381 lines
14 KiB
C++
381 lines
14 KiB
C++
#ifndef DRONESCREW_SERVER_PRESENTER_H
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#define DRONESCREW_SERVER_PRESENTER_H
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#include <QObject>
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#include <QJsonObject>
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#include <QString>
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#include <QTimer>
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#include <QMutex>
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#include <QDateTime>
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#include <atomic>
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#include <condition_variable>
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#include <deque>
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#include <thread>
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#include <memory>
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#include <mutex>
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#include <vector>
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#include "IMvsDevice.h"
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#include "IVrFFMediaPusher.h"
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#include "Algo/IDroneScrewAlgo.h"
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/**
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* @brief 双板架构「板一」 Presenter（双目版本）
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*
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* 流程：
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* 双目海康MVS相机采集 → 算法检测（左右目输入）→ 画检测框 → 推送至 RTSP 服务 → ZMQ 异步发布结果
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*
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* 架构特点：
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* - 使用 IMvsDevice 双目相机（左右目）
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* - 左右目图像同步等待机制（参考 BinocularMarkPresenter）
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* - 算法检测需要左右目双目输入
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* - RTMP/RTSP 推流推送 Rtsp.streamCamera 指定的单路图像
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* - ZMQ 原始图像订阅发送左右目两张图像（或仅左目单张图像，由 detectMode 控制）
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*
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* detectMode 说明：
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* - "binocular"（默认）：ZMQ 原始图像 PUB 发送左右目两张图像（BIWI 协议头）
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* - "mono"：ZMQ 原始图像 PUB 仅发送左目图像（BIWI 协议头，右目置空）
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* 注意：mono 模式下算法仍使用双目输入，仅传输层面减少右目数据量
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*/
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class DroneScrewServerPresenter : public QObject
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{
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Q_OBJECT
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public:
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explicit DroneScrewServerPresenter(QObject* parent = nullptr);
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~DroneScrewServerPresenter() override;
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/**
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* @brief 加载配置文件
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*/
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bool loadConfiguration(const QString& configFilePath);
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/**
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* @brief 设置 saveConfiguration 的目标路径
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*
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* 运行时调用此方法可以修改保存位置，主要用于将用户配置持久化到
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* 独立文件中（如 runtime_config.xml），避免被部署包覆盖。
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*/
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void setConfigFilePath(const QString& path) { m_configFilePath = path; }
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/**
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* @brief 保存当前配置到 m_configFilePath
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*
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* 保存 Camera（曝光/增益）和 Trigger 等运行时参数。
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*/
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bool saveConfiguration();
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/**
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* @brief 初始化相机 / 推流 / 算法
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*/
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int initAll();
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/**
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* @brief 反初始化
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*/
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void deinitAll();
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/**
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* @brief 当前检测中
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*/
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bool isDetecting() const { return m_bIsDetecting.load(); }
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bool isLiveStreaming() const { return m_bLiveStreaming.load(); }
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/**
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* @brief 同步执行单次检测，并返回真实执行结果
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*
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* 供 ZMQ REP 的 single 命令使用。失败时返回 success=false，
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* errorCode/message 描述失败原因。
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*/
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DroneScrewResult runSingleDetection();
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/**
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* @brief 获取 ZMQ REP / PUB 端口（供主程序启动 ZMQ 协议层）
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*/
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int getZmqControlPort() const { return m_zmqControlPort; }
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int getZmqResultPort() const { return m_zmqResultPort; }
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int getZmqRawImagePort() const { return m_zmqRawImagePort; }
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QString getRtspUrl() const { return m_rtspAdvertiseUrl; }
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QJsonObject getRuntimeInfo() const;
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QJsonObject getCalibrationInfo() const;
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bool getLastFinalDetectionResult(DroneScrewResult& result) const;
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int startDetectionWork();
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int stopDetectionWork();
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int startLiveStream();
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int stopLiveStream();
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int swapCameraRoles();
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/**
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* @brief 启用 / 停用 ZMQ 原始图像 PUB
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*
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* ZMQ 协议层启动 raw PUB 端口后会调用 Enable，
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* 之后采集回调里会 emit rawImageReady。
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*/
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void setRawPubEnabled(bool enabled) { m_bRawPubEnabled = enabled; }
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/**
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* @brief 设置检测模式下的图像传输模式
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* @param mode "binocular"（默认，发送左右目）或 "mono"（仅发送左目）
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*
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* 仅影响 ZMQ 原始图像 PUB 通道的传输内容；
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* 算法内部始终使用双目输入。
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*/
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void setDetectMode(const std::string& mode);
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std::string detectMode() const;
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public slots:
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/**
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* @brief 设置曝光（同时设置左右相机）
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*/
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void handleSetExposure(double exposureTime);
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/**
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* @brief 设置增益（同时设置左右相机）
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*/
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void handleSetGain(double gain);
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/**
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* @brief 设置左相机曝光
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*/
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void handleSetLeftExposure(double exposureTime);
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/**
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* @brief 设置右相机曝光
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*/
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void handleSetRightExposure(double exposureTime);
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/**
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* @brief 设置左相机增益
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*/
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void handleSetLeftGain(double gain);
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/**
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* @brief 设置右相机增益
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*/
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void handleSetRightGain(double gain);
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/**
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* @brief 更新算法参数
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*/
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void handleUpdateAlgoParams(const DroneScrewAlgoParams& params);
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signals:
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/**
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* @brief 单帧检测结果信号（提供给 ZMQ 协议层异步发布）
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*/
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void detectionResult(const DroneScrewResult& result);
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/**
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* @brief 原始双目相机帧信号
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*
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* 仅当 m_bRawPubEnabled 为 true 时才会 emit，供 ZMQ 协议层广播给客户端。
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* 注意：MvsImageData 内部的 pData 由 presenter 管理，槽函数收到后请立即处理
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* 或拷贝；本对象只保证在同步 emit 期间内有效。
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*/
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void rawImageReady(const MvsImageData& leftImg, const MvsImageData& rightImg);
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/**
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* @brief 状态/事件信号
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*/
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void statusChanged(const QString& msg);
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private slots:
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/**
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* @brief 相机重连定时器
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*/
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void onCameraReconnectTimer();
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private:
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int tryConnectCamera();
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void closeCamera();
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int configureCamera(IMvsDevice* camera,
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const char* role,
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bool ioTrigger = false,
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double frameRate = 2.0,
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int64_t binningHorizontal = 1,
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int64_t binningVertical = 1,
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int64_t decimationHorizontal = 1,
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int64_t decimationVertical = 1);
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IMvsDevice* cameraForRole(const char* role) const;
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const char* liveStreamCameraRole() const;
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IMvsDevice* liveStreamCamera() const;
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IMvsDevice* nonLiveStreamCamera() const;
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bool isLiveStreamCameraRole(const char* role) const;
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bool areCamerasGrabbing();
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int prepareDetectionAcquisition(double frameRate,
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int64_t binningHorizontal,
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int64_t binningVertical,
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int64_t decimationHorizontal,
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int64_t decimationVertical,
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const char* tag);
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int prepareLiveStreamAcquisition();
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void resetFrameReadyFlags();
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int initRtspPusher(unsigned int width, unsigned int height, unsigned int fps);
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int startRtspPusher();
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void releaseRtspPusher();
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int pushRtspFrame(const MvsImageData& img);
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void resetRtspPushState();
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void recordRtspPushResult(int ret, unsigned long long frameId);
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bool tryRgaScaleMonoToY(const MvsImageData& img,
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unsigned char* dstY,
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unsigned int outWidth,
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unsigned int outHeight);
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void leftCameraCallback(const MvsImageData& img);
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void rightCameraCallback(const MvsImageData& img);
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void detectThreadFunc();
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double exposureForRole(const char* role) const;
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int applyExposureForRole(const char* role);
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int applyCurrentExposureForRole(const char* role);
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double gainForRole(const char* role) const;
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int pulseGpioTrigger(bool logOk = true);
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void startGpioTriggerLoop();
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void stopGpioTriggerLoop();
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void triggerThreadFunc();
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bool waitAndCopyLatestBinocular(MvsImageData& leftImg,
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MvsImageData& rightImg,
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unsigned int timeoutMs);
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void startImageSaveThread(const QString& modeName);
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void stopImageSaveThread();
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void imageSaveThreadFunc(int workerIndex);
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bool enqueueImageSave(const MvsImageData& leftImg,
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const MvsImageData& rightImg,
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const DroneScrewResult& result,
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unsigned long long index);
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QString imageSaveModeName() const;
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void resetPrecisionResultSamples();
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void clearLastFinalDetectionResult();
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void recordPrecisionResultSample(const DroneScrewResult& result,
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unsigned long long imageIndex);
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bool selectBestPrecisionResult(DroneScrewResult& result,
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unsigned long long& imageIndex,
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double& rankScore,
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int& sampleCount) const;
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void setLastFinalDetectionResult(const DroneScrewResult& result);
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private:
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struct ImageSaveBuffer
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{
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unsigned int width{0};
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unsigned int height{0};
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int pixelFormat{0};
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std::vector<unsigned char> data;
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bool valid{false};
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};
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struct ImageSaveJob
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{
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QString dirPath;
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unsigned long long index{0};
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ImageSaveBuffer left;
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ImageSaveBuffer right;
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DroneScrewResult result;
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bool hasResult{false};
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};
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struct PrecisionResultSample
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{
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DroneScrewResult result;
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unsigned long long imageIndex{0};
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};
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// 双目相机设备
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IMvsDevice* m_pLeftCamera{nullptr};
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IMvsDevice* m_pRightCamera{nullptr};
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// 推流
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IVrFFMediaPusher* m_pPusher{nullptr};
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// 算法
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std::unique_ptr<IDroneScrewAlgo> m_pAlgo;
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DroneScrewAlgoParams m_algoParams;
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// 状态
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std::atomic<bool> m_bCameraConnected{false};
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std::atomic<bool> m_bIsDetecting{false};
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QTimer* m_pReconnectTimer{nullptr};
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// 配置
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std::string m_strLeftCameraSerial;
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std::string m_strRightCameraSerial;
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unsigned int m_nLeftCameraIndex{0};
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unsigned int m_nRightCameraIndex{1};
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double m_leftExposureTime{10000.0};
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double m_rightExposureTime{10000.0};
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double m_leftGain{1.0};
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double m_rightGain{1.0};
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QString m_configFilePath;
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int m_zmqControlPort{5555};
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int m_zmqResultPort{5556};
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int m_zmqRawImagePort{5557};
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int m_rtspPort{8554};
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QString m_rtspPath{"/live/dronescrew"};
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QString m_rtspAdvertiseUrl;
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int m_pushBitrateKbps{4096};
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int m_pushFps{30};
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int m_liveStreamFps{30};
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unsigned int m_liveStreamWidth{1024};
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unsigned int m_liveStreamHeight{750};
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std::string m_liveStreamCameraRole{"left"}; // fixed to left for realtime stream
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bool m_useIoTrigger{true};
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int m_triggerGpio{113};
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int m_triggerSource{0}; // MVS Line0
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int m_triggerActivation{0}; // MVS RisingEdge
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std::thread m_triggerThread;
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std::atomic<bool> m_bTriggerThreadExit{false};
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unsigned int m_rtspWidth{0};
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unsigned int m_rtspHeight{0};
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std::atomic<bool> m_bRtspStarted{false};
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std::atomic<bool> m_bLiveStreaming{false};
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std::atomic<int> m_detectPipelineMode{0}; // 0=precision, 1=distance
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std::atomic<int> m_activeTriggerFps{2};
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std::atomic<int64_t> m_rtspFrameCounter{0}; // 相对帧计数（推流启动时重置）
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std::mutex m_rtspPusherMutex;
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std::mutex m_rtspPushMutex;
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std::atomic<int64_t> m_rtspPushedFrameCounter{0};
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std::atomic<int> m_rtspLastPushRet{0};
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std::atomic<unsigned long long> m_rtspLastPushFrameId{0};
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std::vector<unsigned char> m_rtspFrameBuffer;
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std::vector<unsigned int> m_rtspScaleX;
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std::vector<unsigned int> m_rtspScaleY;
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unsigned int m_rtspScaleSrcWidth{0};
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unsigned int m_rtspScaleSrcHeight{0};
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unsigned int m_rtspScaleOutWidth{0};
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unsigned int m_rtspScaleOutHeight{0};
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bool m_rtspUvInitialized{false};
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bool m_rtspRgaScaleDisabled{false};
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bool m_rtspRgaScaleLogged{false};
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// 原始图像 PUB 开关
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std::atomic<bool> m_bRawPubEnabled{false};
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// 检测模式下的图像传输模式
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mutable std::mutex m_detectModeMutex;
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std::string m_detectMode{"binocular"}; // "binocular" | "mono"
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// 检测线程
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std::thread m_detectThread;
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std::atomic<bool> m_bThreadExit{false};
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QMutex m_frameMutex;
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MvsImageData m_leftImageData;
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MvsImageData m_rightImageData;
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bool m_bLeftImageReady{false};
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bool m_bRightImageReady{false};
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// 异步图像保存
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std::vector<std::thread> m_imageSaveThreads;
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std::atomic<bool> m_imageSaveThreadExit{false};
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std::mutex m_imageSaveMutex;
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std::condition_variable m_imageSaveCv;
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std::deque<ImageSaveJob> m_imageSaveQueue;
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QString m_imageSaveSessionDir;
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unsigned long long m_imageSaveDropped{0};
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mutable std::mutex m_detectionResultMutex;
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std::vector<PrecisionResultSample> m_precisionResultSamples;
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DroneScrewResult m_lastFinalResult;
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bool m_hasLastFinalResult{false};
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};
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#endif // DRONESCREW_SERVER_PRESENTER_H
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