477 lines
17 KiB
C++
477 lines
17 KiB
C++
#include <QCoreApplication>
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#include <QTimer>
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#include <QDir>
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#include <QFileInfo>
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#include <QFile>
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#include <QJsonObject>
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#include <iostream>
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#include <chrono>
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#if defined(__linux__)
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#include <signal.h>
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#include <execinfo.h>
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#include <unistd.h>
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#include <sys/syscall.h>
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#include <dlfcn.h>
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#include <pthread.h>
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#include <exception>
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#include <typeinfo>
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#include <cxxabi.h>
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#include <thread>
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#include <sstream>
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#include <cstring>
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#endif
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#include "DroneScrewServerPresenter.h"
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#include "DroneScrewZmqProtocol.h"
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#include "Version.h"
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#include "VrLog.h"
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#include "VrError.h"
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#if defined(__linux__)
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// ========== exit() 拦截 ==========
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// 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。
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// 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。
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namespace
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{
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// 真正的 exit 函数指针，启动时初始化
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typedef void (*real_exit_t)(int);
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real_exit_t g_real_exit = nullptr;
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bool g_exitHookInstalled = false;
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} // namespace
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extern "C" void exit(int status)
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{
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// 递归保护：如果 exit hook 内部再次调用 exit，直接走 _exit
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static thread_local bool g_inExitHook = false;
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if (g_inExitHook)
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_exit(status);
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g_inExitHook = true;
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// 首次调用时获取真正的 exit 地址
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if (!g_real_exit)
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{
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g_real_exit = reinterpret_cast<real_exit_t>(dlsym(RTLD_NEXT, "exit"));
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if (!g_real_exit)
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_exit(status); // 极端情况：拿不到真 exit，直接用 _exit
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}
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// 判断是否为主线程（主线程的 tid == pid）
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const pid_t tid = static_cast<pid_t>(syscall(SYS_gettid));
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const pid_t pid = getpid();
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// 获取线程 ID 字符串
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std::ostringstream oss;
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oss << std::this_thread::get_id();
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if (tid == pid)
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{
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// 主线程调用 exit() — 正常退出流程
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LOG_ERROR("========================================\n");
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LOG_ERROR("[EXIT-HOOK] exit(%d) called from MAIN thread tid=%d, passing through to real exit\n",
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status, static_cast<int>(tid));
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LOG_ERROR("========================================\n");
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g_real_exit(status);
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}
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else
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{
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// 子线程调用 exit() — 记录 backtrace 并仅结束该线程
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LOG_ERROR("========================================\n");
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LOG_ERROR("[EXIT-HOOK] exit(%d) called from NON-MAIN thread! tid=%d c++id=%s\n",
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status, static_cast<int>(tid), oss.str().c_str());
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LOG_ERROR("[EXIT-HOOK] Preventing process exit — terminating this thread only.\n");
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// 打印调用栈
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void* array[30];
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const int size = backtrace(array, 30);
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LOG_ERROR("[EXIT-HOOK-BACKTRACE] %d frames:\n", size);
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char** messages = backtrace_symbols(array, size);
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if (messages)
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{
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for (int i = 0; i < size; i++)
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LOG_ERROR(" [%d] %s\n", i, messages[i]);
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free(messages);
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}
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LOG_ERROR("========================================\n");
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// 仅退出当前线程，进程继续运行
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pthread_exit(nullptr);
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}
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}
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namespace
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{
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QString procStatusValue(const char* key)
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{
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#if defined(__linux__)
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QFile f(QStringLiteral("/proc/self/status"));
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if (!f.open(QIODevice::ReadOnly | QIODevice::Text))
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return QString();
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const QByteArray prefix = QByteArray(key) + ':';
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while (!f.atEnd())
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{
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const QByteArray line = f.readLine().trimmed();
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if (line.startsWith(prefix))
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return QString::fromLatin1(line.mid(prefix.size()).trimmed());
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}
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#else
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Q_UNUSED(key);
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#endif
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return QString();
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}
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#if defined(__linux__)
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std::string getThreadIdStr()
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{
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std::ostringstream oss;
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oss << std::this_thread::get_id();
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return oss.str();
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}
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void terminateHandler()
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{
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LOG_ERROR("========================================\n");
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LOG_ERROR("[TERMINATE] std::terminate() called! thread=%s\n", getThreadIdStr().c_str());
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LOG_ERROR("========================================\n");
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// 尝试获取未捕获的异常信息
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auto eptr = std::current_exception();
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if (eptr)
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{
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try
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{
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std::rethrow_exception(eptr);
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}
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catch (const std::exception& e)
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{
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int status = 0;
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char* demangled = abi::__cxa_demangle(typeid(e).name(), nullptr, nullptr, &status);
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LOG_ERROR("[TERMINATE] uncaught exception type: %s\n",
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(status == 0 && demangled) ? demangled : typeid(e).name());
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LOG_ERROR("[TERMINATE] what(): %s\n", e.what());
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if (demangled) free(demangled);
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}
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catch (...)
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{
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LOG_ERROR("[TERMINATE] uncaught exception (unknown type, not std::exception)\n");
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}
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}
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else
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{
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LOG_ERROR("[TERMINATE] no active exception (terminate called without exception)\n");
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}
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// 打印调用栈
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void* array[30];
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const int size = backtrace(array, 30);
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LOG_ERROR("[TERMINATE-BACKTRACE] Stack trace (%d frames):\n", size);
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char** messages = backtrace_symbols(array, size);
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if (messages)
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{
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for (int i = 0; i < size; i++)
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LOG_ERROR(" [%d] %s\n", i, messages[i]);
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free(messages);
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}
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else
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{
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LOG_ERROR(" (backtrace_symbols failed)\n");
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}
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LOG_ERROR("========================================\n");
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LOG_ERROR("[TERMINATE] aborting...\n");
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LOG_ERROR("========================================\n");
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// 刷新日志后调用默认 abort
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std::abort();
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}
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void atexitHandler()
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{
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LOG_ERROR("========================================\n");
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LOG_ERROR("[ATEXIT] Program is exiting normally!\n");
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LOG_ERROR("========================================\n");
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// 打印调用栈看是谁调用了 exit
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void* array[30];
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const int size = backtrace(array, 30);
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LOG_ERROR("[ATEXIT-BACKTRACE] Exit call stack (%d frames):\n", size);
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char** messages = backtrace_symbols(array, size);
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if (messages)
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{
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for (int i = 0; i < size; i++)
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LOG_ERROR(" [%d] %s\n", i, messages[i]);
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free(messages);
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}
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else
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{
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LOG_ERROR(" (backtrace_symbols failed)\n");
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}
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LOG_ERROR("========================================\n");
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}
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void signalHandler(int sig)
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{
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const char* sigName = "UNKNOWN";
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switch (sig)
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{
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case SIGSEGV: sigName = "SIGSEGV (Segmentation Fault)"; break;
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case SIGABRT: sigName = "SIGABRT (Abort)"; break;
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case SIGTERM: sigName = "SIGTERM (Termination)"; break;
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case SIGINT: sigName = "SIGINT (Interrupt)"; break;
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case SIGILL: sigName = "SIGILL (Illegal Instruction)"; break;
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case SIGFPE: sigName = "SIGFPE (Floating Point Exception)"; break;
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case SIGBUS: sigName = "SIGBUS (Bus Error)"; break;
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case SIGPIPE: sigName = "SIGPIPE (Broken Pipe)"; break;
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default: break;
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}
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LOG_ERROR("========================================\n");
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LOG_ERROR("[SIGNAL] Caught signal %d: %s\n", sig, sigName);
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LOG_ERROR("========================================\n");
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// 打印调用栈
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void* array[30];
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const int size = backtrace(array, 30);
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LOG_ERROR("[BACKTRACE] Stack trace (%d frames):\n", size);
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char** messages = backtrace_symbols(array, size);
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if (messages)
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{
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for (int i = 0; i < size; i++)
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LOG_ERROR(" [%d] %s\n", i, messages[i]);
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free(messages);
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}
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else
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{
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LOG_ERROR(" (backtrace_symbols failed)\n");
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}
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LOG_ERROR("========================================\n");
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// 对于致命信号，调用默认处理器
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signal(sig, SIG_DFL);
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raise(sig);
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}
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#endif
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}
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int main(int argc, char* argv[])
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{
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QCoreApplication app(argc, argv);
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app.setApplicationName(DRONESCREWSERVER_PRODUCT_NAME);
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app.setApplicationVersion(DRONESCREWSERVER_VERSION_STRING);
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app.setOrganizationName(DRONESCREWSERVER_COMPANY_NAME);
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VrLogUtils::InitLog();
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VrLogUtils::EnableTime(false);
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#if defined(__linux__)
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// 注册 std::terminate 处理器（捕获未处理 C++ 异常，优先级最高）
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std::set_terminate(terminateHandler);
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LOG_INFO("[TERMINATE] std::terminate handler registered, main thread=%s\n",
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getThreadIdStr().c_str());
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// 注册 atexit 处理器（捕获正常退出）
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atexit(atexitHandler);
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LOG_INFO("[ATEXIT] Exit handler registered\n");
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// 注册信号处理器
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signal(SIGSEGV, signalHandler); // 段错误
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signal(SIGABRT, signalHandler); // 异常终止
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signal(SIGTERM, signalHandler); // 终止信号
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signal(SIGINT, signalHandler); // 中断信号 (Ctrl+C)
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signal(SIGILL, signalHandler); // 非法指令
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signal(SIGFPE, signalHandler); // 浮点异常
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signal(SIGBUS, signalHandler); // 总线错误
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signal(SIGPIPE, signalHandler); // 管道破裂
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LOG_INFO("[SIGNAL] Signal handlers registered\n");
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// 屏蔽 ffmedia 库的 WARN 日志（仅在 ERROR 时打印）
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extern unsigned int ff_log_level;
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ff_log_level = 0; // 0=ERROR only, 1=WARN
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// 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）
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// 子线程调用 exit() 时仅结束该线程，不会杀死整个进程
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LOG_INFO("[EXIT-HOOK] exit() interceptor active: main-thread exit passes through, child-thread exit converts to pthread_exit\n");
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#endif
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LOG_DEBUG("===========================================\n");
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LOG_INFO(" %s\n", DRONESCREWSERVER_PRODUCT_NAME);
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LOG_INFO(" V%s_%s built %s %s\n", DRONESCREWSERVER_VERSION_STRING,
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DRONESCREWSERVER_VERSION_BUILD, __DATE__, __TIME__);
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LOG_DEBUG("===========================================\n");
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qRegisterMetaType<DroneScrewResult>("DroneScrewResult");
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qRegisterMetaType<DroneScrewAlgoParams>("DroneScrewAlgoParams");
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qRegisterMetaType<MvsImageData>("MvsImageData");
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DroneScrewServerPresenter presenter;
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DroneScrewZmqProtocol zmq;
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// 信号槽：协议 → presenter
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QObject::connect(&zmq, &DroneScrewZmqProtocol::rawImagePublishEnabledRequested,
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&presenter, &DroneScrewServerPresenter::setRawPubEnabled,
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Qt::DirectConnection);
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QObject::connect(&zmq, &DroneScrewZmqProtocol::detectModeRequested,
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&presenter, &DroneScrewServerPresenter::setDetectMode,
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Qt::DirectConnection);
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QObject::connect(&zmq, &DroneScrewZmqProtocol::setExposureRequested,
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&presenter, &DroneScrewServerPresenter::handleSetExposure);
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QObject::connect(&zmq, &DroneScrewZmqProtocol::setGainRequested,
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&presenter, &DroneScrewServerPresenter::handleSetGain);
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QObject::connect(&zmq, &DroneScrewZmqProtocol::updateAlgoParamsRequested,
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&presenter, &DroneScrewServerPresenter::handleUpdateAlgoParams);
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// presenter → 协议（发布检测结果）
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QObject::connect(&presenter, &DroneScrewServerPresenter::detectionResult,
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&zmq, &DroneScrewZmqProtocol::publishDetectionResult);
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// presenter → 协议（原始图像 PUB）— 同步连接，回调内立即拷贝完成
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QObject::connect(&presenter, &DroneScrewServerPresenter::rawImageReady,
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&zmq, &DroneScrewZmqProtocol::publishRawImage,
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Qt::DirectConnection);
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zmq.setSingleDetectionHandler([&presenter]() {
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return presenter.runSingleDetection();
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});
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zmq.setStartWorkHandler([&presenter]() {
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return presenter.startDetectionWork();
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});
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zmq.setStopWorkHandler([&presenter]() {
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return presenter.stopDetectionWork();
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});
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zmq.setFinalDetectionResultProvider([&presenter](DroneScrewResult& result) {
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return presenter.getLastFinalDetectionResult(result);
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});
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zmq.setStartLiveStreamHandler([&presenter]() {
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return presenter.startLiveStream();
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});
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zmq.setStopLiveStreamHandler([&presenter]() {
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return presenter.stopLiveStream();
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});
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zmq.setSwapCameraRolesHandler([&presenter]() {
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return presenter.swapCameraRoles();
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});
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zmq.setServerInfoProvider([&presenter]() {
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return presenter.getRuntimeInfo();
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});
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zmq.setCalibrationInfoProvider([&presenter]() {
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return presenter.getCalibrationInfo();
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});
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// 配置文件 —— 运行时配置优先（runtime_config.xml 不会被部署覆盖），
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// config/config.xml 仅作为出厂默认值。
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const QString appDir = QCoreApplication::applicationDirPath();
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const QString runtimeCfgPath = QDir(appDir).filePath("runtime_config.xml");
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auto findDefaultConfig = [&]() -> QString {
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const QString a = QDir(appDir).filePath("config/config.xml");
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if (QFileInfo::exists(a)) return a;
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const QString b = QDir::current().filePath("config/config.xml");
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if (QFileInfo::exists(b)) return b;
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return QString();
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};
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// 之后所有 saveConfiguration 调用都写到 runtime_config.xml
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presenter.setConfigFilePath(runtimeCfgPath);
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if (QFileInfo::exists(runtimeCfgPath))
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{
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// 正常路径：加载持久化的运行时配置
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LOG_INFO("[CONFIG] loading runtime config: %s\n", runtimeCfgPath.toStdString().c_str());
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if (!presenter.loadConfiguration(runtimeCfgPath))
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{
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LOG_WARN("[CONFIG] runtime config load failed, falling back to defaults\n");
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const QString fallback = findDefaultConfig();
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if (!fallback.isEmpty())
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presenter.loadConfiguration(fallback);
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// loadConfiguration 会覆盖 m_configFilePath，需要重新指回 runtime 路径
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presenter.setConfigFilePath(runtimeCfgPath);
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}
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}
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else
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{
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// 首次部署：加载出厂默认配置，然后直接复制到 runtime_config.xml
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const QString defaultCfg = findDefaultConfig();
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if (!defaultCfg.isEmpty())
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{
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LOG_INFO("[CONFIG] first run, loading default: %s\n", defaultCfg.toStdString().c_str());
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presenter.loadConfiguration(defaultCfg);
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// loadConfiguration 会覆盖 m_configFilePath，需要重新指回 runtime 路径
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presenter.setConfigFilePath(runtimeCfgPath);
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// 直接复制默认配置文件到运行时位置，保留所有元素
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if (QFile::copy(defaultCfg, runtimeCfgPath))
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LOG_INFO("[CONFIG] default config copied to: %s\n", runtimeCfgPath.toStdString().c_str());
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else
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LOG_WARN("[CONFIG] failed to copy default config to: %s\n", runtimeCfgPath.toStdString().c_str());
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}
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else
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{
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LOG_INFO("[CONFIG] no config file found, using defaults\n");
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}
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}
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// 初始化各子系统
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presenter.initAll();
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// 启动 ZMQ
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zmq.setRtspUrl(presenter.getRtspUrl());
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if (!zmq.startServer(presenter.getZmqControlPort(),
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presenter.getZmqResultPort(),
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presenter.getZmqRawImagePort()))
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{
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LOG_ERROR("ZMQ start fail\n");
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return ERR_CODE(NET_ERR_CREAT_INIT);
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}
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// raw 图像发布由 start.mode 控制：pull_stream 关闭，subscribe 开启。
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presenter.setRawPubEnabled(false);
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LOG_INFO("=== DroneScrewServer started, ZMQ ctrl=%d result=%d raw=%d, RTSP=%s ===\n",
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presenter.getZmqControlPort(),
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presenter.getZmqResultPort(),
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presenter.getZmqRawImagePort(),
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presenter.getRtspUrl().toStdString().c_str());
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const auto startedAt = std::chrono::steady_clock::now();
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QTimer heartbeatTimer;
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heartbeatTimer.setInterval(60000);
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QObject::connect(&heartbeatTimer, &QTimer::timeout, [&presenter, startedAt]() {
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const auto now = std::chrono::steady_clock::now();
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const auto uptimeSec =
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std::chrono::duration_cast<std::chrono::seconds>(now - startedAt).count();
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const QJsonObject info = presenter.getRuntimeInfo();
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const QString mode = info["mode"].toString();
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const QString rss = procStatusValue("VmRSS");
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const QString vmPeak = procStatusValue("VmPeak");
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const QString vmSize = procStatusValue("VmSize");
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const QString threads = procStatusValue("Threads");
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LOG_INFO("[HEARTBEAT] uptime=%llds mode=%s rss=%s vmPeak=%s vmSize=%s threads=%s\n",
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static_cast<long long>(uptimeSec),
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mode.toStdString().c_str(),
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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
|