118 lines
3.5 KiB
C
118 lines
3.5 KiB
C
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#ifndef PARKINGSPACEGUIDEPRESENTER_H
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#define PARKINGSPACEGUIDEPRESENTER_H
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#include <mutex>
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#include <string>
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#include <utility>
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#include <vector>
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#include <QImage>
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#include <QObject>
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#include <QString>
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#include "ConfigManager.h"
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#include "IMvsDevice.h"
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#include "ILedDisplayDevice.h"
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#include "IRsLidarDevice.h"
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#include "IYParkingSpaceGuideStatus.h"
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class DetectPresenter;
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class IYUDPClient;
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class ParkingStatusHttpServer;
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struct CameraFrameInfo
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{
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int width = 0;
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int height = 0;
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int pixelFormat = 0;
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unsigned long long frameId = 0;
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unsigned long long timestamp = 0;
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};
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class ParkingSpaceGuidePresenter : public QObject, public IVrConfigChangeNotify
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{
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Q_OBJECT
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public:
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explicit ParkingSpaceGuidePresenter(QObject* parent = nullptr);
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~ParkingSpaceGuidePresenter() override;
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int Init();
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void DeinitApp();
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bool TriggerDetection(int cameraIndex = -1);
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int StopDetection();
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int LoadAndDetect(const QString& fileName);
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int SaveDetectionDataToFile(const std::string& filePath);
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int GetDetectionDataCacheSize() const;
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void SetDefaultCameraIndex(int cameraIndex);
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int GetDetectIndex() const;
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QString GetAlgoVersion() const;
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ConfigManager* GetConfigManager();
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std::vector<std::pair<std::string, void*>> GetCameraList() const;
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template<typename StatusCallbackType>
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void SetStatusCallback(StatusCallbackType* statusCallback)
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{
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m_statusCallback = static_cast<void*>(statusCallback);
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}
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void OnConfigChanged(const ConfigResult& configResult) override;
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private:
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IYParkingSpaceGuideStatus* StatusCallback() const;
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int InitConfig();
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int InitMvsCamera(const MvsCameraConfig& config);
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int InitRsLidar(const RsLidarConfig& config);
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int InitLedDisplay(const LedDisplayConfig& config);
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int InitUdpBroadcast(const UdpBroadcastConfig& config);
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int InitHttpServer(const HttpServerConfig& config);
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void CloseUdpBroadcast();
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void CloseHttpServer();
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void CloseDevices();
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void EnrichDetectionResult(DetectionResult& result) const;
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void UpdateCurrentStatus(const DetectionResult& result);
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std::string CurrentStatusJson() const;
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bool BroadcastDetectionResult(const DetectionResult& result);
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void NotifyStatus(const std::string& message);
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void NotifyWorkStatus(WorkStatus status);
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void NotifyCameraStatus(bool connected);
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void NotifyLidarStatus(bool connected);
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void NotifyLedStatus(bool connected);
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QImage BuildPreviewImage() const;
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LedDisplayResult ConvertLedResult(const DetectionResult& result) const;
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void OnMvsFrame(const MvsImageData& image);
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private:
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ConfigManager* m_configManager = nullptr;
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DetectPresenter* m_detectPresenter = nullptr;
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IMvsDevice* m_mvsDevice = nullptr;
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IRsLidarDevice* m_lidarDevice = nullptr;
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ILedDisplayDevice* m_ledDisplay = nullptr;
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IYUDPClient* m_udpClient = nullptr;
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ParkingStatusHttpServer* m_httpServer = nullptr;
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UdpBroadcastConfig m_udpBroadcastConfig;
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void* m_statusCallback = nullptr;
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mutable std::mutex m_dataMutex;
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mutable std::mutex m_udpMutex;
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mutable std::mutex m_statusMutex;
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std::string m_currentStatusJson;
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std::vector<unsigned char> m_latestFrame;
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CameraFrameInfo m_latestFrameInfo;
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bool m_hasFrame = false;
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RsCloudData m_latestCloud;
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RsFrameInfo m_latestCloudInfo;
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bool m_hasCloud = false;
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std::vector<std::pair<std::string, void*>> m_cameraList;
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int m_currentCameraIndex = 1;
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int m_detectIndex = 1;
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bool m_initialized = false;
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};
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#endif // PARKINGSPACEGUIDEPRESENTER_H
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