const QFileInfo inputInfo(trimmed);
        const QString absolutePath = inputInfo.isAbsolute()
                                         ? inputInfo.absoluteFilePath()
                                         : QDir::current().absoluteFilePath(trimmed);
        const QFileInfo simulationDirInfo(absolutePath);
        if (!simulationDirInfo.exists() || !simulationDirInfo.isDir())
        {
            LOG_ERROR("[SIM] simulation image directory does not exist: %s\n",
                      absolutePath.toStdString().c_str());
            return ERR_CODE(FILE_ERR_NOEXIST);
        }

        presenter.setSimulationImageDir(simulationDirInfo.absoluteFilePath());
    }

    presenter.initAll();

    // 启动 ZMQ
    zmq.setRtspUrl(presenter.getRtspUrl());
    if (!zmq.startServer(presenter.getZmqControlPort(),
                         presenter.getZmqResultPort(),
                         presenter.getZmqRawImagePort()))
    {
        LOG_ERROR("ZMQ start fail\n");
        return ERR_CODE(NET_ERR_CREAT_INIT);
    }

    // raw 图像发布由 start.mode 控制：pull_stream 关闭，subscribe 开启。
    presenter.setRawPubEnabled(false);

    LOG_INFO("=== DroneScrewServer started, ZMQ ctrl=%d result=%d raw=%d, RTSP=%s ===\n",
             presenter.getZmqControlPort(),
             presenter.getZmqResultPort(),
             presenter.getZmqRawImagePort(),
             presenter.getRtspUrl().toStdString().c_str());

    const auto startedAt = std::chrono::steady_clock::now();
    QTimer heartbeatTimer;
    heartbeatTimer.setInterval(60000);
    QObject::connect(&heartbeatTimer, &QTimer::timeout, [&presenter, startedAt]() {
        const auto now = std::chrono::steady_clock::now();
        const auto uptimeSec =
            std::chrono::duration_cast<std::chrono::seconds>(now - startedAt).count();
        const QJsonObject info = presenter.getRuntimeInfo();
        const QString mode = info["mode"].toString();
        const QString rss = procStatusValue("VmRSS");
        const QString vmPeak = procStatusValue("VmPeak");
        const QString vmSize = procStatusValue("VmSize");
        const QString threads = procStatusValue("Threads");
        LOG_INFO("[HEARTBEAT] uptime=%llds mode=%s rss=%s vmPeak=%s vmSize=%s threads=%s\n",
                 static_cast<long long>(uptimeSec),
                 mode.toStdString().c_str(),
                 rss.isEmpty() ? "N/A" : rss.toStdString().c_str(),
                 vmPeak.isEmpty() ? "N/A" : vmPeak.toStdString().c_str(),
                 vmSize.isEmpty() ? "N/A" : vmSize.toStdString().c_str(),
                 threads.isEmpty() ? "N/A" : threads.toStdString().c_str());
    });
    heartbeatTimer.start();

    return app.exec();
}
#else
int main()
{
    return -1;
}

#endif