GrabBag/Module/CloudShow/_Inc/CloudShow.h

#ifndef CCLOUDSHOW_H
#define CCLOUDSHOW_H

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <vtkTextActor.h>

#include <atomic>
#include <condition_variable>
#include <deque>
#include <mutex>
#include <string>
#include <thread>
#include <vector>

#include "ICloudShow.h"

class vtkOrientationMarkerWidget;

class CCloudShow : public ICloudShow
{
public:
    CCloudShow();
    ~CCloudShow() override;

    int Show(const CloudData& cloudData,
             const CloudFrameInfo& info,
             const std::string& windowName = "PointCloud") override;
    int Start(const std::string& windowName = "PointCloud", void* hwnd = nullptr) override;
    int Stop() override;
    int SpinOnce(int ms = 1) override;
    bool IsRunning() const override;

    void PushFrame(const CloudData& cloudData,
                   const CloudFrameInfo& info) override;

    void SetSaveBaseDir(const std::string& dir) override;
    void SetSaveFrameInterval(int interval) override;
    bool IsSaveActive() const override;

    bool IsQuitRequested() const override;
    bool IsSaveRequested() const override;
    void ClearSaveRequest() override;

private:
    static void keyboardCallback(const pcl::visualization::KeyboardEvent& event, void* cookie);

    // UI
    void handleStartStopToggle();
    void updateStartStopButton();
    void updateProgressText();

    // 保存线程
    void saveLoop();

    // ── 显示相关 ──
    std::shared_ptr<pcl::visualization::PCLVisualizer> m_viewer;
    std::atomic<bool> m_bRunning{false};
    std::mutex         m_cloudMutex;
    bool               m_bUpdated = false;
    bool               m_bFirstCloud = true;
    std::string        m_windowName;
    vtkOrientationMarkerWidget* m_axesWidget = nullptr;

    // 当前待显示的 PCL 云 + 最近一帧 CloudData（供单帧保存）
    // 注意：m_lastCloudData / m_lastCloudBuffers / m_lastFrameInfo 被 PushFrame（回调线程）
    //       和 SpinOnce（主线程）同时访问，需 m_lastCloudMutex 保护
    pcl::PointCloud<pcl::PointXYZI>::Ptr m_displayCloud;
    pcl::PointCloud<pcl::PointXYZI>::Ptr m_renderPool;   // 复用，避免每帧 make_shared
    std::mutex    m_lastCloudMutex;
    CloudData     m_lastCloudData;
    CloudFrameInfo m_lastFrameInfo;
    std::vector<std::vector<uint8_t>> m_lastCloudBuffers;

    // UI 状态
    std::atomic<bool> m_bQuitRequested{false};
    std::atomic<bool> m_bSaveRequested{false};
    std::atomic<bool> m_bStartStopRequested{false};
    vtkTextActor* m_pStartStopBtnActor = nullptr;
    vtkTextActor* m_pProgressActor = nullptr;
    std::mutex    m_textMutex;

    // ── 保存相关 ──
    struct SaveTask
    {
        CloudData   cloudData;                // 深拷贝的标准格式
        std::vector<std::vector<uint8_t>> buffers; // p3DPoint 指向的实际内存（预分配复用）
        CloudFrameInfo info;
    };
    std::string        m_saveBaseDir = ".";
    std::atomic<bool>  m_bSaveActive{false};
    std::string        m_currentSessionDir;

    // SaveTask 缓冲池：PushFrame（回调线程）从池取预分配好的 task，
    // 零堆分配完成数据拷贝，saveLoop 用完后归还。消除回调线程的 malloc 延迟抖动。
    std::mutex              m_taskPoolMutex;
    std::vector<SaveTask>   m_taskPool;  // 空闲 task 栈

    SaveTask acquireTask();
    void releaseTask(SaveTask& task);
    void packIntoTask(SaveTask& task,
                      const ICloudShow::CloudData& cloudData,
                      const CloudFrameInfo& info);

    std::mutex              m_saveMutex;
    std::condition_variable m_saveCv;
    std::deque<SaveTask>    m_saveQueue;
    std::atomic<bool>       m_bFlushAndSave{false};  // true=STOP已点击，保存线程开始写盘
    static constexpr int    SAVE_THREAD_COUNT = 1;
    std::atomic<bool>       m_saveExit{false};
    std::vector<std::thread> m_saveThreads;

    std::atomic<int>  m_nSaveSeq{0};
    std::atomic<int>  m_nSingleSaveSeq{0};
    std::atomic<int>  m_nSaveDropped{0};
    std::atomic<int>  m_saveCompleted{0};
    std::atomic<int>  m_saveTotal{0};

    int                m_nSaveFrameInterval = 10;  // 保存帧间隔，默认每10帧存1帧
    int                m_nPushFrameCount = 0;       // PushFrame 调用计数（回调线程独占）
};

#endif // CCLOUDSHOW_H