diff --git a/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.cpp b/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.cpp index 69cb0f6..bf5fc82 100644 --- a/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.cpp +++ b/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.cpp @@ -1,1839 +1,1840 @@ -#include "BeltTearingPresenter.h" -#include "PathManager.h" -#include "version.h" -#include "PointCloudImageUtils.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "IVrUtils.h" -#include "VrError.h" -#include - -// 静态实例指针 -BeltTearingPresenter* BeltTearingPresenter::s_instance = nullptr; - -BeltTearingPresenter::BeltTearingPresenter(QObject *parent) - : QObject(parent) - , m_tcpServer(nullptr) - , m_tearingProtocol(nullptr) - , m_config(nullptr) - , m_eyeDevice(nullptr) - , m_cameraInitTimer(new QTimer(this)) - , m_cameraInitialized(false) - , m_cameraDetecting(false) - , m_lineCounter(0) - , m_maxQueueSize(300) // 默认值 - , m_generationInterval(100) // 默认值 - , m_bAlgoDetectThreadRunning(false) - , m_pRobotProtocol(nullptr) // 初始化RobotProtocol指针 - , m_pModbusRTUMaster(nullptr) // 初始化ModbusRTUMaster指针 - , m_bRobotConnected(false) // 初始化连接状态 - , m_simulationTearIdCounter(1000) // 仿真撕裂ID计数器初始值 - , m_simulationCallCount(0) // 仿真调用次数初始值 -{ - // 设置静态实例 - s_instance = this; - - QString versionWithBuildTime = QString("%1.%2_%3%4%5%6%7%8") - .arg(BELT_TEARING_SERVER_VERSION_STRING) - .arg(BELT_TEARING_SERVER_VERSION_BUILD) - .arg(YEAR) - .arg(MONTH, 2, 10, QChar('0')) - .arg(DAY, 2, 10, QChar('0')) - .arg(HOUR, 2, 10, QChar('0')) - .arg(MINUTE, 2, 10, QChar('0')) - .arg(SECOND, 2, 10, QChar('0')); - // 打印版本信息 - LOG_INFO("Initializing %s\n", versionWithBuildTime.toStdString().c_str()); - - // 连接定时器信号 - connect(m_cameraInitTimer, &QTimer::timeout, this, &BeltTearingPresenter::onCameraInitTimer); - - // 启动算法检测线程 - m_bAlgoDetectThreadRunning = true; - m_algoDetectThread = std::thread(&BeltTearingPresenter::_AlgoDetectThread, this); - m_algoDetectThread.detach(); - - // 创建TCP服务器实例 - if (!VrCreatYTCPServer(&m_tcpServer)) { - LOG_ERROR("Failed to create TCP server\n"); - m_tcpServer = nullptr; - } - - // 创建配置实例 - IVrBeltTearingConfig::CreateInstance(&m_config); - if (m_config) { - m_config->SetConfigChangeNotify(this); - } - - // 初始化SDK算法参数 - 使用配置系统的默认值 - m_algorithmParam = configToSDKParam(BeltTearingConfigResult()); - - // 初始化相机 - initializeCamera(); - - // 初始化机械臂协议 - int nRet = InitRobotProtocol(); - if (nRet != 0) { - LOG_WARNING("Robot protocol initialization failed\n"); - m_bRobotConnected = false; - } else { - LOG_INFO("Robot protocol initialization successful\n"); - m_bRobotConnected = true; - } - - - InitModbusRTUMaster(); -} - -BeltTearingPresenter::~BeltTearingPresenter() -{ - // 清除静态实例 - s_instance = nullptr; - - stopServer(); - stopCamera(); // 忽略返回值，因为在析构函数中无法处理 - - // 停止算法检测线程 - m_bAlgoDetectThreadRunning = false; - m_algoDetectCondition.notify_all(); - - // 等待算法检测线程结束 - if (m_algoDetectThread.joinable()) { - m_algoDetectThread.join(); - } - - // 清理激光线队列中的内存 - std::lock_guard lock(m_queueMutex); - for (auto& line : m_laserLineQueue) { - if (line.p3DPoint) { - free(line.p3DPoint); - line.p3DPoint = nullptr; - } - } - m_laserLineQueue.clear(); - - // 释放TearingTcpProtocol - if (m_tearingProtocol) { - delete m_tearingProtocol; - m_tearingProtocol = nullptr; - } - - if (m_tcpServer) { - delete m_tcpServer; - m_tcpServer = nullptr; - } - - if (m_config) { - delete m_config; - m_config = nullptr; - } - - // 释放RobotProtocol资源 - if (m_pRobotProtocol) { - m_pRobotProtocol->Deinitialize(); - delete m_pRobotProtocol; - m_pRobotProtocol = nullptr; - } - - // 释放RobotProtocolSimplified资源 - if (m_pRobotProtocolSimplified) { - m_pRobotProtocolSimplified->Deinitialize(); - delete m_pRobotProtocolSimplified; - m_pRobotProtocolSimplified = nullptr; - } - - // 释放ModbusRTUMaster资源 - if (m_pModbusRTUMaster) { - m_pModbusRTUMaster->Deinitialize(); - delete m_pModbusRTUMaster; - m_pModbusRTUMaster = nullptr; - } -} - -bool BeltTearingPresenter::loadConfiguration(const QString& configFilePath) -{ - if (!m_config) { - LOG_WARNING("Config instance not created\n"); - return false; - } - - m_configFilePath = configFilePath; - - try { - // 加载配置文件 - m_configResult = m_config->LoadConfig(configFilePath.toStdString()); - - LOG_INFO("Configuration loaded successfully:\n"); - LOG_INFO(" Server Port: %d\n", m_configResult.serverPort); - LOG_INFO(" Project Type: %d\n", static_cast(m_configResult.projectType)); - LOG_INFO(" Servers count: %d\n", m_configResult.servers.size()); - - // 应用队列处理参数（如果配置文件中没有，将使用构造函数中的默认值300和100） - if (m_configResult.queueProcessParam.maxQueueSize > 0) { - m_maxQueueSize = m_configResult.queueProcessParam.maxQueueSize; - } - if (m_configResult.queueProcessParam.generationInterval > 0) { - m_generationInterval = m_configResult.queueProcessParam.generationInterval; - } - LOG_INFO(" Max Queue Size: %d\n", m_maxQueueSize); - LOG_INFO(" Generation Interval: %d\n", m_generationInterval); - - // 应用算法参数 - applyAlgorithmParameters(m_configResult.algorithmParams); - - return true; - - } catch (const std::exception& e) { - LOG_ERROR("Error loading configuration: %s\n", e.what()); - return false; - } -} - -void BeltTearingPresenter::applyAlgorithmParameters(const BeltTearingAlgorithmParams& params) -{ - // 使用配置结构转换为SDK参数 - BeltTearingConfigResult tempConfig; - tempConfig.algorithmParams = params; - m_algorithmParam = configToSDKParam(tempConfig); - - // 应用算法参数 - LOG_DEBUG("Applying SDK algorithm parameters...\n"); - LOG_DEBUG(" Scan X Scale: %f\n", m_algorithmParam.scanXScale); - LOG_DEBUG(" Scan Y Scale: %f\n", m_algorithmParam.scanYScale); - LOG_DEBUG(" Difference Bin Threshold: %f\n", m_algorithmParam.differnceBinTh); - LOG_DEBUG(" Min Tear Length: %f\n", m_algorithmParam.tearingMinLen); - LOG_DEBUG(" Min Tear Gap: %f\n", m_algorithmParam.tearingMinGap); - LOG_DEBUG(" Same Gap Threshold: %f\n", m_algorithmParam.extractPara.sameGapTh); - LOG_DEBUG(" Gap Check Window: %d\n", m_algorithmParam.extractPara.gapChkWin); - - // 监控参数 - LOG_DEBUG(" Check Interval: %d ms\n", params.monitoringParam.checkInterval); - LOG_DEBUG(" Alert Threshold: %f\n", params.monitoringParam.alertThreshold); - - // 调试参数 - if (m_configResult.debugParam.enableDebug) { - LOG_DEBUG("Debug mode enabled:\n"); - LOG_DEBUG(" Save debug images: %s\n", (m_configResult.debugParam.saveDebugImage ? "Yes" : "No")); - LOG_DEBUG(" Print detail log: %s\n", (m_configResult.debugParam.printDetailLog ? "Yes" : "No")); - } -} - -void BeltTearingPresenter::OnConfigChanged(const BeltTearingConfigResult& configResult) -{ - LOG_INFO("Configuration changed notification received\n"); - - if (configResult.serverPort != m_configResult.serverPort) - { - // 如果服务器端口改变，可能需要重启服务器 - LOG_INFO("Server port changed, restarting server...\n"); - stopServer(); - startServer(configResult.serverPort); - } - - // 更新配置结果 - m_configResult = configResult; - - // 重新应用算法参数 - applyAlgorithmParameters(configResult.algorithmParams); -} - -void BeltTearingPresenter::sendTestData(std::string fileName){ - if (!m_tcpServer) { - LOG_WARNING("TCP server not initialized, cannot send test data\n"); - return; - } - - if(m_pRobotProtocol){ - m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_WORKING); - } - - // 判断文件类型 - std::ifstream inputFile(fileName); - if (!inputFile.is_open()) { - LOG_WARN("UN open file \n"); - return; - } else { - LOG_DEBUG("------------------------ \n"); - } - - std::string line; - std::vector sVzNLPostion; - sVzNLPostion.clear(); - - int nIndex = 0; - SVzLaserLineData pLaserLine; - - while (std::getline(inputFile, line)) { - if (line.find("Line_") == 0) { - - if(!sVzNLPostion.empty()){ - pLaserLine.p3DPoint = sVzNLPostion.data(); - pLaserLine.nPointCount = sVzNLPostion.size(); - addLaserLineToQueue(&pLaserLine); - } - sscanf(line.c_str(), "Line_%lld_%lld", &pLaserLine.llFrameIdx, &pLaserLine.llTimeStamp); - sVzNLPostion.clear(); - - nIndex++; - - } else if (line.find("{") == 0) { - float lx, ly, rx, ry; - SVzNL3DPosition pos; - sscanf(line.c_str(), "{ %lf, %lf, %lf }-{ %f, %f}-{ %f, %f }", - &pos.pt3D.x, &pos.pt3D.y, &pos.pt3D.z, &lx, &ly, &rx, &ry); - - sVzNLPostion.push_back(pos); - } - } - - inputFile.close(); -} - -// 发送模拟撕裂结果数据 -void BeltTearingPresenter::sendSimulationData() -{ - LOG_INFO("Sending simulation data\n"); - - if(m_pRobotProtocol){ - m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_WORKING); - } - - // 创建模拟的撕裂结果数据 - std::vector simulationResults; - - // 使用成员变量（开流时会清除） - m_simulationCallCount++; - - m_simulationTearIdCounter = 2629344; - - // 固定生成2个撕裂，长度逐渐增大 - for (int i = 0; i < 2; i++) { - SSG_beltTearingInfo tear; - tear.tearID = m_simulationTearIdCounter + i; - tear.tearStatus = keSG_tearStatus_Growing; - - // 撕裂长度：基础长度 + 调用次数 * 10 - float tearLength = 30.0f + m_simulationCallCount * 10.0f + i * 5.0f; - - // 设置ROI - tear.roi.left = 10.0f + i * 50.0f; - tear.roi.top = 0.0f; - tear.roi.right = tear.roi.left + tearLength; - tear.roi.bottom = 10.0f; - - // 设置撕裂宽度和深度 - tear.tearWidth = 15.0f + i * 5.0f; - tear.tearDepth = 8.0f + i * 2.0f; - - simulationResults.push_back(tear); - } - - // 发送撕裂结果到所有客户端 - sendTearingResults(simulationResults); - SendDetectionResultToRobot(simulationResults); // 发送检测结果到机械臂 - - m_tearingProtocol->sendDetectResult(simulationResults, QImage()); -} - -bool BeltTearingPresenter::initializeCamera() -{ - if (m_eyeDevice) { - return true; // 已经初始化过 - } - - int result = IVrEyeDevice::CreateObject(&m_eyeDevice); - if (result != 0 || !m_eyeDevice) { - LOG_ERROR("Failed to create VrEyeDevice object, error code: %d\n", result); - return false; - } - - result = m_eyeDevice->InitDevice(); - if (result != 0) { - LOG_ERROR("Failed to initialize VrEyeDevice, error code: %d\n", result); - delete m_eyeDevice; - m_eyeDevice = nullptr; - return false; - } - - // 设置状态回调 - result = m_eyeDevice->SetStatusCallback(OnStatusCallback, this); - if (result != 0) { - LOG_WARNING("Failed to set status callback, error code: %d\n", result); - } - - LOG_INFO("VrEyeDevice initialized successfully\n"); - return true; -} - -int BeltTearingPresenter::startCamera() -{ - if (!initializeCamera()) { - // 启动定时器持续重试初始化 - LOG_WARNING("Camera initialization failed, starting retry timer...\n"); - m_cameraInitTimer->start(5000); // 每5秒重试一次 - return ERR_CODE(DEV_NO_OPEN); // 初始化失败 - } - - // 准备相机IP参数（使用配置中的第一个相机） - const char* pCameraIP = nullptr; - if (!m_configResult.cameras.empty() && !m_configResult.cameras[0].cameraIP.empty()) { - pCameraIP = m_configResult.cameras[0].cameraIP.c_str(); - LOG_INFO("Using configured camera [%s] IP: %s\n", - m_configResult.cameras[0].name.c_str(), pCameraIP); - } else { - LOG_INFO("No camera IP configured, using auto-discovery\n"); - } - - // 尝试打开设备 - int result = m_eyeDevice->OpenDevice(pCameraIP, false, false, true); - if (result != 0) { - LOG_WARNING("Failed to open camera device, error code: %d, retrying...\n", result); - - // 启动定时器持续重试连接 - m_cameraInitTimer->start(3000); // 每3秒重试一次 - return result; // 返回错误码 - } - - LOG_INFO("Camera opened successfully\n"); - - // 停止重试定时器 - m_cameraInitTimer->stop(); - m_cameraInitialized = true; - - // 开始检测 - result = m_eyeDevice->StartDetect(OnPointCloudCallback, keResultDataType_Position, this); - LOG_DEBUG("Camera detection started, result: %d\n", result); - if (result != 0) { - LOG_ERROR("Failed to start detection, error code: %d\n", result); - return result; // 返回错误码 - } - - m_cameraDetecting = true; - - // 设置机械臂工作状态为工作中 - if (m_pRobotProtocol) { - int robotResult = m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_WORKING); - if (robotResult != 0) { - LOG_WARNING("Failed to set robot work status to working, error code: %d\n", robotResult); - return robotResult; // 返回错误码 - } else { - LOG_DEBUG("Robot work status set to working\n"); - } - } - - return SUCCESS; // 成功 -} - -int BeltTearingPresenter::stopCamera() -{ - m_cameraInitTimer->stop(); - - if (m_eyeDevice) { - if (m_cameraDetecting) { - m_eyeDevice->StopDetect(); - m_cameraDetecting = false; - } - - if (m_cameraInitialized) { - m_eyeDevice->CloseDevice(); - m_cameraInitialized = false; - } - - delete m_eyeDevice; - m_eyeDevice = nullptr; - } - - // 设置机械臂工作状态为空闲 - if (m_pRobotProtocol) { - int robotResult = m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_IDLE); - if (robotResult != 0) { - LOG_WARNING("Failed to set robot work status to idle, error code: %d\n", robotResult); - return ERR_CODE(DEV_CTRL_ERR); // 返回设备控制错误码 - } else { - LOG_DEBUG("Robot work status set to idle\n"); - } - } - - LOG_INFO("Camera stopped\n"); - return SUCCESS; // 成功 -} - -void BeltTearingPresenter::onCameraInitTimer() -{ - // 尝试重新初始化和连接相机 - if (!m_eyeDevice) { - if (!initializeCamera()) { - return; // 继续重试 - } - } - - // 准备相机IP参数（使用配置中的第一个相机） - const char* pCameraIP = nullptr; - if (!m_configResult.cameras.empty() && !m_configResult.cameras[0].cameraIP.empty()) { - pCameraIP = m_configResult.cameras[0].cameraIP.c_str(); - } - - // 尝试连接相机 - int result = m_eyeDevice->OpenDevice(pCameraIP, false, false, true); - if (result == 0) { - // 连接成功，停止定时器 - m_cameraInitTimer->stop(); - m_cameraInitialized = true; - - // 开始检测 - result = m_eyeDevice->StartDetect(OnPointCloudCallback, keResultDataType_Position, this); - if (result == 0) { - m_cameraDetecting = true; - LOG_INFO("Camera connection restored successfully!\n"); - - // 设置机械臂工作状态为工作中 - if (m_pRobotProtocol) { - int robotResult = m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_WORKING); - if (robotResult != 0) { - LOG_WARNING("Failed to set robot work status to working when camera reconnected, error code: %d\n", robotResult); - } else { - LOG_DEBUG("Robot work status set to working when camera reconnected\n"); - } - } - } else { - LOG_ERROR("Failed to start detection after reconnection, error code: %d\n", result); - } - } else { - LOG_WARNING("Still unable to connect to camera, continuing retry...\n"); - } -} - -void BeltTearingPresenter::OnStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam) -{ - BeltTearingPresenter* presenter = static_cast(pInfoParam); - if (!presenter) return; - - LOG_DEBUG("Camera status changed: %d\n", static_cast(eStatus)); - - // 处理相机状态变化 - switch (eStatus) { - case keDeviceWorkStatus_Eye_Comming: - LOG_INFO("Camera connected\n"); - break; - case keDeviceWorkStatus_Offline: - LOG_WARNING("Camera disconnected, attempting to reconnect...\n"); - presenter->m_cameraInitialized = false; - presenter->m_cameraDetecting = false; - - // 设置机械臂工作状态为空闲 - if (presenter->m_pRobotProtocol) { - int robotResult = presenter->m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_IDLE); - if (robotResult != 0) { - LOG_WARNING("Failed to set robot work status to idle when camera disconnected, error code: %d\n", robotResult); - } else { - LOG_DEBUG("Robot work status set to idle when camera disconnected\n"); - } - } - - // 开始重连尝试 - if (!presenter->m_cameraInitTimer->isActive()) { - presenter->m_cameraInitTimer->start(3000); - } - break; - default: - break; - } -} - -void BeltTearingPresenter::OnPointCloudCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pParam) -{ - if(keResultDataType_Position != eDataType) return; - - BeltTearingPresenter* presenter = static_cast(pParam); - if (!presenter || !pLaserLinePoint) return; - - // 处理点云数据 - // 将激光线数据添加到队列（用于图像生成和算法检测） - presenter->addLaserLineToQueue(pLaserLinePoint); -} - -void BeltTearingPresenter::sendTearingResults(const std::vector& results) -{ - if (results.empty() || m_clients.isEmpty() || !m_tcpServer) { - return; - } - - // 将检测结果转换为JSON格式 - QJsonArray tearingArray; - - for (const auto& result : results) { - QJsonObject tearingObj; - // tearingObj["level"] = QString::number(result.level); - tearingObj["id"] = QString::number(result.tearID); - tearingObj["tearStatus"] = QString::number(static_cast(result.tearStatus)); - tearingObj["tearType"] = QString::number(result.tearType); - tearingObj["statLineIdx"] = QString::number(result.statLineIdx); - tearingObj["endLineIdx"] = QString::number(result.endLineIdx); - tearingObj["tearDepth"] = QString::number(result.tearDepth); - tearingObj["tearWidth"] = QString::number(result.tearWidth); - double dWidth = result.roi.right - result.roi.left; - double dLength = result.roi.bottom - result.roi.top; - tearingObj["tearLength"] = QString::number(dWidth > dLength ? dWidth : dLength); - tearingObj["roiLeft"] = QString::number(result.roi.left); - tearingObj["roiRight"] = QString::number(result.roi.right); - tearingObj["roiTop"] = QString::number(result.roi.top); - tearingObj["roiBottom"] = QString::number(result.roi.bottom); - // tearingObj["imageFile"] = QString::fromStdString(result.imageFile); - // tearingObj["older"] = QString::fromStdString(result.older); - tearingObj["timestamp"] = QDateTime::currentDateTime().toString(Qt::ISODate); - - tearingArray.append(tearingObj); - } - - // 转换为JSON字符串 - QJsonDocument doc(tearingArray); - QByteArray message = doc.toJson(QJsonDocument::Compact); - - // 创建数据包 - QByteArray package; - QDataStream stream(&package, QIODevice::WriteOnly); - stream.setByteOrder(QDataStream::BigEndian); - stream << quint8(static_cast(ByteDataType::Text)) << quint32(message.size()); - stream.writeRawData(message.constData(), message.size()); - package.append("___END___\r\n"); - - // 发送到所有连接的客户端 - bool success = m_tcpServer->SendAllData(package.constData(), package.size()); - if (!success) { - LOG_WARNING("Failed to send tearing results to all clients\n"); - } -} - -bool BeltTearingPresenter::startServer(quint16 port) -{ - if (!m_tcpServer) { - LOG_ERROR("TCP server not created\n"); - return false; - } - - // 先停止现有服务器 - stopServer(); - - m_port = port; - m_tcpPort = m_configResult.tcpPort; // 从配置读取新协议端口 - - // 初始化旧协议TCP服务器 - if (!m_tcpServer->Init(port, true)) { // 启用Nagle算法优化 - LOG_ERROR("Failed to initialize TCP server on port %d\n", port); - return false; - } - - // 设置事件回调 - m_tcpServer->SetEventCallback(OnServerEvent); - - // 启动旧协议TCP服务器 - if (!m_tcpServer->Start(OnServerRecv, false)) { // 不使用自定义协议 - LOG_ERROR("Failed to start TCP server on port %d\n", port); - return false; - } - - LOG_INFO("TCP server (old protocol) started on port %d\n", port); - - // 创建并启动TearingTcpProtocol - if (!m_tearingProtocol) { - m_tearingProtocol = new TearingTcpProtocol(this); - - // 设置TCP端口 - m_tearingProtocol->setTcpPort(m_tcpPort); - - // 设置速度控制回调 - m_tearingProtocol->setSpeedCallback([this](int speed) -> int { - LOG_INFO("Speed callback triggered: %d mm/s\n", speed); - - // 调用相机接口设置速度 - if (m_eyeDevice) { - // 将速度从 mm/s 转换为相机摆动速度参数（根据实际需要调整转换公式） - // 这里假设直接使用速度值，实际可能需要根据相机文档进行单位转换 - float fSpeed = static_cast(speed); - - int result = m_eyeDevice->SetSwingSpeed(fSpeed); - if (result == 0) { - LOG_INFO("Camera swing speed set successfully: %.2f\n", fSpeed); - return SUCCESS; // 成功 - } else { - LOG_ERROR("Failed to set camera swing speed, error code: %d\n", result); - return result; // 返回错误码 - } - } else { - LOG_WARNING("Camera device not initialized, cannot set speed\n"); - return ERR_CODE(DEV_NO_OPEN); // 设备未初始化错误 - } - }); - - // 设置启停控制回调 - m_tearingProtocol->setControlCallback([this](bool control) -> int { - LOG_INFO("Control callback triggered: %s\n", control ? "start" : "stop"); - int result = 0; - if (control) { - result = StartWork(); - } else { - result = StopWork(); - } - return result; - }); - - // 启动协议处理 - m_tearingProtocol->start(30); // 30秒心跳间隔 - } - - LOG_INFO("TearingTcpProtocol started on port %d\n", m_tcpPort); - - return true; -} - -void BeltTearingPresenter::stopServer() -{ - // 停止TearingTcpProtocol - if (m_tearingProtocol) { - m_tearingProtocol->stop(); - } - - // 停止旧协议TCP服务器 - if (m_tcpServer) { - // 清空客户端映射 - m_clients.clear(); - - m_tcpServer->Stop(); - m_tcpServer->Close(); - LOG_INFO("TCP server stopped\n"); - } - - m_port = 0; - m_tcpPort = 0; -} - -// 静态回调函数实现 -void BeltTearingPresenter::OnServerRecv(const TCPClient* pClient, const char* pData, const unsigned int nLen) -{ - if (s_instance) { - s_instance->handleServerRecv(pClient, pData, nLen); - } -} - -void BeltTearingPresenter::OnServerEvent(const TCPClient* pClient, TCPServerEventType eventType) -{ - if (s_instance) { - s_instance->handleServerEvent(pClient, eventType); - } -} - -// 实例方法实现 -void BeltTearingPresenter::handleServerRecv(const TCPClient* pClient, const char* pData, const unsigned int nLen) -{ - QString clientId = generateClientId(pClient); - LOG_DEBUG("Received %d bytes from client %s\n", nLen, clientId.toStdString().c_str()); - - // 解析数据包协议头 - if (nLen < 5) { - LOG_ERROR("Packet too small: %d bytes\n", nLen); - return; - } - - quint8 dataType; - quint32 dataSize; - - QDataStream stream(QByteArray(pData, nLen)); - stream.setByteOrder(QDataStream::BigEndian); - stream >> dataType >> dataSize; - - // 验证数据包完整性 - if (dataSize + 5 > nLen) { - LOG_ERROR("Incomplete packet: expected %d+5, got %d bytes\n", dataSize, nLen); - return; - } - - QByteArray payloadData(pData + 5, dataSize); - - // LOG_DEBUG("Parsed packet: dataType=%d, dataSize=%d, payload_size=%d\n", dataType, dataSize, payloadData.size()); - - switch (static_cast(dataType)) { - case ByteDataType::Text: - // 处理文本数据 - handleAlgorithmParameterUpdate(payloadData); - break; - - case ByteDataType::ReadConfig: - // 处理读取配置请求 - handleReadConfig(pClient); - break; - - case ByteDataType::WriteConfig: - // 处理写入配置请求 - handleWriteConfig(payloadData); - break; - - default: - LOG_ERROR("Unknown data type %d\n", dataType); - break; - } -} - -void BeltTearingPresenter::handleServerEvent(const TCPClient* pClient, TCPServerEventType eventType) -{ - QString clientId = generateClientId(pClient); - - switch (eventType) { - case TCP_EVENT_CLIENT_CONNECTED: - m_clients[clientId] = pClient; - LOG_INFO("Client connected: %s\n", clientId.toStdString().c_str()); - break; - - case TCP_EVENT_CLIENT_DISCONNECTED: - m_clients.remove(clientId); - LOG_INFO("Client disconnected: %s\n", clientId.toStdString().c_str()); - break; - - case TCP_EVENT_CLIENT_EXCEPTION: - m_clients.remove(clientId); - LOG_WARNING("Client exception: %s\n", clientId.toStdString().c_str()); - break; - } -} - -QString BeltTearingPresenter::generateClientId(const TCPClient* client) -{ - return QString("Client_%1").arg(client->m_nFD); -} - -// 激光线队列管理方法实现 -void BeltTearingPresenter::addLaserLineToQueue(const SVzLaserLineData* laserLine) -{ - if(laserLine == nullptr || laserLine->nPointCount <= 0){ - return; - } - - // 创建激光线数据的深拷贝 - SVzLaserLineData copiedLine = *laserLine; - - // 深拷贝点云数据 - size_t pointDataSize = laserLine->nPointCount * sizeof(SVzNL3DPosition); - copiedLine.p3DPoint = static_cast(malloc(pointDataSize)); - if (copiedLine.p3DPoint) { - memcpy(copiedLine.p3DPoint, laserLine->p3DPoint, pointDataSize); - } - - // 添加数据到队列的锁作用域 - { - std::lock_guard lock(m_queueMutex); - // 添加到队列 - m_laserLineQueue.push_back(copiedLine); - m_lineCounter++; - - // 管理队列大小 - while (m_laserLineQueue.size() > static_cast(m_maxQueueSize)) { - SVzLaserLineData oldLine = m_laserLineQueue.front(); - m_laserLineQueue.pop_front(); - - // 释放深拷贝的点云数据内存 - if (oldLine.p3DPoint) { - free(oldLine.p3DPoint); - oldLine.p3DPoint = nullptr; - } - } - } - - // 每到图像生成间隔，提交图像生成任务给工作线程 - if (m_lineCounter % m_generationInterval == 0) { - m_algoDetectCondition.notify_one(); - } -} - -void BeltTearingPresenter::sendImageToClients(const QImage& image) -{ - if (image.isNull() || m_clients.isEmpty() || !m_tcpServer) { - return; - } - - try { - // 将图像转换为字节数组 - QByteArray imageData; - QBuffer buffer(&imageData); - buffer.open(QIODevice::WriteOnly); - - // 保存为JPEG格式以减少数据大小 - if (!image.save(&buffer, "JPEG", 50)) { - LOG_ERROR("Failed to convert image to JPEG format\n"); - return; - } - - // 构造数据包 - QByteArray packet; - QDataStream stream(&packet, QIODevice::WriteOnly); - stream.setByteOrder(QDataStream::BigEndian); - - // 写入数据类型标识（图像类型） - stream << static_cast(ByteDataType::Image); - - // 写入图像数据大小 - stream << static_cast(imageData.size()); - - // 写入图像数据 - stream.writeRawData(imageData.constData(), imageData.size()); - packet.append("___END___\r\n"); - - - // 发送给所有连接的客户端 - bool success = m_tcpServer->SendAllData(packet.constData(), packet.size()); - if (!success) { - LOG_WARNING("Failed to send image data to all clients\n"); - } - // LOG_DEBUG("Sent image data to %d clients datalen %d\n", m_clients.size(), imageData.size()); - - } catch (const std::exception& e) { - LOG_ERROR("Error sending image to clients: %s\n", e.what()); - } -} - -SSG_beltTearingParam BeltTearingPresenter::configToSDKParam(const BeltTearingConfigResult& config) const -{ - SSG_beltTearingParam sdkParam; - - // 基本参数 - sdkParam.scanXScale = config.algorithmParams.beltTearingParam.scanXScale; - sdkParam.scanYScale = config.algorithmParams.beltTearingParam.scanYScale; - sdkParam.differnceBinTh = config.algorithmParams.beltTearingParam.differnceBinTh; - sdkParam.tearingMinLen = config.algorithmParams.beltTearingParam.tearingMinLen; - sdkParam.tearingMinGap = config.algorithmParams.beltTearingParam.tearingMinGap; - - // 特征提取参数 - sdkParam.extractPara.sameGapTh = config.algorithmParams.beltTearingParam.sameGapTh; - sdkParam.extractPara.gapChkWin = config.algorithmParams.beltTearingParam.gapChkWin; - - return sdkParam; -} - -BeltTearingConfigResult BeltTearingPresenter::sdkToConfigParam(const SSG_beltTearingParam& sdkParam) const -{ - BeltTearingConfigResult config; - - // 基本参数 - config.algorithmParams.beltTearingParam.scanXScale = sdkParam.scanXScale; - config.algorithmParams.beltTearingParam.scanYScale = sdkParam.scanYScale; - config.algorithmParams.beltTearingParam.differnceBinTh = sdkParam.differnceBinTh; - config.algorithmParams.beltTearingParam.tearingMinLen = sdkParam.tearingMinLen; - config.algorithmParams.beltTearingParam.tearingMinGap = sdkParam.tearingMinGap; - - // 特征提取参数 - config.algorithmParams.beltTearingParam.sameGapTh = sdkParam.extractPara.sameGapTh; - config.algorithmParams.beltTearingParam.gapChkWin = sdkParam.extractPara.gapChkWin; - - return config; -} - -void BeltTearingPresenter::handleAlgorithmParameterUpdate(const QByteArray& paramData) -{ - try { - // 解析JSON数据 - QJsonDocument doc = QJsonDocument::fromJson(paramData); - if (!doc.isObject()) { - LOG_WARNING("Invalid JSON format in parameter update\n"); - return; - } - - QJsonObject paramObj = doc.object(); - QString command = paramObj["command"].toString(); - - if (command == "setAlgorithmParams") { - // 处理算法参数设置 - handleSetAlgorithmParams(paramObj); - } else if (command == "getServerInfo") { - // 处理服务器信息获取请求 - handleGetServerInfo(paramObj); - } else if (command == "resetDetect") { - // 处理重新检测请求 - LOG_INFO("Received reset detect command from client\n"); - ResetDetect(); - - // 发送响应给客户端 - QJsonObject responseObj; - responseObj["command"] = "resetDetectResponse"; - responseObj["status"] = "success"; - responseObj["message"] = "Detection reset completed"; - responseObj["timestamp"] = QDateTime::currentDateTime().toString(Qt::ISODate); - - QJsonDocument responseDoc(responseObj); - QByteArray responseData = responseDoc.toJson(); - - // 构建数据包并发送给所有客户端 - if (!m_clients.isEmpty() && m_tcpServer) { - QByteArray package; - QDataStream stream(&package, QIODevice::WriteOnly); - stream.setByteOrder(QDataStream::BigEndian); - stream << quint8(static_cast(ByteDataType::Text)) << quint32(responseData.size()); - stream.writeRawData(responseData.constData(), responseData.size()); - package.append("___END___\r\n"); - - bool success = m_tcpServer->SendAllData(package.constData(), package.size()); - if (success) { - LOG_INFO("Reset detect response sent to clients\n"); - } else { - LOG_WARNING("Failed to send reset detect response to clients\n"); - } - } - } else { - LOG_WARNING("Unknown command: %s\n", command.toStdString().c_str()); - return; - } - - } catch (const std::exception& e) { - LOG_ERROR("Error processing algorithm parameter update: %s\n", e.what()); - } -} - -void BeltTearingPresenter::handleSetAlgorithmParams(const QJsonObject& paramObj) -{ - // 提取算法参数 - double scanXScale = paramObj["scanXScale"].toDouble(); - double scanYScale = paramObj["scanYScale"].toDouble(); - double differnceBinTh = paramObj["differnceBinTh"].toDouble(); - double tearingMinLen = paramObj["tearingMinLen"].toDouble(); - double tearingMinGap = paramObj["tearingMinGap"].toDouble(); - - // 更新特征提取参数 - m_algorithmParam.extractPara.sameGapTh = paramObj["sameGapTh"].toDouble(); - m_algorithmParam.extractPara.gapChkWin = paramObj["gapChkWin"].toInt(); - - // 更新SDK算法参数 - m_algorithmParam.scanXScale = scanXScale; - m_algorithmParam.scanYScale = scanYScale; - m_algorithmParam.differnceBinTh = differnceBinTh; - m_algorithmParam.tearingMinLen = tearingMinLen; - m_algorithmParam.tearingMinGap = tearingMinGap; - - LOG_INFO("Algorithm parameters updated: scanXScale=%f, scanYScale=%f, differnceBinTh=%f, tearingMinLen=%f, tearingMinGap=%f\n", - scanXScale, scanYScale, differnceBinTh, tearingMinLen, tearingMinGap); - - // 处理队列处理参数 - if (paramObj.contains("maxQueueSize")) { - int newMaxQueueSize = paramObj["maxQueueSize"].toInt(); - if (newMaxQueueSize > 0) { - m_maxQueueSize = newMaxQueueSize; - LOG_INFO("Max queue size updated to: %d\n", m_maxQueueSize); - } - } - - if (paramObj.contains("generationInterval")) { - int newGenerationInterval = paramObj["generationInterval"].toInt(); - if (newGenerationInterval > 0) { - m_generationInterval = newGenerationInterval; - LOG_INFO("Generation interval updated to: %d\n", m_generationInterval); - } - } - - // 处理相机IP配置 - if (paramObj.contains("cameraIP")) { - QString newCameraIP = paramObj["cameraIP"].toString(); - - // 更新配置中的相机IP - if (!m_configResult.cameras.empty()) { - std::string oldIP = m_configResult.cameras[0].cameraIP; - m_configResult.cameras[0].cameraIP = newCameraIP.toStdString(); - - if (oldIP != m_configResult.cameras[0].cameraIP) { - LOG_INFO("Camera IP updated from [%s] to [%s]\n", oldIP.c_str(), m_configResult.cameras[0].cameraIP.c_str()); - LOG_INFO("Camera IP change requires restart to take effect\n"); - } - } else { - // 如果相机列表为空，创建新的相机配置 - CameraParam newCamera; - newCamera.name = "摄像头1"; - newCamera.cameraIP = newCameraIP.toStdString(); - m_configResult.cameras.push_back(newCamera); - LOG_INFO("Camera IP configured: [%s]\n", newCameraIP.toStdString().c_str()); - } - } - - // 保存参数到配置文件 - if (m_config) { - BeltTearingConfigResult currentConfig = sdkToConfigParam(m_algorithmParam); - // 保留相机配置 - currentConfig.cameras = m_configResult.cameras; - currentConfig.servers = m_configResult.servers; - currentConfig.debugParam = m_configResult.debugParam; - currentConfig.projectType = m_configResult.projectType; - currentConfig.serverPort = m_configResult.serverPort; - // 保存队列处理参数 - currentConfig.queueProcessParam.maxQueueSize = m_maxQueueSize; - currentConfig.queueProcessParam.generationInterval = m_generationInterval; - - QString configPath = PathManager::GetConfigFilePath(); - - if (m_config->SaveConfig(configPath.toStdString(), currentConfig)) { - LOG_INFO("Algorithm parameters saved to config file: %s\n", configPath.toStdString().c_str()); - // 更新内存中的配置 - m_configResult = currentConfig; - } else { - LOG_ERROR("Failed to save algorithm parameters to config file\n"); - } - } -} - -void BeltTearingPresenter::handleGetServerInfo(const QJsonObject& requestObj) -{ - // 创建服务器信息响应 - QJsonObject responseObj; - responseObj["command"] = "serverInfoResponse"; - responseObj["requestId"] = requestObj["requestId"].toString(); - - // 服务器基本信息 - QJsonObject serverInfo; - serverInfo["name"] = BELT_TEARING_SERVER_PRODUCT_NAME; - serverInfo["version"] = BELT_TEARING_SERVER_VERSION_STRING; - serverInfo["buildInfo"] = BELT_TEARING_SERVER_PLATFORM; - serverInfo["status"] = "running"; - serverInfo["port"] = static_cast(getServerPort()); - - // 当前算法参数 - QJsonObject algorithmParams; - algorithmParams["scanXScale"] = m_algorithmParam.scanXScale; - algorithmParams["scanYScale"] = m_algorithmParam.scanYScale; - algorithmParams["differnceBinTh"] = m_algorithmParam.differnceBinTh; - algorithmParams["tearingMinLen"] = m_algorithmParam.tearingMinLen; - algorithmParams["tearingMinGap"] = m_algorithmParam.tearingMinGap; - - responseObj["serverInfo"] = serverInfo; - responseObj["algorithmParams"] = algorithmParams; - responseObj["timestamp"] = QDateTime::currentDateTime().toString(Qt::ISODate); - - // 将响应发送给所有客户端 - QJsonDocument responseDoc(responseObj); - QByteArray responseData = responseDoc.toJson(); - - // 使用现有的sendTearingResults传输机制发送响应 - if (!m_clients.isEmpty() && m_tcpServer) { - // 创建数据包 - QByteArray package; - QDataStream stream(&package, QIODevice::WriteOnly); - stream.setByteOrder(QDataStream::BigEndian); - stream << quint8(static_cast(ByteDataType::Text)) << quint32(responseData.size()); - stream.writeRawData(responseData.constData(), responseData.size()); - package.append("___END___\r\n"); - - // 发送到所有连接的客户端 - bool success = m_tcpServer->SendAllData(package.constData(), package.size()); - if (success) { - LOG_INFO("Server info response sent to %d clients\n", m_clients.size()); - } else { - LOG_WARNING("Failed to send server info response to clients\n"); - } - } -} - -void BeltTearingPresenter::handleReadConfig(const TCPClient* pClient) -{ - try { - // 直接使用当前内存中的配置参数 - BeltTearingConfigResult configResult = sdkToConfigParam(m_algorithmParam); - - // 将配置转换为JSON格式 - QJsonObject configObj; - - // 服务器配置 - QJsonArray serversArray; - for (const auto& server : m_configResult.servers) { - QJsonObject serverObj; - serverObj["name"] = QString::fromStdString(server.name); - serverObj["ip"] = QString::fromStdString(server.ip); - serverObj["port"] = server.port; - serversArray.append(serverObj); - } - configObj["servers"] = serversArray; - - // 算法参数 - QJsonObject algorithmParams; - algorithmParams["scanXScale"] = configResult.algorithmParams.beltTearingParam.scanXScale; - algorithmParams["scanYScale"] = configResult.algorithmParams.beltTearingParam.scanYScale; - algorithmParams["differnceBinTh"] = configResult.algorithmParams.beltTearingParam.differnceBinTh; - algorithmParams["tearingMinLen"] = configResult.algorithmParams.beltTearingParam.tearingMinLen; - algorithmParams["tearingMinGap"] = configResult.algorithmParams.beltTearingParam.tearingMinGap; - algorithmParams["sameGapTh"] = configResult.algorithmParams.beltTearingParam.sameGapTh; - algorithmParams["gapChkWin"] = configResult.algorithmParams.beltTearingParam.gapChkWin; - configObj["algorithmParams"] = algorithmParams; - - // 相机配置 - QJsonObject cameraConfig; - if (!m_configResult.cameras.empty()) { - cameraConfig["cameraIP"] = QString::fromStdString(m_configResult.cameras[0].cameraIP); - cameraConfig["cameraName"] = QString::fromStdString(m_configResult.cameras[0].name); - } - configObj["cameraConfig"] = cameraConfig; - - // 队列处理参数 - QJsonObject queueConfig; - queueConfig["maxQueueSize"] = m_maxQueueSize; - queueConfig["generationInterval"] = m_generationInterval; - configObj["queueProcessParam"] = queueConfig; - - // 调试参数 - QJsonObject debugParams; - debugParams["enableDebug"] = m_configResult.debugParam.enableDebug; - debugParams["saveDebugImage"] = m_configResult.debugParam.saveDebugImage; - debugParams["printDetailLog"] = m_configResult.debugParam.printDetailLog; - debugParams["debugOutputPath"] = QString::fromStdString(m_configResult.debugParam.debugOutputPath); - configObj["debugParams"] = debugParams; - - // 项目类型 - configObj["projectType"] = static_cast(m_configResult.projectType); - - // 服务端端口 - configObj["serverPort"] = m_configResult.serverPort; - - QString versionText = QString("%1_%2_%3") - .arg(BELT_TEARING_SERVER_VERSION_STRING) - .arg(BELT_TEARING_SERVER_VERSION_BUILD) - .arg(BUILD_TIME.c_str()); - - // 创建响应对象 - QJsonObject responseObj; - responseObj["command"] = "configResponse"; - responseObj["version"] = versionText; // 添加版本信息 - responseObj["config"] = configObj; - - // 转换为JSON数据 - QJsonDocument responseDoc(responseObj); - QByteArray responseData = responseDoc.toJson(); - - // 构建数据包 - QByteArray packet; - QDataStream stream(&packet, QIODevice::WriteOnly); - stream.setByteOrder(QDataStream::BigEndian); - stream << static_cast(ByteDataType::ReadConfig) << static_cast(responseData.size()); - stream.writeRawData(responseData.constData(), responseData.size()); - packet.append("___END___\r\n"); - - // 发送响应 - if (m_tcpServer && pClient) { - bool success = m_tcpServer->SendData(pClient, packet.constData(), packet.size()); - if (success) { - LOG_INFO("Configuration sent to client successfully\n"); - } else { - LOG_ERROR("Failed to send configuration to client\n"); - } - } - } catch (const std::exception& e) { - LOG_ERROR("Error handling ReadConfig: %s\n", e.what()); - } -} - -void BeltTearingPresenter::handleWriteConfig(const QByteArray& paramData) -{ - try { - // 解析JSON数据 - QJsonDocument doc = QJsonDocument::fromJson(paramData); - if (!doc.isObject()) { - LOG_WARNING("Invalid JSON format in WriteConfig\n"); - return; - } - - QJsonObject paramObj = doc.object(); - - // 检查是否是来自 dialogalgoarg 的简单参数格式 - if (paramObj.contains("command") && paramObj["command"].toString() == "setAlgorithmParams") { - // 处理来自 dialogalgoarg 的算法参数更新 - handleSetAlgorithmParams(paramObj); - } - - - } catch (const std::exception& e) { - LOG_ERROR("Error handling WriteConfig: %s\n", e.what()); - } -} - -void BeltTearingPresenter::ResetDetect() -{ - LOG_INFO("Resetting detection system\n"); - - int result = stopCamera(); - if (result != 0) { - LOG_WARNING("Failed to stop camera during reset, error code: %d\n", result); - } - - m_hLineWorkers.clear(); - m_beltTearings_new.clear(); - m_beltTearings_growing.clear(); - m_beltTearings_ended.clear(); - m_beltTearings_unknown.clear(); - - m_bInitAlgo = false; - - std::lock_guard lock(m_queueMutex); - for (auto& line : m_laserLineQueue) { - if (line.p3DPoint) { - free(line.p3DPoint); - line.p3DPoint = nullptr; - } - } - m_laserLineQueue.clear(); - - // 清空Modbus检测结果数据 - if (m_pRobotProtocol) { - int ret = m_pRobotProtocol->ClearDetectionData(); - if (ret != 0) { - LOG_WARNING("Failed to clear Modbus detection data during reset, error code: %d\n", ret); - } else { - LOG_INFO("Modbus detection data cleared during reset\n"); - } - } - - // 清空简化协议的报警数据 - if (m_pRobotProtocolSimplified) { - int ret = m_pRobotProtocolSimplified->ClearAlarmData(); - if (ret != 0) { - LOG_WARNING("Failed to clear simplified protocol alarm data during reset, error code: %d\n", ret); - } else { - LOG_INFO("Simplified protocol alarm data cleared during reset\n"); - } - } - - // 清除TCP协议的历史最大撕裂数据 - if (m_tearingProtocol) { - m_tearingProtocol->clearHistoryMaxData(); - } - - // 清除简化协议的历史最大撕裂数据 - m_historyMaxTearing = HistoryMaxTearingData(); - - // 清除仿真数据计数器 - m_simulationTearIdCounter = 1000; - m_simulationCallCount = 0; - - result = startCamera(); - if (result != 0) { - LOG_WARNING("Failed to start camera after reset, error code: %d\n", result); - } - - LOG_INFO("Detection system reset completed\n"); -} - -int BeltTearingPresenter::StopWork() -{ - LOG_INFO("Stopping work - camera and detection\n"); - - // 停止相机 - int cameraResult = stopCamera(); - if (cameraResult != SUCCESS) { - LOG_ERROR("Failed to stop camera, error code: %d\n", cameraResult); - // 继续执行其他停止操作，但返回相机错误码 - } - - // 设置机械臂工作状态为空闲 - if (m_pRobotProtocol) { - m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_IDLE); - } - - LOG_INFO("Work stopped successfully\n"); - return cameraResult; // 返回相机操作结果，成功时为SUCCESS -} - -int BeltTearingPresenter::StartWork() -{ - LOG_INFO("Starting work - camera and detection\n"); - - // 清除TCP协议的历史最大撕裂数据 - if (m_tearingProtocol) { - m_tearingProtocol->clearHistoryMaxData(); - } - - // 清除简化协议的历史最大撕裂数据 - m_historyMaxTearing = HistoryMaxTearingData(); // 重置历史最大值 - if (m_pRobotProtocolSimplified) { - m_pRobotProtocolSimplified->ClearAlarmData(); - LOG_INFO("Cleared simplified protocol alarm data on start work\n"); - } - - // 清除仿真数据计数器 - m_simulationTearIdCounter = 1000; - m_simulationCallCount = 0; - LOG_INFO("Cleared simulation counters on start work\n"); - - // 启动相机 - int cameraResult = startCamera(); - if (cameraResult != SUCCESS) { - LOG_ERROR("Failed to start camera, error code: %d\n", cameraResult); - return cameraResult; // 返回相机错误码 - } - - // 设置机械臂工作状态为工作中（在startCamera中已经设置） - - LOG_INFO("Work started successfully\n"); - return SUCCESS; // 成功 -} - -void BeltTearingPresenter::_AlgoDetectThread() -{ - while (m_bAlgoDetectThreadRunning) { - // 等待条件变量通知 - std::unique_lock lock(m_algoDetectMutex); - m_algoDetectCondition.wait(lock); - - // 如果线程停止运行，退出循环 - if (!m_bAlgoDetectThreadRunning) { - break; - } - - // 执行检测任务 - _DetectTask(); - } -} - -int BeltTearingPresenter::_DetectTask() -{ - std::lock_guard lock(m_detectionDataMutex); - - // 临时存储从队列中取出的数据，避免重复处理 - std::vector algorithmDataCache; - std::vector> imageScanLines; - - // 从队列中获取数据 - { - std::lock_guard queueLock(m_queueMutex); - if (m_laserLineQueue.empty()) { - return SUCCESS; // 没有数据可处理 - } - - // 只保留最后的m_generationInterval大小的数据进行检测 - algorithmDataCache.reserve(m_generationInterval); - int cacheSize = static_cast(m_laserLineQueue.size()) - m_generationInterval; - int startIndex = 0 > cacheSize ? 0 : cacheSize; - for (auto it = m_laserLineQueue.begin() + startIndex; it != m_laserLineQueue.end(); ++it) { - const auto& laserLine = *it; - SVzNL3DLaserLine algorithmData; - algorithmData.nTimeStamp = laserLine.llTimeStamp; - algorithmData.nPositionCnt = laserLine.nPointCount; - - // 深拷贝点云数据 - if (laserLine.nPointCount > 0 && laserLine.p3DPoint) { - size_t pointDataSize = laserLine.nPointCount * sizeof(SVzNL3DPosition); - algorithmData.p3DPosition = static_cast(malloc(pointDataSize)); - if (algorithmData.p3DPosition) { - memcpy(algorithmData.p3DPosition, laserLine.p3DPoint, pointDataSize); - } - } else { - algorithmData.p3DPosition = nullptr; - } - - algorithmDataCache.push_back(algorithmData); - } - - // 准备扫描线数据用于图像生成 - imageScanLines.reserve(m_laserLineQueue.size()); - for (const auto& line : m_laserLineQueue) { - // 增加安全检查，确保指针有效 - if (line.p3DPoint && line.nPointCount > 0) { - std::vector linePoints; - linePoints.reserve(line.nPointCount); // 预分配内存提高效率 - - SVzNL3DPosition* p3DPoints = static_cast(line.p3DPoint); - - // 使用更高效的批量复制 - linePoints.assign(p3DPoints, p3DPoints + line.nPointCount); - imageScanLines.emplace_back(std::move(linePoints)); // 使用move避免拷贝 - } - } - } - - // 调用SDK算法进行皮带撕裂检测 - int errorCode = 0; - std::vector allTearings; - - // 初始化算法（如果尚未初始化） - if (!m_bInitAlgo) { - const SVzNL3DLaserLine& firstLine = algorithmDataCache.front(); - m_hLineWorkers.resize(firstLine.nPositionCnt); - - m_beltTearings_new.clear(); - m_beltTearings_new.shrink_to_fit(); - m_beltTearings_growing.clear(); - m_beltTearings_growing.shrink_to_fit(); - m_beltTearings_ended.clear(); - m_beltTearings_ended.shrink_to_fit(); - m_beltTearings_unknown.clear(); - m_beltTearings_unknown.shrink_to_fit(); - - // 复位内部静态变量 - sg_detectBeltTearing(nullptr, 0, 0, &errorCode, - m_hLineWorkers, - m_beltTearings_new, m_beltTearings_growing, m_beltTearings_ended, m_beltTearings_unknown, - m_algorithmParam - ); - m_bInitAlgo = true; - } - - // 对缓存中的每一帧数据进行检测 - for (auto& algorithmData : algorithmDataCache) { - // 直接调用皮带撕裂检测算法 - sg_detectBeltTearing(&algorithmData, static_cast(algorithmData.nTimeStamp), - algorithmData.nPositionCnt, &errorCode, - m_hLineWorkers, - m_beltTearings_new, m_beltTearings_growing, m_beltTearings_ended, m_beltTearings_unknown, - m_algorithmParam - ); - - // 合并各个撕裂结果容器 -#if 1 - _MergeAndReplace(allTearings, m_beltTearings_new); - _MergeAndReplace(allTearings, m_beltTearings_growing); - _MergeAndReplace(allTearings, m_beltTearings_ended); - // _MergeAndReplace(allTearings, m_beltTearings_unknown); -#else - allTearings.insert(allTearings.end(), m_beltTearings_new.begin(), m_beltTearings_new.end()); - allTearings.insert(allTearings.end(), m_beltTearings_growing.begin(), m_beltTearings_growing.end()); - allTearings.insert(allTearings.end(), m_beltTearings_ended.begin(), m_beltTearings_ended.end()); - // allTearings.insert(allTearings.end(), m_beltTearings_unknown.begin(), m_beltTearings_unknown.end()); -#endif - } - - // 发送检测结果 - if (!allTearings.empty()) { - sendTearingResults(allTearings); - SendDetectionResultToRobot(allTearings); // 发送检测结果到机械臂 - } - - // 释放深拷贝的点云数据 - for (auto& algorithmData : algorithmDataCache) { - if (algorithmData.p3DPosition) { - free(algorithmData.p3DPosition); - algorithmData.p3DPosition = nullptr; - } - } - - // 在算法处理完成后，生成带撕裂检测结果的图像 - QImage image = PointCloudImageUtils::GeneratePointCloudImage(imageScanLines, allTearings, 800, 600); - sendImageToClients(image); - - // 使用TearingTcpProtocol发送DETECT_RESULT消息（新协议） - if (m_tearingProtocol && !allTearings.empty()) { - m_tearingProtocol->sendDetectResult(allTearings, image); - } - - // 发送实时检测结果（新协议） - if (m_tearingProtocol) { - m_tearingProtocol->sendRealtimeResult(allTearings, image); - } - - return SUCCESS; // 成功完成检测任务 -} - -void BeltTearingPresenter::_MergeAndReplace(std::vector& allTearings, const std::vector& source) -{ - for (const auto& newItem : source) - { - bool found = false; - // 检查是否已存在相同ID的项 - for (auto& existingItem : allTearings) { - if (existingItem.tearID == newItem.tearID) { - // 如果存在，用新数据替换旧数据 - existingItem = newItem; - found = true; - break; - } - } - // 如果不存在相同ID的项，则添加新项 - if (!found) { - allTearings.push_back(newItem); - } - } -} - -// 初始化Modbus-RTU主端 -int BeltTearingPresenter::InitModbusRTUMaster() -{ - // 创建ModbusRTUMaster实例 - m_pModbusRTUMaster = new ModbusRTUMaster(); - - // 从配置中获取串口参数 - const SerialPortParam& serialParam = m_configResult.serialPortParam; - - // 如果配置中的串口名为空，使用平台默认值 - std::string portName = serialParam.portName; - - // 初始化Modbus-RTU主端，使用配置的参数 - int nRet = m_pModbusRTUMaster->Initialize(portName.c_str(), serialParam.baudRate, serialParam.parity, - serialParam.dataBits, serialParam.stopBits); - - if (nRet != 0) { - LOG_ERROR("Failed to initialize Modbus RTU master, error code: %d\n", nRet); - return nRet; - } - - // 设置温度回调函数 - m_pModbusRTUMaster->SetTemperatureCallback([this](float temperature) { - this->SendTemperatureData(temperature); - }); - - // 启动定时器读取温度数据 - m_pModbusRTUMaster->StartReading(); - - m_bModbusRTUConnected = true; - LOG_INFO("Modbus RTU master initialized successfully\n"); - return SUCCESS; -} - - -// 发送温度数据给所有客户端 -void BeltTearingPresenter::SendTemperatureData(float temperature) -{ - // 检查TCP服务器是否已初始化 - if (!m_tcpServer) { - LOG_WARNING("TCP server not initialized, cannot send temperature data\n"); - return; - } - - // 将温度数据转换为JSON格式 - QJsonObject temperatureObj; - temperatureObj["id"] = QString::number(0); // 温度目标ID为0 - temperatureObj["status"] = QString::number(1); // 状态1表示有效数据 - temperatureObj["value"] = QString::number(temperature); // 宽度字段存储温度值 - temperatureObj["type"] = QString("temperature"); // 数据类型标识 - - QJsonArray temperatureArray; - temperatureArray.append(temperatureObj); - - // 转换为JSON字符串 - QJsonDocument doc(temperatureArray); - QByteArray message = doc.toJson(QJsonDocument::Compact); - - // 创建数据包 - QByteArray package; - QDataStream stream(&package, QIODevice::WriteOnly); - stream.setByteOrder(QDataStream::BigEndian); - stream << quint8(static_cast(ByteDataType::Text)) << quint32(message.size()); - stream.writeRawData(message.constData(), message.size()); - package.append("___END___\r\n"); - - // 通过TCP服务器发送到所有连接的客户端 - bool success = m_tcpServer->SendAllData(package.constData(), package.size()); - if (!success) { - LOG_WARNING("Failed to send temperature data to all clients\n"); - } else { - LOG_DEBUG("Temperature data sent successfully: %.2f°C\n", temperature); - } -} - - -// 初始化机械臂协议 -int BeltTearingPresenter::InitRobotProtocol() -{ - LOG_DEBUG("Start initializing robot protocol\n"); - - // 根据配置选择协议类型 - m_modbusTCPProtocolType = m_configResult.modbusTCPProtocol; - - int nRet = 0; - - if (m_modbusTCPProtocolType == ModbusTCPProtocolType::Simplified) { - // 使用简化协议 - LOG_INFO("Using simplified ModbusTCP protocol\n"); - - // 创建RobotProtocolSimplified实例 - if (nullptr == m_pRobotProtocolSimplified) { - m_pRobotProtocolSimplified = new RobotProtocolSimplified(); - } - - // 初始化协议服务（使用端口502） - nRet = m_pRobotProtocolSimplified->Initialize(502); - - // 设置连接状态回调 - m_pRobotProtocolSimplified->SetConnectionCallback([this](bool connected) { - this->OnRobotConnectionChanged(connected); - }); - - // 设置复位回调 - m_pRobotProtocolSimplified->SetResetCallback([this]() { - LOG_INFO("ModbusTCP simplified protocol: Reset command received\n"); - this->ResetDetect(); - }); - - } else { - // 使用标准协议 - LOG_INFO("Using standard ModbusTCP protocol\n"); - - // 创建RobotProtocol实例 - if (nullptr == m_pRobotProtocol) { - m_pRobotProtocol = new RobotProtocol(); - } - - // 初始化协议服务（使用端口502） - nRet = m_pRobotProtocol->Initialize(502); - - // 设置连接状态回调 - m_pRobotProtocol->SetConnectionCallback([this](bool connected) { - this->OnRobotConnectionChanged(connected); - }); - - // 设置工作信号回调 - m_pRobotProtocol->SetWorkSignalCallback([this](bool startWork, int cameraIndex) { - return this->OnRobotWorkSignal(startWork, cameraIndex); - }); - - // 设置系统控制回调 - m_pRobotProtocol->SetSystemControlCallback([this](uint16_t command) { - switch(command) { - case 0: // 停止工作 - LOG_INFO("ModbusTCP command: Stop work\n"); - this->StopWork(); - break; - case 1: // 开始工作 - LOG_INFO("ModbusTCP command: Start work\n"); - this->StartWork(); - break; - case 2: // 复位检测 - LOG_INFO("ModbusTCP command: Reset detect\n"); - this->ResetDetect(); - break; - default: - LOG_WARNING("Unknown ModbusTCP command: %d\n", command); - break; - } - }); - } - - LOG_INFO("Robot protocol initialization completed successfully (type: %s)\n", - m_modbusTCPProtocolType == ModbusTCPProtocolType::Simplified ? "Simplified" : "Standard"); - return nRet; -} - -// 机械臂连接状态改变回调 -void BeltTearingPresenter::OnRobotConnectionChanged(bool connected) -{ - LOG_INFO("Robot connection status changed: %s\n", connected ? "Connected" : "Disconnected"); - m_bRobotConnected = connected; - - // 可以在这里添加其他连接状态改变时需要处理的逻辑 - if (connected) { - LOG_INFO("Robot connected successfully\n"); - } else { - LOG_WARNING("Robot disconnected\n"); - } -} - - -// 机械臂工作信号回调 -bool BeltTearingPresenter::OnRobotWorkSignal(bool startWork, int cameraIndex) -{ - return true; // 返回处理结果 -} - -// 发送检测结果到机械臂 -/** - * @brief 发送检测结果到机械臂 - * @param detectionResults 检测到的所有撕裂信息 - * - * 功能说明： - * 1. 根据协议类型发送数据（简化协议或标准协议） - * 2. 在简化协议中，使用ROI的宽度和高度中的较大值找出最大的撕裂区域 - * 3. 使用对角线长度作为撕裂大小的更准确表示 - */ -void BeltTearingPresenter::SendDetectionResultToRobot(const std::vector& detectionResults) -{ - // 根据协议类型发送数据 - if (m_modbusTCPProtocolType == ModbusTCPProtocolType::Simplified) { - // 简化协议：只发送历史最大撕裂信息（从开流开始的最大值） - if (!m_pRobotProtocolSimplified) { - LOG_WARNING("Simplified robot protocol not initialized, cannot send detection results\n"); - return; - } - - // 更新历史最大值 - if (!detectionResults.empty()) { - // 找出本次检测的最大撕裂 - auto maxTearIt = std::max_element(detectionResults.begin(), detectionResults.end(), - [](const SSG_beltTearingInfo& a, const SSG_beltTearingInfo& b) { - // 计算撕裂区域的宽度和高度，取较大值 - double widthA = a.roi.right - a.roi.left; - double lengthA = a.roi.bottom - a.roi.top; - double maxSizeA = widthA > lengthA ? widthA : lengthA; - - double widthB = b.roi.right - b.roi.left; - double lengthB = b.roi.bottom - b.roi.top; - double maxSizeB = widthB > lengthB ? widthB : lengthB; - - return maxSizeA < maxSizeB; - }); - - // 计算本次最大撕裂的尺寸 - double dWidth = maxTearIt->roi.right - maxTearIt->roi.left; - double dLength = maxTearIt->roi.bottom - maxTearIt->roi.top; - double diagonalLength = std::sqrt(dWidth * dWidth + dLength * dLength); - uint16_t currentMaxLength = static_cast(diagonalLength); - uint16_t currentMaxWidth = static_cast(maxTearIt->tearWidth); - uint32_t currentMaxId = maxTearIt->tearID; - - // 更新历史最大值 - if (!m_historyMaxTearing.hasData || currentMaxLength > m_historyMaxTearing.maxLength) { - m_historyMaxTearing.maxLength = currentMaxLength; - m_historyMaxTearing.maxWidth = currentMaxWidth; - m_historyMaxTearing.maxId = currentMaxId; - m_historyMaxTearing.hasData = true; - } - } - - // 构造报警数据（使用历史最大值） - RobotProtocolSimplified::TearingAlarmData alarmData; - if (m_historyMaxTearing.hasData) { - alarmData.alarmFlag = 1; // 有撕裂报警 - alarmData.maxLength = m_historyMaxTearing.maxLength; - alarmData.maxWidth = m_historyMaxTearing.maxWidth; - alarmData.maxId = m_historyMaxTearing.maxId; - } else { - // 没有历史数据 - alarmData.alarmFlag = 0; - alarmData.maxLength = 0; - alarmData.maxWidth = 0; - alarmData.maxId = 0; - } - - // 发送报警数据 - m_pRobotProtocolSimplified->SetAlarmData(alarmData); - - } else { - // 标准协议：发送完整的撕裂信息列表 - if (!m_pRobotProtocol || !m_bRobotConnected) { - LOG_WARNING("Robot protocol not initialized or not connected, cannot send detection results\n"); - return; - } - - // 准备发送给机械臂的数据结构 - MultiTargetData multiTargetData; - - // 将皮带撕裂检测结果转换为机械臂可识别的数据 - for (const auto& result : detectionResults) { - // 创建目标结果 - TargetResult target; - target.id = result.tearID; - target.status = static_cast(result.tearStatus); - target.width = static_cast(result.tearWidth); - target.depth = static_cast(result.tearDepth); - - // 添加到目标列表 - multiTargetData.targets.push_back(target); - } - - // 调用RobotProtocol接口发送数据 - m_pRobotProtocol->SetMultiTargetData(multiTargetData); - } -} - +#include "BeltTearingPresenter.h" +#include "PathManager.h" +#include "version.h" +#include "PointCloudImageUtils.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "IVrUtils.h" +#include "VrError.h" +#include + +// 静态实例指针 +BeltTearingPresenter* BeltTearingPresenter::s_instance = nullptr; + +BeltTearingPresenter::BeltTearingPresenter(QObject *parent) + : QObject(parent) + , m_tcpServer(nullptr) + , m_tearingProtocol(nullptr) + , m_config(nullptr) + , m_eyeDevice(nullptr) + , m_cameraInitTimer(new QTimer(this)) + , m_cameraInitialized(false) + , m_cameraDetecting(false) + , m_lineCounter(0) + , m_maxQueueSize(300) // 默认值 + , m_generationInterval(100) // 默认值 + , m_bAlgoDetectThreadRunning(false) + , m_pRobotProtocol(nullptr) // 初始化RobotProtocol指针 + , m_pModbusRTUMaster(nullptr) // 初始化ModbusRTUMaster指针 + , m_bRobotConnected(false) // 初始化连接状态 + , m_simulationTearIdCounter(1000) // 仿真撕裂ID计数器初始值 + , m_simulationCallCount(0) // 仿真调用次数初始值 +{ + // 设置静态实例 + s_instance = this; + + QString versionWithBuildTime = QString("%1.%2_%3%4%5%6%7%8") + .arg(BELT_TEARING_SERVER_VERSION_STRING) + .arg(BELT_TEARING_SERVER_VERSION_BUILD) + .arg(YEAR) + .arg(MONTH, 2, 10, QChar('0')) + .arg(DAY, 2, 10, QChar('0')) + .arg(HOUR, 2, 10, QChar('0')) + .arg(MINUTE, 2, 10, QChar('0')) + .arg(SECOND, 2, 10, QChar('0')); + // 打印版本信息 + LOG_INFO("Initializing %s\n", versionWithBuildTime.toStdString().c_str()); + + // 连接定时器信号 + connect(m_cameraInitTimer, &QTimer::timeout, this, &BeltTearingPresenter::onCameraInitTimer); + + // 启动算法检测线程 + m_bAlgoDetectThreadRunning = true; + m_algoDetectThread = std::thread(&BeltTearingPresenter::_AlgoDetectThread, this); + m_algoDetectThread.detach(); + + // 创建TCP服务器实例 + if (!VrCreatYTCPServer(&m_tcpServer)) { + LOG_ERROR("Failed to create TCP server\n"); + m_tcpServer = nullptr; + } + + // 创建配置实例 + IVrBeltTearingConfig::CreateInstance(&m_config); + if (m_config) { + m_config->SetConfigChangeNotify(this); + } + + // 初始化SDK算法参数 - 使用配置系统的默认值 + m_algorithmParam = configToSDKParam(BeltTearingConfigResult()); + + // 初始化相机 + initializeCamera(); + + // 初始化机械臂协议 + int nRet = InitRobotProtocol(); + if (nRet != 0) { + LOG_WARNING("Robot protocol initialization failed\n"); + m_bRobotConnected = false; + } else { + LOG_INFO("Robot protocol initialization successful\n"); + m_bRobotConnected = true; + } + + + InitModbusRTUMaster(); +} + +BeltTearingPresenter::~BeltTearingPresenter() +{ + // 清除静态实例 + s_instance = nullptr; + + stopServer(); + stopCamera(); // 忽略返回值，因为在析构函数中无法处理 + + // 停止算法检测线程 + m_bAlgoDetectThreadRunning = false; + m_algoDetectCondition.notify_all(); + + // 等待算法检测线程结束 + if (m_algoDetectThread.joinable()) { + m_algoDetectThread.join(); + } + + // 清理激光线队列中的内存 + std::lock_guard lock(m_queueMutex); + for (auto& line : m_laserLineQueue) { + if (line.p3DPoint) { + free(line.p3DPoint); + line.p3DPoint = nullptr; + } + } + m_laserLineQueue.clear(); + + // 释放TearingTcpProtocol + if (m_tearingProtocol) { + delete m_tearingProtocol; + m_tearingProtocol = nullptr; + } + + if (m_tcpServer) { + delete m_tcpServer; + m_tcpServer = nullptr; + } + + if (m_config) { + delete m_config; + m_config = nullptr; + } + + // 释放RobotProtocol资源 + if (m_pRobotProtocol) { + m_pRobotProtocol->Deinitialize(); + delete m_pRobotProtocol; + m_pRobotProtocol = nullptr; + } + + // 释放RobotProtocolSimplified资源 + if (m_pRobotProtocolSimplified) { + m_pRobotProtocolSimplified->Deinitialize(); + delete m_pRobotProtocolSimplified; + m_pRobotProtocolSimplified = nullptr; + } + + // 释放ModbusRTUMaster资源 + if (m_pModbusRTUMaster) { + m_pModbusRTUMaster->Deinitialize(); + delete m_pModbusRTUMaster; + m_pModbusRTUMaster = nullptr; + } +} + +bool BeltTearingPresenter::loadConfiguration(const QString& configFilePath) +{ + if (!m_config) { + LOG_WARNING("Config instance not created\n"); + return false; + } + + m_configFilePath = configFilePath; + + try { + // 加载配置文件 + m_configResult = m_config->LoadConfig(configFilePath.toStdString()); + + LOG_INFO("Configuration loaded successfully:\n"); + LOG_INFO(" Server Port: %d\n", m_configResult.serverPort); + LOG_INFO(" Project Type: %d\n", static_cast(m_configResult.projectType)); + LOG_INFO(" Servers count: %d\n", m_configResult.servers.size()); + + // 应用队列处理参数（如果配置文件中没有，将使用构造函数中的默认值300和100） + if (m_configResult.queueProcessParam.maxQueueSize > 0) { + m_maxQueueSize = m_configResult.queueProcessParam.maxQueueSize; + } + if (m_configResult.queueProcessParam.generationInterval > 0) { + m_generationInterval = m_configResult.queueProcessParam.generationInterval; + } + LOG_INFO(" Max Queue Size: %d\n", m_maxQueueSize); + LOG_INFO(" Generation Interval: %d\n", m_generationInterval); + + // 应用算法参数 + applyAlgorithmParameters(m_configResult.algorithmParams); + + return true; + + } catch (const std::exception& e) { + LOG_ERROR("Error loading configuration: %s\n", e.what()); + return false; + } +} + +void BeltTearingPresenter::applyAlgorithmParameters(const BeltTearingAlgorithmParams& params) +{ + // 使用配置结构转换为SDK参数 + BeltTearingConfigResult tempConfig; + tempConfig.algorithmParams = params; + m_algorithmParam = configToSDKParam(tempConfig); + + // 应用算法参数 + LOG_DEBUG("Applying SDK algorithm parameters...\n"); + LOG_DEBUG(" Scan X Scale: %f\n", m_algorithmParam.scanXScale); + LOG_DEBUG(" Scan Y Scale: %f\n", m_algorithmParam.scanYScale); + LOG_DEBUG(" Difference Bin Threshold: %f\n", m_algorithmParam.differnceBinTh); + LOG_DEBUG(" Min Tear Length: %f\n", m_algorithmParam.tearingMinLen); + LOG_DEBUG(" Min Tear Gap: %f\n", m_algorithmParam.tearingMinGap); + LOG_DEBUG(" Same Gap Threshold: %f\n", m_algorithmParam.extractPara.sameGapTh); + LOG_DEBUG(" Gap Check Window: %d\n", m_algorithmParam.extractPara.gapChkWin); + + // 监控参数 + LOG_DEBUG(" Check Interval: %d ms\n", params.monitoringParam.checkInterval); + LOG_DEBUG(" Alert Threshold: %f\n", params.monitoringParam.alertThreshold); + + // 调试参数 + if (m_configResult.debugParam.enableDebug) { + LOG_DEBUG("Debug mode enabled:\n"); + LOG_DEBUG(" Save debug images: %s\n", (m_configResult.debugParam.saveDebugImage ? "Yes" : "No")); + LOG_DEBUG(" Print detail log: %s\n", (m_configResult.debugParam.printDetailLog ? "Yes" : "No")); + } +} + +void BeltTearingPresenter::OnConfigChanged(const BeltTearingConfigResult& configResult) +{ + LOG_INFO("Configuration changed notification received\n"); + + if (configResult.serverPort != m_configResult.serverPort) + { + // 如果服务器端口改变，可能需要重启服务器 + LOG_INFO("Server port changed, restarting server...\n"); + stopServer(); + startServer(configResult.serverPort); + } + + // 更新配置结果 + m_configResult = configResult; + + // 重新应用算法参数 + applyAlgorithmParameters(configResult.algorithmParams); +} + +void BeltTearingPresenter::sendTestData(std::string fileName){ + if (!m_tcpServer) { + LOG_WARNING("TCP server not initialized, cannot send test data\n"); + return; + } + + if(m_pRobotProtocol){ + m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_WORKING); + } + + // 判断文件类型 + std::ifstream inputFile(fileName); + if (!inputFile.is_open()) { + LOG_WARN("UN open file \n"); + return; + } else { + LOG_DEBUG("------------------------ \n"); + } + + std::string line; + std::vector sVzNLPostion; + sVzNLPostion.clear(); + + int nIndex = 0; + SVzLaserLineData pLaserLine; + + while (std::getline(inputFile, line)) { + if (line.find("Line_") == 0) { + + if(!sVzNLPostion.empty()){ + pLaserLine.p3DPoint = sVzNLPostion.data(); + pLaserLine.nPointCount = sVzNLPostion.size(); + addLaserLineToQueue(&pLaserLine); + } + sscanf(line.c_str(), "Line_%lld_%lld", &pLaserLine.llFrameIdx, &pLaserLine.llTimeStamp); + sVzNLPostion.clear(); + + nIndex++; + + } else if (line.find("{") == 0) { + float lx, ly, rx, ry; + SVzNL3DPosition pos; + sscanf(line.c_str(), "{ %lf, %lf, %lf }-{ %f, %f}-{ %f, %f }", + &pos.pt3D.x, &pos.pt3D.y, &pos.pt3D.z, &lx, &ly, &rx, &ry); + + sVzNLPostion.push_back(pos); + } + } + + inputFile.close(); +} + +// 发送模拟撕裂结果数据 +void BeltTearingPresenter::sendSimulationData() +{ + LOG_INFO("Sending simulation data\n"); + + if(m_pRobotProtocol){ + m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_WORKING); + } + + // 创建模拟的撕裂结果数据 + std::vector simulationResults; + + // 使用成员变量（开流时会清除） + m_simulationCallCount++; + + m_simulationTearIdCounter = 2629344; + + // 固定生成2个撕裂，长度逐渐增大 + for (int i = 0; i < 2; i++) { + SSG_beltTearingInfo tear; + tear.tearID = m_simulationTearIdCounter + i; + tear.tearStatus = keSG_tearStatus_Growing; + + // 撕裂长度：基础长度 + 调用次数 * 10 + float tearLength = 30.0f + m_simulationCallCount * 10.0f + i * 5.0f; + + // 设置ROI + tear.roi.left = 10.0f + i * 50.0f; + tear.roi.top = 0.0f; + tear.roi.right = tear.roi.left + tearLength; + tear.roi.bottom = 10.0f; + + // 设置撕裂宽度和深度 + tear.tearWidth = 15.0f + i * 5.0f; + tear.tearDepth = 8.0f + i * 2.0f; + + simulationResults.push_back(tear); + } + + // 发送撕裂结果到所有客户端 + sendTearingResults(simulationResults); + SendDetectionResultToRobot(simulationResults); // 发送检测结果到机械臂 + + m_tearingProtocol->sendDetectResult(simulationResults, QImage()); + m_tearingProtocol->sendRealtimeResult(simulationResults, QImage()); +} + +bool BeltTearingPresenter::initializeCamera() +{ + if (m_eyeDevice) { + return true; // 已经初始化过 + } + + int result = IVrEyeDevice::CreateObject(&m_eyeDevice); + if (result != 0 || !m_eyeDevice) { + LOG_ERROR("Failed to create VrEyeDevice object, error code: %d\n", result); + return false; + } + + result = m_eyeDevice->InitDevice(); + if (result != 0) { + LOG_ERROR("Failed to initialize VrEyeDevice, error code: %d\n", result); + delete m_eyeDevice; + m_eyeDevice = nullptr; + return false; + } + + // 设置状态回调 + result = m_eyeDevice->SetStatusCallback(OnStatusCallback, this); + if (result != 0) { + LOG_WARNING("Failed to set status callback, error code: %d\n", result); + } + + LOG_INFO("VrEyeDevice initialized successfully\n"); + return true; +} + +int BeltTearingPresenter::startCamera() +{ + if (!initializeCamera()) { + // 启动定时器持续重试初始化 + LOG_WARNING("Camera initialization failed, starting retry timer...\n"); + m_cameraInitTimer->start(5000); // 每5秒重试一次 + return ERR_CODE(DEV_NO_OPEN); // 初始化失败 + } + + // 准备相机IP参数（使用配置中的第一个相机） + const char* pCameraIP = nullptr; + if (!m_configResult.cameras.empty() && !m_configResult.cameras[0].cameraIP.empty()) { + pCameraIP = m_configResult.cameras[0].cameraIP.c_str(); + LOG_INFO("Using configured camera [%s] IP: %s\n", + m_configResult.cameras[0].name.c_str(), pCameraIP); + } else { + LOG_INFO("No camera IP configured, using auto-discovery\n"); + } + + // 尝试打开设备 + int result = m_eyeDevice->OpenDevice(pCameraIP, false, false, true); + if (result != 0) { + LOG_WARNING("Failed to open camera device, error code: %d, retrying...\n", result); + + // 启动定时器持续重试连接 + m_cameraInitTimer->start(3000); // 每3秒重试一次 + return result; // 返回错误码 + } + + LOG_INFO("Camera opened successfully\n"); + + // 停止重试定时器 + m_cameraInitTimer->stop(); + m_cameraInitialized = true; + + // 开始检测 + result = m_eyeDevice->StartDetect(OnPointCloudCallback, keResultDataType_Position, this); + LOG_DEBUG("Camera detection started, result: %d\n", result); + if (result != 0) { + LOG_ERROR("Failed to start detection, error code: %d\n", result); + return result; // 返回错误码 + } + + m_cameraDetecting = true; + + // 设置机械臂工作状态为工作中 + if (m_pRobotProtocol) { + int robotResult = m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_WORKING); + if (robotResult != 0) { + LOG_WARNING("Failed to set robot work status to working, error code: %d\n", robotResult); + return robotResult; // 返回错误码 + } else { + LOG_DEBUG("Robot work status set to working\n"); + } + } + + return SUCCESS; // 成功 +} + +int BeltTearingPresenter::stopCamera() +{ + m_cameraInitTimer->stop(); + + if (m_eyeDevice) { + if (m_cameraDetecting) { + m_eyeDevice->StopDetect(); + m_cameraDetecting = false; + } + + if (m_cameraInitialized) { + m_eyeDevice->CloseDevice(); + m_cameraInitialized = false; + } + + delete m_eyeDevice; + m_eyeDevice = nullptr; + } + + // 设置机械臂工作状态为空闲 + if (m_pRobotProtocol) { + int robotResult = m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_IDLE); + if (robotResult != 0) { + LOG_WARNING("Failed to set robot work status to idle, error code: %d\n", robotResult); + return ERR_CODE(DEV_CTRL_ERR); // 返回设备控制错误码 + } else { + LOG_DEBUG("Robot work status set to idle\n"); + } + } + + LOG_INFO("Camera stopped\n"); + return SUCCESS; // 成功 +} + +void BeltTearingPresenter::onCameraInitTimer() +{ + // 尝试重新初始化和连接相机 + if (!m_eyeDevice) { + if (!initializeCamera()) { + return; // 继续重试 + } + } + + // 准备相机IP参数（使用配置中的第一个相机） + const char* pCameraIP = nullptr; + if (!m_configResult.cameras.empty() && !m_configResult.cameras[0].cameraIP.empty()) { + pCameraIP = m_configResult.cameras[0].cameraIP.c_str(); + } + + // 尝试连接相机 + int result = m_eyeDevice->OpenDevice(pCameraIP, false, false, true); + if (result == 0) { + // 连接成功，停止定时器 + m_cameraInitTimer->stop(); + m_cameraInitialized = true; + + // 开始检测 + result = m_eyeDevice->StartDetect(OnPointCloudCallback, keResultDataType_Position, this); + if (result == 0) { + m_cameraDetecting = true; + LOG_INFO("Camera connection restored successfully!\n"); + + // 设置机械臂工作状态为工作中 + if (m_pRobotProtocol) { + int robotResult = m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_WORKING); + if (robotResult != 0) { + LOG_WARNING("Failed to set robot work status to working when camera reconnected, error code: %d\n", robotResult); + } else { + LOG_DEBUG("Robot work status set to working when camera reconnected\n"); + } + } + } else { + LOG_ERROR("Failed to start detection after reconnection, error code: %d\n", result); + } + } else { + LOG_WARNING("Still unable to connect to camera, continuing retry...\n"); + } +} + +void BeltTearingPresenter::OnStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam) +{ + BeltTearingPresenter* presenter = static_cast(pInfoParam); + if (!presenter) return; + + LOG_DEBUG("Camera status changed: %d\n", static_cast(eStatus)); + + // 处理相机状态变化 + switch (eStatus) { + case keDeviceWorkStatus_Eye_Comming: + LOG_INFO("Camera connected\n"); + break; + case keDeviceWorkStatus_Offline: + LOG_WARNING("Camera disconnected, attempting to reconnect...\n"); + presenter->m_cameraInitialized = false; + presenter->m_cameraDetecting = false; + + // 设置机械臂工作状态为空闲 + if (presenter->m_pRobotProtocol) { + int robotResult = presenter->m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_IDLE); + if (robotResult != 0) { + LOG_WARNING("Failed to set robot work status to idle when camera disconnected, error code: %d\n", robotResult); + } else { + LOG_DEBUG("Robot work status set to idle when camera disconnected\n"); + } + } + + // 开始重连尝试 + if (!presenter->m_cameraInitTimer->isActive()) { + presenter->m_cameraInitTimer->start(3000); + } + break; + default: + break; + } +} + +void BeltTearingPresenter::OnPointCloudCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pParam) +{ + if(keResultDataType_Position != eDataType) return; + + BeltTearingPresenter* presenter = static_cast(pParam); + if (!presenter || !pLaserLinePoint) return; + + // 处理点云数据 + // 将激光线数据添加到队列（用于图像生成和算法检测） + presenter->addLaserLineToQueue(pLaserLinePoint); +} + +void BeltTearingPresenter::sendTearingResults(const std::vector& results) +{ + if (results.empty() || m_clients.isEmpty() || !m_tcpServer) { + return; + } + + // 将检测结果转换为JSON格式 + QJsonArray tearingArray; + + for (const auto& result : results) { + QJsonObject tearingObj; + // tearingObj["level"] = QString::number(result.level); + tearingObj["id"] = QString::number(result.tearID); + tearingObj["tearStatus"] = QString::number(static_cast(result.tearStatus)); + tearingObj["tearType"] = QString::number(result.tearType); + tearingObj["statLineIdx"] = QString::number(result.statLineIdx); + tearingObj["endLineIdx"] = QString::number(result.endLineIdx); + tearingObj["tearDepth"] = QString::number(result.tearDepth); + tearingObj["tearWidth"] = QString::number(result.tearWidth); + double dWidth = result.roi.right - result.roi.left; + double dLength = result.roi.bottom - result.roi.top; + tearingObj["tearLength"] = QString::number(dWidth > dLength ? dWidth : dLength); + tearingObj["roiLeft"] = QString::number(result.roi.left); + tearingObj["roiRight"] = QString::number(result.roi.right); + tearingObj["roiTop"] = QString::number(result.roi.top); + tearingObj["roiBottom"] = QString::number(result.roi.bottom); + // tearingObj["imageFile"] = QString::fromStdString(result.imageFile); + // tearingObj["older"] = QString::fromStdString(result.older); + tearingObj["timestamp"] = QDateTime::currentDateTime().toString(Qt::ISODate); + + tearingArray.append(tearingObj); + } + + // 转换为JSON字符串 + QJsonDocument doc(tearingArray); + QByteArray message = doc.toJson(QJsonDocument::Compact); + + // 创建数据包 + QByteArray package; + QDataStream stream(&package, QIODevice::WriteOnly); + stream.setByteOrder(QDataStream::BigEndian); + stream << quint8(static_cast(ByteDataType::Text)) << quint32(message.size()); + stream.writeRawData(message.constData(), message.size()); + package.append("___END___\r\n"); + + // 发送到所有连接的客户端 + bool success = m_tcpServer->SendAllData(package.constData(), package.size()); + if (!success) { + LOG_WARNING("Failed to send tearing results to all clients\n"); + } +} + +bool BeltTearingPresenter::startServer(quint16 port) +{ + if (!m_tcpServer) { + LOG_ERROR("TCP server not created\n"); + return false; + } + + // 先停止现有服务器 + stopServer(); + + m_port = port; + m_tcpPort = m_configResult.tcpPort; // 从配置读取新协议端口 + + // 初始化旧协议TCP服务器 + if (!m_tcpServer->Init(port, true)) { // 启用Nagle算法优化 + LOG_ERROR("Failed to initialize TCP server on port %d\n", port); + return false; + } + + // 设置事件回调 + m_tcpServer->SetEventCallback(OnServerEvent); + + // 启动旧协议TCP服务器 + if (!m_tcpServer->Start(OnServerRecv, false)) { // 不使用自定义协议 + LOG_ERROR("Failed to start TCP server on port %d\n", port); + return false; + } + + LOG_INFO("TCP server (old protocol) started on port %d\n", port); + + // 创建并启动TearingTcpProtocol + if (!m_tearingProtocol) { + m_tearingProtocol = new TearingTcpProtocol(this); + + // 设置TCP端口 + m_tearingProtocol->setTcpPort(m_tcpPort); + + // 设置速度控制回调 + m_tearingProtocol->setSpeedCallback([this](int speed) -> int { + LOG_INFO("Speed callback triggered: %d mm/s\n", speed); + + // 调用相机接口设置速度 + if (m_eyeDevice) { + // 将速度从 mm/s 转换为相机摆动速度参数（根据实际需要调整转换公式） + // 这里假设直接使用速度值，实际可能需要根据相机文档进行单位转换 + float fSpeed = static_cast(speed); + + int result = m_eyeDevice->SetSwingSpeed(fSpeed); + if (result == 0) { + LOG_INFO("Camera swing speed set successfully: %.2f\n", fSpeed); + return SUCCESS; // 成功 + } else { + LOG_ERROR("Failed to set camera swing speed, error code: %d\n", result); + return result; // 返回错误码 + } + } else { + LOG_WARNING("Camera device not initialized, cannot set speed\n"); + return ERR_CODE(DEV_NO_OPEN); // 设备未初始化错误 + } + }); + + // 设置启停控制回调 + m_tearingProtocol->setControlCallback([this](bool control) -> int { + LOG_INFO("Control callback triggered: %s\n", control ? "start" : "stop"); + int result = 0; + if (control) { + result = StartWork(); + } else { + result = StopWork(); + } + return result; + }); + + // 启动协议处理 + m_tearingProtocol->start(30); // 30秒心跳间隔 + } + + LOG_INFO("TearingTcpProtocol started on port %d\n", m_tcpPort); + + return true; +} + +void BeltTearingPresenter::stopServer() +{ + // 停止TearingTcpProtocol + if (m_tearingProtocol) { + m_tearingProtocol->stop(); + } + + // 停止旧协议TCP服务器 + if (m_tcpServer) { + // 清空客户端映射 + m_clients.clear(); + + m_tcpServer->Stop(); + m_tcpServer->Close(); + LOG_INFO("TCP server stopped\n"); + } + + m_port = 0; + m_tcpPort = 0; +} + +// 静态回调函数实现 +void BeltTearingPresenter::OnServerRecv(const TCPClient* pClient, const char* pData, const unsigned int nLen) +{ + if (s_instance) { + s_instance->handleServerRecv(pClient, pData, nLen); + } +} + +void BeltTearingPresenter::OnServerEvent(const TCPClient* pClient, TCPServerEventType eventType) +{ + if (s_instance) { + s_instance->handleServerEvent(pClient, eventType); + } +} + +// 实例方法实现 +void BeltTearingPresenter::handleServerRecv(const TCPClient* pClient, const char* pData, const unsigned int nLen) +{ + QString clientId = generateClientId(pClient); + LOG_DEBUG("Received %d bytes from client %s\n", nLen, clientId.toStdString().c_str()); + + // 解析数据包协议头 + if (nLen < 5) { + LOG_ERROR("Packet too small: %d bytes\n", nLen); + return; + } + + quint8 dataType; + quint32 dataSize; + + QDataStream stream(QByteArray(pData, nLen)); + stream.setByteOrder(QDataStream::BigEndian); + stream >> dataType >> dataSize; + + // 验证数据包完整性 + if (dataSize + 5 > nLen) { + LOG_ERROR("Incomplete packet: expected %d+5, got %d bytes\n", dataSize, nLen); + return; + } + + QByteArray payloadData(pData + 5, dataSize); + + // LOG_DEBUG("Parsed packet: dataType=%d, dataSize=%d, payload_size=%d\n", dataType, dataSize, payloadData.size()); + + switch (static_cast(dataType)) { + case ByteDataType::Text: + // 处理文本数据 + handleAlgorithmParameterUpdate(payloadData); + break; + + case ByteDataType::ReadConfig: + // 处理读取配置请求 + handleReadConfig(pClient); + break; + + case ByteDataType::WriteConfig: + // 处理写入配置请求 + handleWriteConfig(payloadData); + break; + + default: + LOG_ERROR("Unknown data type %d\n", dataType); + break; + } +} + +void BeltTearingPresenter::handleServerEvent(const TCPClient* pClient, TCPServerEventType eventType) +{ + QString clientId = generateClientId(pClient); + + switch (eventType) { + case TCP_EVENT_CLIENT_CONNECTED: + m_clients[clientId] = pClient; + LOG_INFO("Client connected: %s\n", clientId.toStdString().c_str()); + break; + + case TCP_EVENT_CLIENT_DISCONNECTED: + m_clients.remove(clientId); + LOG_INFO("Client disconnected: %s\n", clientId.toStdString().c_str()); + break; + + case TCP_EVENT_CLIENT_EXCEPTION: + m_clients.remove(clientId); + LOG_WARNING("Client exception: %s\n", clientId.toStdString().c_str()); + break; + } +} + +QString BeltTearingPresenter::generateClientId(const TCPClient* client) +{ + return QString("Client_%1").arg(client->m_nFD); +} + +// 激光线队列管理方法实现 +void BeltTearingPresenter::addLaserLineToQueue(const SVzLaserLineData* laserLine) +{ + if(laserLine == nullptr || laserLine->nPointCount <= 0){ + return; + } + + // 创建激光线数据的深拷贝 + SVzLaserLineData copiedLine = *laserLine; + + // 深拷贝点云数据 + size_t pointDataSize = laserLine->nPointCount * sizeof(SVzNL3DPosition); + copiedLine.p3DPoint = static_cast(malloc(pointDataSize)); + if (copiedLine.p3DPoint) { + memcpy(copiedLine.p3DPoint, laserLine->p3DPoint, pointDataSize); + } + + // 添加数据到队列的锁作用域 + { + std::lock_guard lock(m_queueMutex); + // 添加到队列 + m_laserLineQueue.push_back(copiedLine); + m_lineCounter++; + + // 管理队列大小 + while (m_laserLineQueue.size() > static_cast(m_maxQueueSize)) { + SVzLaserLineData oldLine = m_laserLineQueue.front(); + m_laserLineQueue.pop_front(); + + // 释放深拷贝的点云数据内存 + if (oldLine.p3DPoint) { + free(oldLine.p3DPoint); + oldLine.p3DPoint = nullptr; + } + } + } + + // 每到图像生成间隔，提交图像生成任务给工作线程 + if (m_lineCounter % m_generationInterval == 0) { + m_algoDetectCondition.notify_one(); + } +} + +void BeltTearingPresenter::sendImageToClients(const QImage& image) +{ + if (image.isNull() || m_clients.isEmpty() || !m_tcpServer) { + return; + } + + try { + // 将图像转换为字节数组 + QByteArray imageData; + QBuffer buffer(&imageData); + buffer.open(QIODevice::WriteOnly); + + // 保存为JPEG格式以减少数据大小 + if (!image.save(&buffer, "JPEG", 50)) { + LOG_ERROR("Failed to convert image to JPEG format\n"); + return; + } + + // 构造数据包 + QByteArray packet; + QDataStream stream(&packet, QIODevice::WriteOnly); + stream.setByteOrder(QDataStream::BigEndian); + + // 写入数据类型标识（图像类型） + stream << static_cast(ByteDataType::Image); + + // 写入图像数据大小 + stream << static_cast(imageData.size()); + + // 写入图像数据 + stream.writeRawData(imageData.constData(), imageData.size()); + packet.append("___END___\r\n"); + + + // 发送给所有连接的客户端 + bool success = m_tcpServer->SendAllData(packet.constData(), packet.size()); + if (!success) { + LOG_WARNING("Failed to send image data to all clients\n"); + } + // LOG_DEBUG("Sent image data to %d clients datalen %d\n", m_clients.size(), imageData.size()); + + } catch (const std::exception& e) { + LOG_ERROR("Error sending image to clients: %s\n", e.what()); + } +} + +SSG_beltTearingParam BeltTearingPresenter::configToSDKParam(const BeltTearingConfigResult& config) const +{ + SSG_beltTearingParam sdkParam; + + // 基本参数 + sdkParam.scanXScale = config.algorithmParams.beltTearingParam.scanXScale; + sdkParam.scanYScale = config.algorithmParams.beltTearingParam.scanYScale; + sdkParam.differnceBinTh = config.algorithmParams.beltTearingParam.differnceBinTh; + sdkParam.tearingMinLen = config.algorithmParams.beltTearingParam.tearingMinLen; + sdkParam.tearingMinGap = config.algorithmParams.beltTearingParam.tearingMinGap; + + // 特征提取参数 + sdkParam.extractPara.sameGapTh = config.algorithmParams.beltTearingParam.sameGapTh; + sdkParam.extractPara.gapChkWin = config.algorithmParams.beltTearingParam.gapChkWin; + + return sdkParam; +} + +BeltTearingConfigResult BeltTearingPresenter::sdkToConfigParam(const SSG_beltTearingParam& sdkParam) const +{ + BeltTearingConfigResult config; + + // 基本参数 + config.algorithmParams.beltTearingParam.scanXScale = sdkParam.scanXScale; + config.algorithmParams.beltTearingParam.scanYScale = sdkParam.scanYScale; + config.algorithmParams.beltTearingParam.differnceBinTh = sdkParam.differnceBinTh; + config.algorithmParams.beltTearingParam.tearingMinLen = sdkParam.tearingMinLen; + config.algorithmParams.beltTearingParam.tearingMinGap = sdkParam.tearingMinGap; + + // 特征提取参数 + config.algorithmParams.beltTearingParam.sameGapTh = sdkParam.extractPara.sameGapTh; + config.algorithmParams.beltTearingParam.gapChkWin = sdkParam.extractPara.gapChkWin; + + return config; +} + +void BeltTearingPresenter::handleAlgorithmParameterUpdate(const QByteArray& paramData) +{ + try { + // 解析JSON数据 + QJsonDocument doc = QJsonDocument::fromJson(paramData); + if (!doc.isObject()) { + LOG_WARNING("Invalid JSON format in parameter update\n"); + return; + } + + QJsonObject paramObj = doc.object(); + QString command = paramObj["command"].toString(); + + if (command == "setAlgorithmParams") { + // 处理算法参数设置 + handleSetAlgorithmParams(paramObj); + } else if (command == "getServerInfo") { + // 处理服务器信息获取请求 + handleGetServerInfo(paramObj); + } else if (command == "resetDetect") { + // 处理重新检测请求 + LOG_INFO("Received reset detect command from client\n"); + ResetDetect(); + + // 发送响应给客户端 + QJsonObject responseObj; + responseObj["command"] = "resetDetectResponse"; + responseObj["status"] = "success"; + responseObj["message"] = "Detection reset completed"; + responseObj["timestamp"] = QDateTime::currentDateTime().toString(Qt::ISODate); + + QJsonDocument responseDoc(responseObj); + QByteArray responseData = responseDoc.toJson(); + + // 构建数据包并发送给所有客户端 + if (!m_clients.isEmpty() && m_tcpServer) { + QByteArray package; + QDataStream stream(&package, QIODevice::WriteOnly); + stream.setByteOrder(QDataStream::BigEndian); + stream << quint8(static_cast(ByteDataType::Text)) << quint32(responseData.size()); + stream.writeRawData(responseData.constData(), responseData.size()); + package.append("___END___\r\n"); + + bool success = m_tcpServer->SendAllData(package.constData(), package.size()); + if (success) { + LOG_INFO("Reset detect response sent to clients\n"); + } else { + LOG_WARNING("Failed to send reset detect response to clients\n"); + } + } + } else { + LOG_WARNING("Unknown command: %s\n", command.toStdString().c_str()); + return; + } + + } catch (const std::exception& e) { + LOG_ERROR("Error processing algorithm parameter update: %s\n", e.what()); + } +} + +void BeltTearingPresenter::handleSetAlgorithmParams(const QJsonObject& paramObj) +{ + // 提取算法参数 + double scanXScale = paramObj["scanXScale"].toDouble(); + double scanYScale = paramObj["scanYScale"].toDouble(); + double differnceBinTh = paramObj["differnceBinTh"].toDouble(); + double tearingMinLen = paramObj["tearingMinLen"].toDouble(); + double tearingMinGap = paramObj["tearingMinGap"].toDouble(); + + // 更新特征提取参数 + m_algorithmParam.extractPara.sameGapTh = paramObj["sameGapTh"].toDouble(); + m_algorithmParam.extractPara.gapChkWin = paramObj["gapChkWin"].toInt(); + + // 更新SDK算法参数 + m_algorithmParam.scanXScale = scanXScale; + m_algorithmParam.scanYScale = scanYScale; + m_algorithmParam.differnceBinTh = differnceBinTh; + m_algorithmParam.tearingMinLen = tearingMinLen; + m_algorithmParam.tearingMinGap = tearingMinGap; + + LOG_INFO("Algorithm parameters updated: scanXScale=%f, scanYScale=%f, differnceBinTh=%f, tearingMinLen=%f, tearingMinGap=%f\n", + scanXScale, scanYScale, differnceBinTh, tearingMinLen, tearingMinGap); + + // 处理队列处理参数 + if (paramObj.contains("maxQueueSize")) { + int newMaxQueueSize = paramObj["maxQueueSize"].toInt(); + if (newMaxQueueSize > 0) { + m_maxQueueSize = newMaxQueueSize; + LOG_INFO("Max queue size updated to: %d\n", m_maxQueueSize); + } + } + + if (paramObj.contains("generationInterval")) { + int newGenerationInterval = paramObj["generationInterval"].toInt(); + if (newGenerationInterval > 0) { + m_generationInterval = newGenerationInterval; + LOG_INFO("Generation interval updated to: %d\n", m_generationInterval); + } + } + + // 处理相机IP配置 + if (paramObj.contains("cameraIP")) { + QString newCameraIP = paramObj["cameraIP"].toString(); + + // 更新配置中的相机IP + if (!m_configResult.cameras.empty()) { + std::string oldIP = m_configResult.cameras[0].cameraIP; + m_configResult.cameras[0].cameraIP = newCameraIP.toStdString(); + + if (oldIP != m_configResult.cameras[0].cameraIP) { + LOG_INFO("Camera IP updated from [%s] to [%s]\n", oldIP.c_str(), m_configResult.cameras[0].cameraIP.c_str()); + LOG_INFO("Camera IP change requires restart to take effect\n"); + } + } else { + // 如果相机列表为空，创建新的相机配置 + CameraParam newCamera; + newCamera.name = "摄像头1"; + newCamera.cameraIP = newCameraIP.toStdString(); + m_configResult.cameras.push_back(newCamera); + LOG_INFO("Camera IP configured: [%s]\n", newCameraIP.toStdString().c_str()); + } + } + + // 保存参数到配置文件 + if (m_config) { + BeltTearingConfigResult currentConfig = sdkToConfigParam(m_algorithmParam); + // 保留相机配置 + currentConfig.cameras = m_configResult.cameras; + currentConfig.servers = m_configResult.servers; + currentConfig.debugParam = m_configResult.debugParam; + currentConfig.projectType = m_configResult.projectType; + currentConfig.serverPort = m_configResult.serverPort; + // 保存队列处理参数 + currentConfig.queueProcessParam.maxQueueSize = m_maxQueueSize; + currentConfig.queueProcessParam.generationInterval = m_generationInterval; + + QString configPath = PathManager::GetConfigFilePath(); + + if (m_config->SaveConfig(configPath.toStdString(), currentConfig)) { + LOG_INFO("Algorithm parameters saved to config file: %s\n", configPath.toStdString().c_str()); + // 更新内存中的配置 + m_configResult = currentConfig; + } else { + LOG_ERROR("Failed to save algorithm parameters to config file\n"); + } + } +} + +void BeltTearingPresenter::handleGetServerInfo(const QJsonObject& requestObj) +{ + // 创建服务器信息响应 + QJsonObject responseObj; + responseObj["command"] = "serverInfoResponse"; + responseObj["requestId"] = requestObj["requestId"].toString(); + + // 服务器基本信息 + QJsonObject serverInfo; + serverInfo["name"] = BELT_TEARING_SERVER_PRODUCT_NAME; + serverInfo["version"] = BELT_TEARING_SERVER_VERSION_STRING; + serverInfo["buildInfo"] = BELT_TEARING_SERVER_PLATFORM; + serverInfo["status"] = "running"; + serverInfo["port"] = static_cast(getServerPort()); + + // 当前算法参数 + QJsonObject algorithmParams; + algorithmParams["scanXScale"] = m_algorithmParam.scanXScale; + algorithmParams["scanYScale"] = m_algorithmParam.scanYScale; + algorithmParams["differnceBinTh"] = m_algorithmParam.differnceBinTh; + algorithmParams["tearingMinLen"] = m_algorithmParam.tearingMinLen; + algorithmParams["tearingMinGap"] = m_algorithmParam.tearingMinGap; + + responseObj["serverInfo"] = serverInfo; + responseObj["algorithmParams"] = algorithmParams; + responseObj["timestamp"] = QDateTime::currentDateTime().toString(Qt::ISODate); + + // 将响应发送给所有客户端 + QJsonDocument responseDoc(responseObj); + QByteArray responseData = responseDoc.toJson(); + + // 使用现有的sendTearingResults传输机制发送响应 + if (!m_clients.isEmpty() && m_tcpServer) { + // 创建数据包 + QByteArray package; + QDataStream stream(&package, QIODevice::WriteOnly); + stream.setByteOrder(QDataStream::BigEndian); + stream << quint8(static_cast(ByteDataType::Text)) << quint32(responseData.size()); + stream.writeRawData(responseData.constData(), responseData.size()); + package.append("___END___\r\n"); + + // 发送到所有连接的客户端 + bool success = m_tcpServer->SendAllData(package.constData(), package.size()); + if (success) { + LOG_INFO("Server info response sent to %d clients\n", m_clients.size()); + } else { + LOG_WARNING("Failed to send server info response to clients\n"); + } + } +} + +void BeltTearingPresenter::handleReadConfig(const TCPClient* pClient) +{ + try { + // 直接使用当前内存中的配置参数 + BeltTearingConfigResult configResult = sdkToConfigParam(m_algorithmParam); + + // 将配置转换为JSON格式 + QJsonObject configObj; + + // 服务器配置 + QJsonArray serversArray; + for (const auto& server : m_configResult.servers) { + QJsonObject serverObj; + serverObj["name"] = QString::fromStdString(server.name); + serverObj["ip"] = QString::fromStdString(server.ip); + serverObj["port"] = server.port; + serversArray.append(serverObj); + } + configObj["servers"] = serversArray; + + // 算法参数 + QJsonObject algorithmParams; + algorithmParams["scanXScale"] = configResult.algorithmParams.beltTearingParam.scanXScale; + algorithmParams["scanYScale"] = configResult.algorithmParams.beltTearingParam.scanYScale; + algorithmParams["differnceBinTh"] = configResult.algorithmParams.beltTearingParam.differnceBinTh; + algorithmParams["tearingMinLen"] = configResult.algorithmParams.beltTearingParam.tearingMinLen; + algorithmParams["tearingMinGap"] = configResult.algorithmParams.beltTearingParam.tearingMinGap; + algorithmParams["sameGapTh"] = configResult.algorithmParams.beltTearingParam.sameGapTh; + algorithmParams["gapChkWin"] = configResult.algorithmParams.beltTearingParam.gapChkWin; + configObj["algorithmParams"] = algorithmParams; + + // 相机配置 + QJsonObject cameraConfig; + if (!m_configResult.cameras.empty()) { + cameraConfig["cameraIP"] = QString::fromStdString(m_configResult.cameras[0].cameraIP); + cameraConfig["cameraName"] = QString::fromStdString(m_configResult.cameras[0].name); + } + configObj["cameraConfig"] = cameraConfig; + + // 队列处理参数 + QJsonObject queueConfig; + queueConfig["maxQueueSize"] = m_maxQueueSize; + queueConfig["generationInterval"] = m_generationInterval; + configObj["queueProcessParam"] = queueConfig; + + // 调试参数 + QJsonObject debugParams; + debugParams["enableDebug"] = m_configResult.debugParam.enableDebug; + debugParams["saveDebugImage"] = m_configResult.debugParam.saveDebugImage; + debugParams["printDetailLog"] = m_configResult.debugParam.printDetailLog; + debugParams["debugOutputPath"] = QString::fromStdString(m_configResult.debugParam.debugOutputPath); + configObj["debugParams"] = debugParams; + + // 项目类型 + configObj["projectType"] = static_cast(m_configResult.projectType); + + // 服务端端口 + configObj["serverPort"] = m_configResult.serverPort; + + QString versionText = QString("%1_%2_%3") + .arg(BELT_TEARING_SERVER_VERSION_STRING) + .arg(BELT_TEARING_SERVER_VERSION_BUILD) + .arg(BUILD_TIME.c_str()); + + // 创建响应对象 + QJsonObject responseObj; + responseObj["command"] = "configResponse"; + responseObj["version"] = versionText; // 添加版本信息 + responseObj["config"] = configObj; + + // 转换为JSON数据 + QJsonDocument responseDoc(responseObj); + QByteArray responseData = responseDoc.toJson(); + + // 构建数据包 + QByteArray packet; + QDataStream stream(&packet, QIODevice::WriteOnly); + stream.setByteOrder(QDataStream::BigEndian); + stream << static_cast(ByteDataType::ReadConfig) << static_cast(responseData.size()); + stream.writeRawData(responseData.constData(), responseData.size()); + packet.append("___END___\r\n"); + + // 发送响应 + if (m_tcpServer && pClient) { + bool success = m_tcpServer->SendData(pClient, packet.constData(), packet.size()); + if (success) { + LOG_INFO("Configuration sent to client successfully\n"); + } else { + LOG_ERROR("Failed to send configuration to client\n"); + } + } + } catch (const std::exception& e) { + LOG_ERROR("Error handling ReadConfig: %s\n", e.what()); + } +} + +void BeltTearingPresenter::handleWriteConfig(const QByteArray& paramData) +{ + try { + // 解析JSON数据 + QJsonDocument doc = QJsonDocument::fromJson(paramData); + if (!doc.isObject()) { + LOG_WARNING("Invalid JSON format in WriteConfig\n"); + return; + } + + QJsonObject paramObj = doc.object(); + + // 检查是否是来自 dialogalgoarg 的简单参数格式 + if (paramObj.contains("command") && paramObj["command"].toString() == "setAlgorithmParams") { + // 处理来自 dialogalgoarg 的算法参数更新 + handleSetAlgorithmParams(paramObj); + } + + + } catch (const std::exception& e) { + LOG_ERROR("Error handling WriteConfig: %s\n", e.what()); + } +} + +void BeltTearingPresenter::ResetDetect() +{ + LOG_INFO("Resetting detection system\n"); + + int result = stopCamera(); + if (result != 0) { + LOG_WARNING("Failed to stop camera during reset, error code: %d\n", result); + } + + m_hLineWorkers.clear(); + m_beltTearings_new.clear(); + m_beltTearings_growing.clear(); + m_beltTearings_ended.clear(); + m_beltTearings_unknown.clear(); + + m_bInitAlgo = false; + + std::lock_guard lock(m_queueMutex); + for (auto& line : m_laserLineQueue) { + if (line.p3DPoint) { + free(line.p3DPoint); + line.p3DPoint = nullptr; + } + } + m_laserLineQueue.clear(); + + // 清空Modbus检测结果数据 + if (m_pRobotProtocol) { + int ret = m_pRobotProtocol->ClearDetectionData(); + if (ret != 0) { + LOG_WARNING("Failed to clear Modbus detection data during reset, error code: %d\n", ret); + } else { + LOG_INFO("Modbus detection data cleared during reset\n"); + } + } + + // 清空简化协议的报警数据 + if (m_pRobotProtocolSimplified) { + int ret = m_pRobotProtocolSimplified->ClearAlarmData(); + if (ret != 0) { + LOG_WARNING("Failed to clear simplified protocol alarm data during reset, error code: %d\n", ret); + } else { + LOG_INFO("Simplified protocol alarm data cleared during reset\n"); + } + } + + // 清除TCP协议的历史最大撕裂数据 + if (m_tearingProtocol) { + m_tearingProtocol->clearHistoryMaxData(); + } + + // 清除简化协议的历史最大撕裂数据 + m_historyMaxTearing = HistoryMaxTearingData(); + + // 清除仿真数据计数器 + m_simulationTearIdCounter = 1000; + m_simulationCallCount = 0; + + result = startCamera(); + if (result != 0) { + LOG_WARNING("Failed to start camera after reset, error code: %d\n", result); + } + + LOG_INFO("Detection system reset completed\n"); +} + +int BeltTearingPresenter::StopWork() +{ + LOG_INFO("Stopping work - camera and detection\n"); + + // 停止相机 + int cameraResult = stopCamera(); + if (cameraResult != SUCCESS) { + LOG_ERROR("Failed to stop camera, error code: %d\n", cameraResult); + // 继续执行其他停止操作，但返回相机错误码 + } + + // 设置机械臂工作状态为空闲 + if (m_pRobotProtocol) { + m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_IDLE); + } + + LOG_INFO("Work stopped successfully\n"); + return cameraResult; // 返回相机操作结果，成功时为SUCCESS +} + +int BeltTearingPresenter::StartWork() +{ + LOG_INFO("Starting work - camera and detection\n"); + + // 清除TCP协议的历史最大撕裂数据 + if (m_tearingProtocol) { + m_tearingProtocol->clearHistoryMaxData(); + } + + // 清除简化协议的历史最大撕裂数据 + m_historyMaxTearing = HistoryMaxTearingData(); // 重置历史最大值 + if (m_pRobotProtocolSimplified) { + m_pRobotProtocolSimplified->ClearAlarmData(); + LOG_INFO("Cleared simplified protocol alarm data on start work\n"); + } + + // 清除仿真数据计数器 + m_simulationTearIdCounter = 1000; + m_simulationCallCount = 0; + LOG_INFO("Cleared simulation counters on start work\n"); + + // 启动相机 + int cameraResult = startCamera(); + if (cameraResult != SUCCESS) { + LOG_ERROR("Failed to start camera, error code: %d\n", cameraResult); + return cameraResult; // 返回相机错误码 + } + + // 设置机械臂工作状态为工作中（在startCamera中已经设置） + + LOG_INFO("Work started successfully\n"); + return SUCCESS; // 成功 +} + +void BeltTearingPresenter::_AlgoDetectThread() +{ + while (m_bAlgoDetectThreadRunning) { + // 等待条件变量通知 + std::unique_lock lock(m_algoDetectMutex); + m_algoDetectCondition.wait(lock); + + // 如果线程停止运行，退出循环 + if (!m_bAlgoDetectThreadRunning) { + break; + } + + // 执行检测任务 + _DetectTask(); + } +} + +int BeltTearingPresenter::_DetectTask() +{ + std::lock_guard lock(m_detectionDataMutex); + + // 临时存储从队列中取出的数据，避免重复处理 + std::vector algorithmDataCache; + std::vector> imageScanLines; + + // 从队列中获取数据 + { + std::lock_guard queueLock(m_queueMutex); + if (m_laserLineQueue.empty()) { + return SUCCESS; // 没有数据可处理 + } + + // 只保留最后的m_generationInterval大小的数据进行检测 + algorithmDataCache.reserve(m_generationInterval); + int cacheSize = static_cast(m_laserLineQueue.size()) - m_generationInterval; + int startIndex = 0 > cacheSize ? 0 : cacheSize; + for (auto it = m_laserLineQueue.begin() + startIndex; it != m_laserLineQueue.end(); ++it) { + const auto& laserLine = *it; + SVzNL3DLaserLine algorithmData; + algorithmData.nTimeStamp = laserLine.llTimeStamp; + algorithmData.nPositionCnt = laserLine.nPointCount; + + // 深拷贝点云数据 + if (laserLine.nPointCount > 0 && laserLine.p3DPoint) { + size_t pointDataSize = laserLine.nPointCount * sizeof(SVzNL3DPosition); + algorithmData.p3DPosition = static_cast(malloc(pointDataSize)); + if (algorithmData.p3DPosition) { + memcpy(algorithmData.p3DPosition, laserLine.p3DPoint, pointDataSize); + } + } else { + algorithmData.p3DPosition = nullptr; + } + + algorithmDataCache.push_back(algorithmData); + } + + // 准备扫描线数据用于图像生成 + imageScanLines.reserve(m_laserLineQueue.size()); + for (const auto& line : m_laserLineQueue) { + // 增加安全检查，确保指针有效 + if (line.p3DPoint && line.nPointCount > 0) { + std::vector linePoints; + linePoints.reserve(line.nPointCount); // 预分配内存提高效率 + + SVzNL3DPosition* p3DPoints = static_cast(line.p3DPoint); + + // 使用更高效的批量复制 + linePoints.assign(p3DPoints, p3DPoints + line.nPointCount); + imageScanLines.emplace_back(std::move(linePoints)); // 使用move避免拷贝 + } + } + } + + // 调用SDK算法进行皮带撕裂检测 + int errorCode = 0; + std::vector allTearings; + + // 初始化算法（如果尚未初始化） + if (!m_bInitAlgo) { + const SVzNL3DLaserLine& firstLine = algorithmDataCache.front(); + m_hLineWorkers.resize(firstLine.nPositionCnt); + + m_beltTearings_new.clear(); + m_beltTearings_new.shrink_to_fit(); + m_beltTearings_growing.clear(); + m_beltTearings_growing.shrink_to_fit(); + m_beltTearings_ended.clear(); + m_beltTearings_ended.shrink_to_fit(); + m_beltTearings_unknown.clear(); + m_beltTearings_unknown.shrink_to_fit(); + + // 复位内部静态变量 + sg_detectBeltTearing(nullptr, 0, 0, &errorCode, + m_hLineWorkers, + m_beltTearings_new, m_beltTearings_growing, m_beltTearings_ended, m_beltTearings_unknown, + m_algorithmParam + ); + m_bInitAlgo = true; + } + + // 对缓存中的每一帧数据进行检测 + for (auto& algorithmData : algorithmDataCache) { + // 直接调用皮带撕裂检测算法 + sg_detectBeltTearing(&algorithmData, static_cast(algorithmData.nTimeStamp), + algorithmData.nPositionCnt, &errorCode, + m_hLineWorkers, + m_beltTearings_new, m_beltTearings_growing, m_beltTearings_ended, m_beltTearings_unknown, + m_algorithmParam + ); + + // 合并各个撕裂结果容器 +#if 1 + _MergeAndReplace(allTearings, m_beltTearings_new); + _MergeAndReplace(allTearings, m_beltTearings_growing); + _MergeAndReplace(allTearings, m_beltTearings_ended); + // _MergeAndReplace(allTearings, m_beltTearings_unknown); +#else + allTearings.insert(allTearings.end(), m_beltTearings_new.begin(), m_beltTearings_new.end()); + allTearings.insert(allTearings.end(), m_beltTearings_growing.begin(), m_beltTearings_growing.end()); + allTearings.insert(allTearings.end(), m_beltTearings_ended.begin(), m_beltTearings_ended.end()); + // allTearings.insert(allTearings.end(), m_beltTearings_unknown.begin(), m_beltTearings_unknown.end()); +#endif + } + + // 发送检测结果 + if (!allTearings.empty()) { + sendTearingResults(allTearings); + SendDetectionResultToRobot(allTearings); // 发送检测结果到机械臂 + } + + // 释放深拷贝的点云数据 + for (auto& algorithmData : algorithmDataCache) { + if (algorithmData.p3DPosition) { + free(algorithmData.p3DPosition); + algorithmData.p3DPosition = nullptr; + } + } + + // 在算法处理完成后，生成带撕裂检测结果的图像 + QImage image = PointCloudImageUtils::GeneratePointCloudImage(imageScanLines, allTearings, 800, 600); + sendImageToClients(image); + + // 使用TearingTcpProtocol发送DETECT_RESULT消息（新协议） + if (m_tearingProtocol && !allTearings.empty()) { + m_tearingProtocol->sendDetectResult(allTearings, image); + } + + // 发送实时检测结果（新协议） + if (m_tearingProtocol) { + m_tearingProtocol->sendRealtimeResult(allTearings, image); + } + + return SUCCESS; // 成功完成检测任务 +} + +void BeltTearingPresenter::_MergeAndReplace(std::vector& allTearings, const std::vector& source) +{ + for (const auto& newItem : source) + { + bool found = false; + // 检查是否已存在相同ID的项 + for (auto& existingItem : allTearings) { + if (existingItem.tearID == newItem.tearID) { + // 如果存在，用新数据替换旧数据 + existingItem = newItem; + found = true; + break; + } + } + // 如果不存在相同ID的项，则添加新项 + if (!found) { + allTearings.push_back(newItem); + } + } +} + +// 初始化Modbus-RTU主端 +int BeltTearingPresenter::InitModbusRTUMaster() +{ + // 创建ModbusRTUMaster实例 + m_pModbusRTUMaster = new ModbusRTUMaster(); + + // 从配置中获取串口参数 + const SerialPortParam& serialParam = m_configResult.serialPortParam; + + // 如果配置中的串口名为空，使用平台默认值 + std::string portName = serialParam.portName; + + // 初始化Modbus-RTU主端，使用配置的参数 + int nRet = m_pModbusRTUMaster->Initialize(portName.c_str(), serialParam.baudRate, serialParam.parity, + serialParam.dataBits, serialParam.stopBits); + + if (nRet != 0) { + LOG_ERROR("Failed to initialize Modbus RTU master, error code: %d\n", nRet); + return nRet; + } + + // 设置温度回调函数 + m_pModbusRTUMaster->SetTemperatureCallback([this](float temperature) { + this->SendTemperatureData(temperature); + }); + + // 启动定时器读取温度数据 + m_pModbusRTUMaster->StartReading(); + + m_bModbusRTUConnected = true; + LOG_INFO("Modbus RTU master initialized successfully\n"); + return SUCCESS; +} + + +// 发送温度数据给所有客户端 +void BeltTearingPresenter::SendTemperatureData(float temperature) +{ + // 检查TCP服务器是否已初始化 + if (!m_tcpServer) { + LOG_WARNING("TCP server not initialized, cannot send temperature data\n"); + return; + } + + // 将温度数据转换为JSON格式 + QJsonObject temperatureObj; + temperatureObj["id"] = QString::number(0); // 温度目标ID为0 + temperatureObj["status"] = QString::number(1); // 状态1表示有效数据 + temperatureObj["value"] = QString::number(temperature); // 宽度字段存储温度值 + temperatureObj["type"] = QString("temperature"); // 数据类型标识 + + QJsonArray temperatureArray; + temperatureArray.append(temperatureObj); + + // 转换为JSON字符串 + QJsonDocument doc(temperatureArray); + QByteArray message = doc.toJson(QJsonDocument::Compact); + + // 创建数据包 + QByteArray package; + QDataStream stream(&package, QIODevice::WriteOnly); + stream.setByteOrder(QDataStream::BigEndian); + stream << quint8(static_cast(ByteDataType::Text)) << quint32(message.size()); + stream.writeRawData(message.constData(), message.size()); + package.append("___END___\r\n"); + + // 通过TCP服务器发送到所有连接的客户端 + bool success = m_tcpServer->SendAllData(package.constData(), package.size()); + if (!success) { + LOG_WARNING("Failed to send temperature data to all clients\n"); + } else { + LOG_DEBUG("Temperature data sent successfully: %.2f°C\n", temperature); + } +} + + +// 初始化机械臂协议 +int BeltTearingPresenter::InitRobotProtocol() +{ + LOG_DEBUG("Start initializing robot protocol\n"); + + // 根据配置选择协议类型 + m_modbusTCPProtocolType = m_configResult.modbusTCPProtocol; + + int nRet = 0; + + if (m_modbusTCPProtocolType == ModbusTCPProtocolType::Simplified) { + // 使用简化协议 + LOG_INFO("Using simplified ModbusTCP protocol\n"); + + // 创建RobotProtocolSimplified实例 + if (nullptr == m_pRobotProtocolSimplified) { + m_pRobotProtocolSimplified = new RobotProtocolSimplified(); + } + + // 初始化协议服务（使用端口502） + nRet = m_pRobotProtocolSimplified->Initialize(502); + + // 设置连接状态回调 + m_pRobotProtocolSimplified->SetConnectionCallback([this](bool connected) { + this->OnRobotConnectionChanged(connected); + }); + + // 设置复位回调 + m_pRobotProtocolSimplified->SetResetCallback([this]() { + LOG_INFO("ModbusTCP simplified protocol: Reset command received\n"); + this->ResetDetect(); + }); + + } else { + // 使用标准协议 + LOG_INFO("Using standard ModbusTCP protocol\n"); + + // 创建RobotProtocol实例 + if (nullptr == m_pRobotProtocol) { + m_pRobotProtocol = new RobotProtocol(); + } + + // 初始化协议服务（使用端口502） + nRet = m_pRobotProtocol->Initialize(502); + + // 设置连接状态回调 + m_pRobotProtocol->SetConnectionCallback([this](bool connected) { + this->OnRobotConnectionChanged(connected); + }); + + // 设置工作信号回调 + m_pRobotProtocol->SetWorkSignalCallback([this](bool startWork, int cameraIndex) { + return this->OnRobotWorkSignal(startWork, cameraIndex); + }); + + // 设置系统控制回调 + m_pRobotProtocol->SetSystemControlCallback([this](uint16_t command) { + switch(command) { + case 0: // 停止工作 + LOG_INFO("ModbusTCP command: Stop work\n"); + this->StopWork(); + break; + case 1: // 开始工作 + LOG_INFO("ModbusTCP command: Start work\n"); + this->StartWork(); + break; + case 2: // 复位检测 + LOG_INFO("ModbusTCP command: Reset detect\n"); + this->ResetDetect(); + break; + default: + LOG_WARNING("Unknown ModbusTCP command: %d\n", command); + break; + } + }); + } + + LOG_INFO("Robot protocol initialization completed successfully (type: %s)\n", + m_modbusTCPProtocolType == ModbusTCPProtocolType::Simplified ? "Simplified" : "Standard"); + return nRet; +} + +// 机械臂连接状态改变回调 +void BeltTearingPresenter::OnRobotConnectionChanged(bool connected) +{ + LOG_INFO("Robot connection status changed: %s\n", connected ? "Connected" : "Disconnected"); + m_bRobotConnected = connected; + + // 可以在这里添加其他连接状态改变时需要处理的逻辑 + if (connected) { + LOG_INFO("Robot connected successfully\n"); + } else { + LOG_WARNING("Robot disconnected\n"); + } +} + + +// 机械臂工作信号回调 +bool BeltTearingPresenter::OnRobotWorkSignal(bool startWork, int cameraIndex) +{ + return true; // 返回处理结果 +} + +// 发送检测结果到机械臂 +/** + * @brief 发送检测结果到机械臂 + * @param detectionResults 检测到的所有撕裂信息 + * + * 功能说明： + * 1. 根据协议类型发送数据（简化协议或标准协议） + * 2. 在简化协议中，使用ROI的宽度和高度中的较大值找出最大的撕裂区域 + * 3. 使用对角线长度作为撕裂大小的更准确表示 + */ +void BeltTearingPresenter::SendDetectionResultToRobot(const std::vector& detectionResults) +{ + // 根据协议类型发送数据 + if (m_modbusTCPProtocolType == ModbusTCPProtocolType::Simplified) { + // 简化协议：只发送历史最大撕裂信息（从开流开始的最大值） + if (!m_pRobotProtocolSimplified) { + LOG_WARNING("Simplified robot protocol not initialized, cannot send detection results\n"); + return; + } + + // 更新历史最大值 + if (!detectionResults.empty()) { + // 找出本次检测的最大撕裂 + auto maxTearIt = std::max_element(detectionResults.begin(), detectionResults.end(), + [](const SSG_beltTearingInfo& a, const SSG_beltTearingInfo& b) { + // 计算撕裂区域的宽度和高度，取较大值 + double widthA = a.roi.right - a.roi.left; + double lengthA = a.roi.bottom - a.roi.top; + double maxSizeA = widthA > lengthA ? widthA : lengthA; + + double widthB = b.roi.right - b.roi.left; + double lengthB = b.roi.bottom - b.roi.top; + double maxSizeB = widthB > lengthB ? widthB : lengthB; + + return maxSizeA < maxSizeB; + }); + + // 计算本次最大撕裂的尺寸 + double dWidth = maxTearIt->roi.right - maxTearIt->roi.left; + double dLength = maxTearIt->roi.bottom - maxTearIt->roi.top; + double diagonalLength = std::sqrt(dWidth * dWidth + dLength * dLength); + uint16_t currentMaxLength = static_cast(diagonalLength); + uint16_t currentMaxWidth = static_cast(maxTearIt->tearWidth); + uint32_t currentMaxId = maxTearIt->tearID; + + // 更新历史最大值 + if (!m_historyMaxTearing.hasData || currentMaxLength > m_historyMaxTearing.maxLength) { + m_historyMaxTearing.maxLength = currentMaxLength; + m_historyMaxTearing.maxWidth = currentMaxWidth; + m_historyMaxTearing.maxId = currentMaxId; + m_historyMaxTearing.hasData = true; + } + } + + // 构造报警数据（使用历史最大值） + RobotProtocolSimplified::TearingAlarmData alarmData; + if (m_historyMaxTearing.hasData) { + alarmData.alarmFlag = 1; // 有撕裂报警 + alarmData.maxLength = m_historyMaxTearing.maxLength; + alarmData.maxWidth = m_historyMaxTearing.maxWidth; + alarmData.maxId = m_historyMaxTearing.maxId; + } else { + // 没有历史数据 + alarmData.alarmFlag = 0; + alarmData.maxLength = 0; + alarmData.maxWidth = 0; + alarmData.maxId = 0; + } + + // 发送报警数据 + m_pRobotProtocolSimplified->SetAlarmData(alarmData); + + } else { + // 标准协议：发送完整的撕裂信息列表 + if (!m_pRobotProtocol || !m_bRobotConnected) { + LOG_WARNING("Robot protocol not initialized or not connected, cannot send detection results\n"); + return; + } + + // 准备发送给机械臂的数据结构 + MultiTargetData multiTargetData; + + // 将皮带撕裂检测结果转换为机械臂可识别的数据 + for (const auto& result : detectionResults) { + // 创建目标结果 + TargetResult target; + target.id = result.tearID; + target.status = static_cast(result.tearStatus); + target.width = static_cast(result.tearWidth); + target.depth = static_cast(result.tearDepth); + + // 添加到目标列表 + multiTargetData.targets.push_back(target); + } + + // 调用RobotProtocol接口发送数据 + m_pRobotProtocol->SetMultiTargetData(multiTargetData); + } +} + diff --git a/App/BeltTearing/BeltTearingServer/TearingTcpProtocol.cpp b/App/BeltTearing/BeltTearingServer/TearingTcpProtocol.cpp index 8485b5a..8fe850e 100644 --- a/App/BeltTearing/BeltTearingServer/TearingTcpProtocol.cpp +++ b/App/BeltTearing/BeltTearingServer/TearingTcpProtocol.cpp @@ -1,641 +1,672 @@ -#include "TearingTcpProtocol.h" -#include "VrLog.h" -#include -#include - -TearingTcpProtocol::TearingTcpProtocol(QObject *parent) - : QObject(parent) - , m_tcpServer(nullptr) - , m_heartbeatTimer(new QTimer(this)) - , m_clientCheckTimer(new QTimer(this)) - , m_heartbeatInterval(30) - , m_clientTimeout(90) - , m_tcpPort(0) - , m_historyMaxLength(0) - , m_historyMaxId(0) -{ - // 连接心跳定时器 - connect(m_heartbeatTimer, &QTimer::timeout, this, &TearingTcpProtocol::onHeartbeatTimeout); - - // 连接客户端超时检查定时器 - connect(m_clientCheckTimer, &QTimer::timeout, this, &TearingTcpProtocol::onClientTimeoutCheck); -} - -TearingTcpProtocol::~TearingTcpProtocol() -{ - stop(); - if (m_tcpServer) { - delete m_tcpServer; - m_tcpServer = nullptr; - } -} - -void TearingTcpProtocol::start(int heartbeatInterval) -{ - m_heartbeatInterval = heartbeatInterval; - m_clientTimeout = heartbeatInterval * 3; // 超时时间为3倍心跳间隔 - - // 创建TCP服务器 - if (!m_tcpServer && m_tcpPort > 0) { - if (!VrCreatYTCPServer(&m_tcpServer)) { - LOG_ERROR("Failed to create TCP server\n"); - m_tcpServer = nullptr; - return; - } - - // 初始化TCP服务器 - if (!m_tcpServer->Init(m_tcpPort, true)) { - LOG_ERROR("Failed to initialize TCP server on port %d\n", m_tcpPort); - delete m_tcpServer; - m_tcpServer = nullptr; - return; - } - - // 启动TCP服务器，设置数据接收回调函数 - if (!m_tcpServer->Start([this](const TCPClient* pClient, const char* pData, const unsigned int nLen) { - this->handleReceivedData(pClient, pData, nLen); - }, false)) { - LOG_ERROR("Failed to start TCP server on port %d\n", m_tcpPort); - m_tcpServer->Close(); - delete m_tcpServer; - m_tcpServer = nullptr; - return; - } - - LOG_INFO("TCP server started successfully on port %d\n", m_tcpPort); - } - - // 启动心跳定时器（暂不启动，等有客户端连接后再考虑） - // m_heartbeatTimer->start(m_heartbeatInterval * 1000); - - // 启动客户端超时检查定时器 - m_clientCheckTimer->start(10000); // 每10秒检查一次 - - LOG_INFO("TearingTcpProtocol started, heartbeat interval: %d seconds\n", m_heartbeatInterval); -} - -void TearingTcpProtocol::stop() -{ - m_heartbeatTimer->stop(); - m_clientCheckTimer->stop(); - m_clientBuffers.clear(); - m_clientLastActive.clear(); - m_clientRealtimeEnabled.clear(); - m_clientPointers.clear(); - - // 关闭并释放TCP服务器 - if (m_tcpServer) { - m_tcpServer->Stop(); - m_tcpServer->Close(); - delete m_tcpServer; - m_tcpServer = nullptr; - } - - LOG_INFO("TearingTcpProtocol stopped\n"); -} - -void TearingTcpProtocol::sendDetectResult(const std::vector& results, const QImage& visImage) -{ - if (!m_tcpServer) { - return; - } - - // 计算撕裂个数和本次检测的最大撕裂长度 - int count = static_cast(results.size()); - int currentMaxLength = 0; - int currentMaxId = 0; - - for (const auto& result : results) { - double width = result.roi.right - result.roi.left; - double length = result.roi.bottom - result.roi.top; - int tearLength = static_cast(width > length ? width : length); - if (tearLength > currentMaxLength) { - currentMaxLength = tearLength; - currentMaxId = result.tearID; - } - } - - // 更新历史最大值（从开流开始的最大值） - if (currentMaxLength > m_historyMaxLength) { - m_historyMaxLength = currentMaxLength; - m_historyMaxId = currentMaxId; - } - - // 构造JSON消息（使用历史最大值） - QJsonObject jsonObj; - jsonObj["msgType"] = "DETECT_RESULT"; - jsonObj["timestamp"] = QDateTime::currentMSecsSinceEpoch(); - jsonObj["count"] = count; - jsonObj["max"] = m_historyMaxLength; // 使用历史最大长度 - jsonObj["maxId"] = m_historyMaxId; // 使用历史最大撕裂ID - - // 将图像转换为Base64 - if (!visImage.isNull()) { - jsonObj["visimg"] = imageToBase64(visImage); - } else { - jsonObj["visimg"] = ""; - } - - // 转换为JSON字符串 - QJsonDocument doc(jsonObj); - QByteArray jsonData = doc.toJson(QJsonDocument::Compact); - - // 构造数据帧 - QByteArray frame = buildFrame(jsonData); - - // 发送给所有客户端 - bool success = m_tcpServer->SendAllData(frame.constData(), frame.size()); - if (success) { - LOG_DEBUG("Sent DETECT_RESULT to all clients, count=%d, historyMax=%d, historyMaxId=%d\n", - count, m_historyMaxLength, m_historyMaxId); - } else { - LOG_WARNING("Failed to send DETECT_RESULT to clients\n"); - } -} - -void TearingTcpProtocol::sendRealtimeResult(const std::vector& results, const QImage& visImage) -{ - if (!m_tcpServer) { - return; - } - - // 检查是否有客户端开启了实时传输 - bool hasRealtimeClient = false; - for (auto it = m_clientRealtimeEnabled.begin(); it != m_clientRealtimeEnabled.end(); ++it) { - if (it.value()) { - hasRealtimeClient = true; - break; - } - } - - if (!hasRealtimeClient) { - return; // 没有客户端开启实时传输，直接返回 - } - - // 计算撕裂个数 - int count = static_cast(results.size()); - - // 构造tears数组 - QJsonArray tearsArray; - for (const auto& result : results) { - QJsonObject tearObj; - tearObj["id"] = result.tearID; - tearObj["status"] = static_cast(result.tearStatus); - - // 计算撕裂长度（取宽度和高度的较大值） - double width = result.roi.right - result.roi.left; - double length = result.roi.bottom - result.roi.top; - int tearLength = static_cast(width > length ? width : length); - tearObj["length"] = tearLength; - - // 撕裂宽度 - tearObj["width"] = static_cast(result.tearWidth); - - // 撕裂深度 - tearObj["depth"] = static_cast(result.tearDepth); - - tearsArray.append(tearObj); - } - - // 构造JSON消息 - QJsonObject jsonObj; - jsonObj["msgType"] = "REALTIME_RESULT"; - jsonObj["timestamp"] = QDateTime::currentMSecsSinceEpoch(); - jsonObj["count"] = count; - jsonObj["tears"] = tearsArray; - - // 将图像转换为Base64 - if (!visImage.isNull()) { - jsonObj["visimg"] = imageToBase64(visImage); - } else { - jsonObj["visimg"] = ""; - } - - // 转换为JSON字符串 - QJsonDocument doc(jsonObj); - QByteArray jsonData = doc.toJson(QJsonDocument::Compact); - - // 构造数据帧 - QByteArray frame = buildFrame(jsonData); - - // 只发送给开启了实时传输的客户端 - int sentCount = 0; - for (auto it = m_clientRealtimeEnabled.begin(); it != m_clientRealtimeEnabled.end(); ++it) { - if (it.value()) { - QString clientId = it.key(); - // 通过clientId找到对应的TCPClient指针 - if (m_clientPointers.contains(clientId)) { - const TCPClient* pClient = m_clientPointers[clientId]; - bool success = m_tcpServer->SendData(pClient, frame.constData(), frame.size()); - if (success) { - sentCount++; - } else { - LOG_WARNING("Failed to send REALTIME_RESULT to client %s\n", clientId.toStdString().c_str()); - } - } - } - } - - if (sentCount > 0) { - LOG_DEBUG("Sent REALTIME_RESULT to %d clients, tears count=%d\n", sentCount, count); - } -} - -void TearingTcpProtocol::handleReceivedData(const TCPClient* pClient, const char* pData, unsigned int nLen) -{ - if (!pClient || !pData || nLen == 0) { - return; - } - - QString clientId = generateClientId(pClient); - - // 更新客户端最后活跃时间 - m_clientLastActive[clientId] = QDateTime::currentMSecsSinceEpoch(); - - // 保存客户端指针（用于后续发送数据） - if (!m_clientPointers.contains(clientId)) { - m_clientPointers[clientId] = pClient; - } - - // 将数据添加到客户端缓冲区 - QByteArray& buffer = m_clientBuffers[clientId]; - buffer.append(pData, nLen); - - // 解析数据帧 - QList jsonDataList; - int parsedCount = parseFrames(buffer, jsonDataList); - - if (parsedCount > 0) { - LOG_DEBUG("Parsed %d frames from client %s\n", parsedCount, clientId.toStdString().c_str()); - - // 处理每个JSON消息 - for (const QByteArray& jsonData : jsonDataList) { - handleJsonMessage(pClient, jsonData); - } - } -} - -void TearingTcpProtocol::setSpeedCallback(const SpeedCallback& callback) -{ - m_speedCallback = callback; -} - -void TearingTcpProtocol::setControlCallback(const ControlCallback& callback) -{ - m_controlCallback = callback; -} - -void TearingTcpProtocol::setTcpPort(quint16 port) -{ - m_tcpPort = port; -} - -void TearingTcpProtocol::clearHistoryMaxData() -{ - m_historyMaxLength = 0; - m_historyMaxId = 0; - LOG_INFO("Cleared history max data (开流清除)\n"); -} - -void TearingTcpProtocol::onHeartbeatTimeout() -{ - // 可以在这里主动发送心跳给客户端（如果需要） - // 目前协议设计是客户端发送心跳，服务器应答 -} - -void TearingTcpProtocol::onClientTimeoutCheck() -{ - qint64 currentTime = QDateTime::currentMSecsSinceEpoch(); - qint64 timeoutMs = m_clientTimeout * 1000; - - QList timeoutClients; - - for (auto it = m_clientLastActive.begin(); it != m_clientLastActive.end(); ++it) { - if (currentTime - it.value() > timeoutMs) { - timeoutClients.append(it.key()); - } - } - - // 清理超时客户端的数据 - for (const QString& clientId : timeoutClients) { - LOG_WARNING("Client %s timeout, cleaning up\n", clientId.toStdString().c_str()); - m_clientBuffers.remove(clientId); - m_clientLastActive.remove(clientId); - m_clientRealtimeEnabled.remove(clientId); - m_clientPointers.remove(clientId); - } -} - -QByteArray TearingTcpProtocol::buildFrame(const QByteArray& jsonData) -{ - QByteArray frame; - quint32 dataLength = static_cast(jsonData.size()); - - // 写入帧头 - frame.append(FRAME_HEADER, FRAME_HEADER_SIZE); - - // 写入数据长度（8位字符串格式） - char lengthStr[9]; // 8位数字 + '\0' -#ifdef _WIN32 - sprintf_s(lengthStr, "%08u", dataLength); -#else - sprintf(lengthStr, "%08u", dataLength); -#endif - frame.append(lengthStr, FRAME_LENGTH_SIZE); - - // 写入JSON数据 - frame.append(jsonData); - - // 写入帧尾 - frame.append(FRAME_TAIL, FRAME_TAIL_SIZE); - - return frame; -} - -int TearingTcpProtocol::parseFrames(const QByteArray& data, QList& outJsonData) -{ - int parsedCount = 0; - QByteArray& buffer = const_cast(data); - - while (buffer.size() >= FRAME_HEADER_SIZE + FRAME_LENGTH_SIZE) { - // 查找帧头 - int headerPos = buffer.indexOf(FRAME_HEADER); - if (headerPos == -1) { - // 没有找到帧头，清空缓冲区 - buffer.clear(); - break; - } - - // 如果帧头不在开始位置，丢弃之前的数据 - if (headerPos > 0) { - buffer.remove(0, headerPos); - } - - // 检查是否有足够的数据读取长度字段 - if (buffer.size() < FRAME_HEADER_SIZE + FRAME_LENGTH_SIZE) { - break; - } - - // 读取数据长度（8位字符串格式） - QByteArray lengthBytes = buffer.mid(FRAME_HEADER_SIZE, FRAME_LENGTH_SIZE); - QString lengthStr = QString::fromLatin1(lengthBytes); - bool ok; - quint32 dataLength = lengthStr.toUInt(&ok); - if (!ok) { - LOG_ERROR("Failed to parse frame data length: %s, discarding buffer\n", lengthStr.toStdString().c_str()); - buffer.remove(0, FRAME_HEADER_SIZE); - continue; - } - - // 检查数据长度是否合理（防止错误数据） - if (dataLength > 10 * 1024 * 1024) { // 限制最大10MB - LOG_ERROR("Invalid frame data length: %u, discarding buffer\n", dataLength); - buffer.remove(0, FRAME_HEADER_SIZE); - continue; - } - - // 计算完整帧的大小 - int frameSize = FRAME_HEADER_SIZE + FRAME_LENGTH_SIZE + dataLength + FRAME_TAIL_SIZE; - - // 检查是否接收到完整的帧 - if (buffer.size() < frameSize) { - // 数据不完整，等待更多数据 - break; - } - - // 验证帧尾 - int tailPos = FRAME_HEADER_SIZE + FRAME_LENGTH_SIZE + dataLength; - QByteArray tail = buffer.mid(tailPos, FRAME_TAIL_SIZE); - if (tail != QByteArray(FRAME_TAIL, FRAME_TAIL_SIZE)) { - LOG_ERROR("Invalid frame tail, discarding frame\n"); - buffer.remove(0, FRAME_HEADER_SIZE); - continue; - } - - // 提取JSON数据 - QByteArray jsonData = buffer.mid(FRAME_HEADER_SIZE + FRAME_LENGTH_SIZE, dataLength); - outJsonData.append(jsonData); - parsedCount++; - - // 移除已处理的帧 - buffer.remove(0, frameSize); - } - - return parsedCount; -} - -TcpMessageType TearingTcpProtocol::parseMessageType(const QString& msgTypeStr) -{ - if (msgTypeStr == "DETECT_RESULT") return TcpMessageType::DETECT_RESULT; - if (msgTypeStr == "REALTIME_RESULT") return TcpMessageType::REALTIME_RESULT; - if (msgTypeStr == "SET_SPEED") return TcpMessageType::SET_SPEED; - if (msgTypeStr == "SET_CONTROL") return TcpMessageType::SET_CONTROL; - if (msgTypeStr == "SET_REALTIME") return TcpMessageType::SET_REALTIME; - if (msgTypeStr == "CMD_RESPONSE") return TcpMessageType::CMD_RESPONSE; - if (msgTypeStr == "HEARTBEAT") return TcpMessageType::HEARTBEAT; - if (msgTypeStr == "HEARTBEAT_ACK") return TcpMessageType::HEARTBEAT_ACK; - return TcpMessageType::UNKNOWN; -} - -void TearingTcpProtocol::handleJsonMessage(const TCPClient* pClient, const QByteArray& jsonData) -{ - // 解析JSON - QJsonParseError parseError; - QJsonDocument doc = QJsonDocument::fromJson(jsonData, &parseError); - - if (parseError.error != QJsonParseError::NoError) { - LOG_ERROR("Failed to parse JSON: %s\n", parseError.errorString().toStdString().c_str()); - return; - } - - if (!doc.isObject()) { - LOG_ERROR("JSON is not an object\n"); - return; - } - - QJsonObject jsonObj = doc.object(); - - // 获取消息类型 - QString msgTypeStr = jsonObj["msgType"].toString(); - TcpMessageType msgType = parseMessageType(msgTypeStr); - - // 根据消息类型处理 - switch (msgType) { - case TcpMessageType::SET_SPEED: - handleSetSpeed(pClient, jsonObj); - break; - - case TcpMessageType::SET_CONTROL: - handleSetControl(pClient, jsonObj); - break; - - case TcpMessageType::SET_REALTIME: - handleSetRealtime(pClient, jsonObj); - break; - - case TcpMessageType::HEARTBEAT: - handleHeartbeat(pClient, jsonObj); - break; - - default: - LOG_WARNING("Unknown message type: %s\n", msgTypeStr.toStdString().c_str()); - break; - } -} - -void TearingTcpProtocol::handleSetSpeed(const TCPClient* pClient, const QJsonObject& jsonObj) -{ - int speed = jsonObj["speed"].toInt(); - - LOG_INFO("Received SET_SPEED command: speed=%d mm/s\n", speed); - - // 参数验证 - bool result = true; - int errorCode = 0; - QString errorMsg; - - if (speed < 0 || speed > 5000) { - result = false; - errorCode = 1; - errorMsg = "Speed out of range (0-5000 mm/s)"; - LOG_ERROR("Invalid speed value: %d\n", speed); - } else { - // 调用速度设置回调 - if (m_speedCallback) { - errorCode = m_speedCallback(speed); - result = (errorCode == 0); - if (!result) { - errorMsg = "Speed callback execution failed"; - LOG_ERROR("Speed callback execution failed for speed: %d, error code: %d\n", speed, errorCode); - } - } - } - - // 发送应答 - sendCommandResponse(pClient, "SET_SPEED", result, errorCode, errorMsg); -} - -void TearingTcpProtocol::handleSetControl(const TCPClient* pClient, const QJsonObject& jsonObj) -{ - bool control = jsonObj["control"].toBool(); - - LOG_INFO("Received SET_CONTROL command: control=%s\n", control ? "start" : "stop"); - - // 调用控制回调 - bool result = true; - int errorCode = 0; - QString errorMsg; - - if (m_controlCallback) { - errorCode = m_controlCallback(control); - result = (errorCode == 0); - if (!result) { - errorMsg = "Control callback execution failed"; - LOG_ERROR("Control callback execution failed for control: %s, error code: %d\n", control ? "start" : "stop", errorCode); - } - } - - // 发送应答 - sendCommandResponse(pClient, "SET_CONTROL", result, errorCode, errorMsg); -} - -void TearingTcpProtocol::handleHeartbeat(const TCPClient* pClient, const QJsonObject& jsonObj) -{ - LOG_DEBUG("Received HEARTBEAT from client\n"); - - // 发送心跳应答 - sendHeartbeatAck(pClient); -} - -void TearingTcpProtocol::handleSetRealtime(const TCPClient* pClient, const QJsonObject& jsonObj) -{ - bool enable = jsonObj["enable"].toBool(); - QString clientId = generateClientId(pClient); - - LOG_INFO("Received SET_REALTIME command from %s: enable=%s\n", - clientId.toStdString().c_str(), enable ? "true" : "false"); - - // 更新客户端的实时传输开关状态 - m_clientRealtimeEnabled[clientId] = enable; - - // 发送应答 - sendCommandResponse(pClient, "SET_REALTIME", true, 0, ""); -} - -void TearingTcpProtocol::sendCommandResponse(const TCPClient* pClient, const QString& cmdType, - bool result, int errorCode, const QString& errorMsg) -{ - if (!m_tcpServer || !pClient) { - return; - } - - // 构造应答JSON - QJsonObject jsonObj; - jsonObj["msgType"] = "CMD_RESPONSE"; - jsonObj["timestamp"] = QDateTime::currentMSecsSinceEpoch(); - jsonObj["cmdType"] = cmdType; - jsonObj["result"] = result; - jsonObj["errorCode"] = errorCode; - jsonObj["errorMsg"] = errorMsg; - - // 转换为JSON字符串 - QJsonDocument doc(jsonObj); - QByteArray jsonData = doc.toJson(QJsonDocument::Compact); - - // 构造数据帧 - QByteArray frame = buildFrame(jsonData); - - // 发送应答 - bool success = m_tcpServer->SendData(pClient, frame.constData(), frame.size()); - if (success) { - LOG_DEBUG("Sent CMD_RESPONSE for %s, result=%s\n", - cmdType.toStdString().c_str(), result ? "success" : "failure"); - } else { - LOG_ERROR("Failed to send CMD_RESPONSE for %s\n", cmdType.toStdString().c_str()); - } -} - -void TearingTcpProtocol::sendHeartbeatAck(const TCPClient* pClient) -{ - if (!m_tcpServer || !pClient) { - return; - } - - // 构造心跳应答JSON - QJsonObject jsonObj; - jsonObj["msgType"] = "HEARTBEAT_ACK"; - jsonObj["timestamp"] = QDateTime::currentMSecsSinceEpoch(); - - // 转换为JSON字符串 - QJsonDocument doc(jsonObj); - QByteArray jsonData = doc.toJson(QJsonDocument::Compact); - - // 构造数据帧 - QByteArray frame = buildFrame(jsonData); - - // 发送应答 - m_tcpServer->SendData(pClient, frame.constData(), frame.size()); -} - -QString TearingTcpProtocol::imageToBase64(const QImage& image) -{ - if (image.isNull()) { - return ""; - } - - QByteArray byteArray; - QBuffer buffer(&byteArray); - buffer.open(QIODevice::WriteOnly); - - // 保存为JPEG格式，质量50 - image.save(&buffer, "JPEG", 50); - - // 转换为Base64，并添加Data URI头部 - QString base64Data = QString(byteArray.toBase64()); - return QString("data:image/jpeg;base64,%1").arg(base64Data); -} - -QString TearingTcpProtocol::generateClientId(const TCPClient* pClient) -{ - return QString("Client_%1").arg(pClient->m_nFD); -} +#include "TearingTcpProtocol.h" +#include "VrLog.h" +#include +#include + +TearingTcpProtocol::TearingTcpProtocol(QObject *parent) + : QObject(parent) + , m_tcpServer(nullptr) + , m_heartbeatTimer(new QTimer(this)) + , m_clientCheckTimer(new QTimer(this)) + , m_heartbeatInterval(30) + , m_clientTimeout(90) + , m_tcpPort(0) + , m_historyMaxLength(0) + , m_historyMaxId(0) +{ + // 连接心跳定时器 + connect(m_heartbeatTimer, &QTimer::timeout, this, &TearingTcpProtocol::onHeartbeatTimeout); + + // 连接客户端超时检查定时器 + connect(m_clientCheckTimer, &QTimer::timeout, this, &TearingTcpProtocol::onClientTimeoutCheck); +} + +TearingTcpProtocol::~TearingTcpProtocol() +{ + stop(); + if (m_tcpServer) { + delete m_tcpServer; + m_tcpServer = nullptr; + } +} + +void TearingTcpProtocol::start(int heartbeatInterval) +{ + m_heartbeatInterval = heartbeatInterval; + m_clientTimeout = heartbeatInterval * 3; // 超时时间为3倍心跳间隔 + + // 创建TCP服务器 + if (!m_tcpServer && m_tcpPort > 0) { + if (!VrCreatYTCPServer(&m_tcpServer)) { + LOG_ERROR("Failed to create TCP server\n"); + m_tcpServer = nullptr; + return; + } + + // 初始化TCP服务器 + if (!m_tcpServer->Init(m_tcpPort, true)) { + LOG_ERROR("Failed to initialize TCP server on port %d\n", m_tcpPort); + delete m_tcpServer; + m_tcpServer = nullptr; + return; + } + + // 启动TCP服务器，设置数据接收回调函数 + if (!m_tcpServer->Start([this](const TCPClient* pClient, const char* pData, const unsigned int nLen) { + this->handleReceivedData(pClient, pData, nLen); + }, false)) { + LOG_ERROR("Failed to start TCP server on port %d\n", m_tcpPort); + m_tcpServer->Close(); + delete m_tcpServer; + m_tcpServer = nullptr; + return; + } + + LOG_INFO("TCP server started successfully on port %d\n", m_tcpPort); + } + + // 启动心跳定时器（暂不启动，等有客户端连接后再考虑） + // m_heartbeatTimer->start(m_heartbeatInterval * 1000); + + // 启动客户端超时检查定时器 + m_clientCheckTimer->start(10000); // 每10秒检查一次 + + LOG_INFO("TearingTcpProtocol started, heartbeat interval: %d seconds\n", m_heartbeatInterval); +} + +void TearingTcpProtocol::stop() +{ + m_heartbeatTimer->stop(); + m_clientCheckTimer->stop(); + m_clientBuffers.clear(); + m_clientLastActive.clear(); + m_clientRealtimeEnabled.clear(); + m_clientPointers.clear(); + + // 关闭并释放TCP服务器 + if (m_tcpServer) { + m_tcpServer->Stop(); + m_tcpServer->Close(); + delete m_tcpServer; + m_tcpServer = nullptr; + } + + LOG_INFO("TearingTcpProtocol stopped\n"); +} + +void TearingTcpProtocol::sendDetectResult(const std::vector& results, const QImage& visImage) +{ + if (!m_tcpServer) { + return; + } + + // 计算撕裂个数和本次检测的最大撕裂长度 + int count = static_cast(results.size()); + int currentMaxLength = 0; + int currentMaxId = 0; + + for (const auto& result : results) { + double width = result.roi.right - result.roi.left; + double length = result.roi.bottom - result.roi.top; + int tearLength = static_cast(width > length ? width : length); + if (tearLength > currentMaxLength) { + currentMaxLength = tearLength; + currentMaxId = result.tearID; + } + } + + // 更新历史最大值（从开流开始的最大值） + if (currentMaxLength > m_historyMaxLength) { + m_historyMaxLength = currentMaxLength; + m_historyMaxId = currentMaxId; + } + + // 构造JSON消息（使用历史最大值） + QJsonObject jsonObj; + jsonObj["msgType"] = "DETECT_RESULT"; + jsonObj["timestamp"] = QDateTime::currentMSecsSinceEpoch(); + jsonObj["count"] = count; + jsonObj["max"] = m_historyMaxLength; // 使用历史最大长度 + jsonObj["maxId"] = m_historyMaxId; // 使用历史最大撕裂ID + + // 将图像转换为Base64 + if (!visImage.isNull()) { + jsonObj["visimg"] = imageToBase64(visImage); + } else { + jsonObj["visimg"] = ""; + } + + // 转换为JSON字符串 + QJsonDocument doc(jsonObj); + QByteArray jsonData = doc.toJson(QJsonDocument::Compact); + + // 构造数据帧 + QByteArray frame = buildFrame(jsonData); + + // 检查是否有客户端开启了实时传输 + bool hasRealtimeClient = false; + for (auto it = m_clientRealtimeEnabled.begin(); it != m_clientRealtimeEnabled.end(); ++it) { + if (it.value()) { + hasRealtimeClient = true; + break; + } + } + + if (!hasRealtimeClient) { + // 没有客户端开启实时传输，广播给所有客户端 + bool success = m_tcpServer->SendAllData(frame.constData(), frame.size()); + if (success) { + LOG_DEBUG("Sent DETECT_RESULT to all clients, count=%d, historyMax=%d, historyMaxId=%d\n", + count, m_historyMaxLength, m_historyMaxId); + } else { + LOG_WARNING("Failed to send DETECT_RESULT to clients\n"); + } + } else { + // 有客户端开启了实时传输，逐个发送，跳过已开启实时传输的客户端 + int sentCount = 0; + int skippedCount = 0; + for (auto it = m_clientPointers.begin(); it != m_clientPointers.end(); ++it) { + QString clientId = it.key(); + if (m_clientRealtimeEnabled.value(clientId, false)) { + skippedCount++; + continue; + } + const TCPClient* pClient = it.value(); + bool success = m_tcpServer->SendData(pClient, frame.constData(), frame.size()); + if (success) { + sentCount++; + } else { + LOG_WARNING("Failed to send DETECT_RESULT to client %s\n", clientId.toStdString().c_str()); + } + } + LOG_DEBUG("Sent DETECT_RESULT to %d clients (skipped %d realtime clients), count=%d, historyMax=%d, historyMaxId=%d\n", + sentCount, skippedCount, count, m_historyMaxLength, m_historyMaxId); + } +} + +void TearingTcpProtocol::sendRealtimeResult(const std::vector& results, const QImage& visImage) +{ + if (!m_tcpServer) { + return; + } + + // 检查是否有客户端开启了实时传输 + bool hasRealtimeClient = false; + for (auto it = m_clientRealtimeEnabled.begin(); it != m_clientRealtimeEnabled.end(); ++it) { + if (it.value()) { + hasRealtimeClient = true; + break; + } + } + + if (!hasRealtimeClient) { + return; // 没有客户端开启实时传输，直接返回 + } + + // 计算撕裂个数 + int count = static_cast(results.size()); + + // 构造tears数组 + QJsonArray tearsArray; + for (const auto& result : results) { + QJsonObject tearObj; + tearObj["id"] = result.tearID; + tearObj["status"] = static_cast(result.tearStatus); + + // 计算撕裂长度（取宽度和高度的较大值） + double width = result.roi.right - result.roi.left; + double length = result.roi.bottom - result.roi.top; + int tearLength = static_cast(width > length ? width : length); + tearObj["length"] = tearLength; + + // 撕裂宽度 + tearObj["width"] = static_cast(result.tearWidth); + + // 撕裂深度 + tearObj["depth"] = static_cast(result.tearDepth); + + tearsArray.append(tearObj); + } + + // 构造JSON消息 + QJsonObject jsonObj; + jsonObj["msgType"] = "REALTIME_RESULT"; + jsonObj["timestamp"] = QDateTime::currentMSecsSinceEpoch(); + jsonObj["count"] = count; + jsonObj["tears"] = tearsArray; + + // 将图像转换为Base64 + if (!visImage.isNull()) { + jsonObj["visimg"] = imageToBase64(visImage); + } else { + jsonObj["visimg"] = ""; + } + + // 转换为JSON字符串 + QJsonDocument doc(jsonObj); + QByteArray jsonData = doc.toJson(QJsonDocument::Compact); + + // 构造数据帧 + QByteArray frame = buildFrame(jsonData); + + // 只发送给开启了实时传输的客户端 + int sentCount = 0; + for (auto it = m_clientRealtimeEnabled.begin(); it != m_clientRealtimeEnabled.end(); ++it) { + if (it.value()) { + QString clientId = it.key(); + // 通过clientId找到对应的TCPClient指针 + if (m_clientPointers.contains(clientId)) { + const TCPClient* pClient = m_clientPointers[clientId]; + bool success = m_tcpServer->SendData(pClient, frame.constData(), frame.size()); + if (success) { + sentCount++; + } else { + LOG_WARNING("Failed to send REALTIME_RESULT to client %s\n", clientId.toStdString().c_str()); + } + } + } + } + + if (sentCount > 0) { + LOG_DEBUG("Sent REALTIME_RESULT to %d clients, tears count=%d\n", sentCount, count); + } +} + +void TearingTcpProtocol::handleReceivedData(const TCPClient* pClient, const char* pData, unsigned int nLen) +{ + if (!pClient || !pData || nLen == 0) { + return; + } + + QString clientId = generateClientId(pClient); + + // 更新客户端最后活跃时间 + m_clientLastActive[clientId] = QDateTime::currentMSecsSinceEpoch(); + + // 保存客户端指针（用于后续发送数据） + if (!m_clientPointers.contains(clientId)) { + m_clientPointers[clientId] = pClient; + } + + // 将数据添加到客户端缓冲区 + QByteArray& buffer = m_clientBuffers[clientId]; + buffer.append(pData, nLen); + + // 解析数据帧 + QList jsonDataList; + int parsedCount = parseFrames(buffer, jsonDataList); + + if (parsedCount > 0) { + LOG_DEBUG("Parsed %d frames from client %s\n", parsedCount, clientId.toStdString().c_str()); + + // 处理每个JSON消息 + for (const QByteArray& jsonData : jsonDataList) { + handleJsonMessage(pClient, jsonData); + } + } +} + +void TearingTcpProtocol::setSpeedCallback(const SpeedCallback& callback) +{ + m_speedCallback = callback; +} + +void TearingTcpProtocol::setControlCallback(const ControlCallback& callback) +{ + m_controlCallback = callback; +} + +void TearingTcpProtocol::setTcpPort(quint16 port) +{ + m_tcpPort = port; +} + +void TearingTcpProtocol::clearHistoryMaxData() +{ + m_historyMaxLength = 0; + m_historyMaxId = 0; + LOG_INFO("Cleared history max data (开流清除)\n"); +} + +void TearingTcpProtocol::onHeartbeatTimeout() +{ + // 可以在这里主动发送心跳给客户端（如果需要） + // 目前协议设计是客户端发送心跳，服务器应答 +} + +void TearingTcpProtocol::onClientTimeoutCheck() +{ + qint64 currentTime = QDateTime::currentMSecsSinceEpoch(); + qint64 timeoutMs = m_clientTimeout * 1000; + + QList timeoutClients; + + for (auto it = m_clientLastActive.begin(); it != m_clientLastActive.end(); ++it) { + if (currentTime - it.value() > timeoutMs) { + timeoutClients.append(it.key()); + } + } + + // 清理超时客户端的数据 + for (const QString& clientId : timeoutClients) { + LOG_WARNING("Client %s timeout, cleaning up\n", clientId.toStdString().c_str()); + m_clientBuffers.remove(clientId); + m_clientLastActive.remove(clientId); + m_clientRealtimeEnabled.remove(clientId); + m_clientPointers.remove(clientId); + } +} + +QByteArray TearingTcpProtocol::buildFrame(const QByteArray& jsonData) +{ + QByteArray frame; + quint32 dataLength = static_cast(jsonData.size()); + + // 写入帧头 + frame.append(FRAME_HEADER, FRAME_HEADER_SIZE); + + // 写入数据长度（8位字符串格式） + char lengthStr[9]; // 8位数字 + '\0' +#ifdef _WIN32 + sprintf_s(lengthStr, "%08u", dataLength); +#else + sprintf(lengthStr, "%08u", dataLength); +#endif + frame.append(lengthStr, FRAME_LENGTH_SIZE); + + // 写入JSON数据 + frame.append(jsonData); + + // 写入帧尾 + frame.append(FRAME_TAIL, FRAME_TAIL_SIZE); + + return frame; +} + +int TearingTcpProtocol::parseFrames(const QByteArray& data, QList& outJsonData) +{ + int parsedCount = 0; + QByteArray& buffer = const_cast(data); + + while (buffer.size() >= FRAME_HEADER_SIZE + FRAME_LENGTH_SIZE) { + // 查找帧头 + int headerPos = buffer.indexOf(FRAME_HEADER); + if (headerPos == -1) { + // 没有找到帧头，清空缓冲区 + buffer.clear(); + break; + } + + // 如果帧头不在开始位置，丢弃之前的数据 + if (headerPos > 0) { + buffer.remove(0, headerPos); + } + + // 检查是否有足够的数据读取长度字段 + if (buffer.size() < FRAME_HEADER_SIZE + FRAME_LENGTH_SIZE) { + break; + } + + // 读取数据长度（8位字符串格式） + QByteArray lengthBytes = buffer.mid(FRAME_HEADER_SIZE, FRAME_LENGTH_SIZE); + QString lengthStr = QString::fromLatin1(lengthBytes); + bool ok; + quint32 dataLength = lengthStr.toUInt(&ok); + if (!ok) { + LOG_ERROR("Failed to parse frame data length: %s, discarding buffer\n", lengthStr.toStdString().c_str()); + buffer.remove(0, FRAME_HEADER_SIZE); + continue; + } + + // 检查数据长度是否合理（防止错误数据） + if (dataLength > 10 * 1024 * 1024) { // 限制最大10MB + LOG_ERROR("Invalid frame data length: %u, discarding buffer\n", dataLength); + buffer.remove(0, FRAME_HEADER_SIZE); + continue; + } + + // 计算完整帧的大小 + int frameSize = FRAME_HEADER_SIZE + FRAME_LENGTH_SIZE + dataLength + FRAME_TAIL_SIZE; + + // 检查是否接收到完整的帧 + if (buffer.size() < frameSize) { + // 数据不完整，等待更多数据 + break; + } + + // 验证帧尾 + int tailPos = FRAME_HEADER_SIZE + FRAME_LENGTH_SIZE + dataLength; + QByteArray tail = buffer.mid(tailPos, FRAME_TAIL_SIZE); + if (tail != QByteArray(FRAME_TAIL, FRAME_TAIL_SIZE)) { + LOG_ERROR("Invalid frame tail, discarding frame\n"); + buffer.remove(0, FRAME_HEADER_SIZE); + continue; + } + + // 提取JSON数据 + QByteArray jsonData = buffer.mid(FRAME_HEADER_SIZE + FRAME_LENGTH_SIZE, dataLength); + outJsonData.append(jsonData); + parsedCount++; + + // 移除已处理的帧 + buffer.remove(0, frameSize); + } + + return parsedCount; +} + +TcpMessageType TearingTcpProtocol::parseMessageType(const QString& msgTypeStr) +{ + if (msgTypeStr == "DETECT_RESULT") return TcpMessageType::DETECT_RESULT; + if (msgTypeStr == "REALTIME_RESULT") return TcpMessageType::REALTIME_RESULT; + if (msgTypeStr == "SET_SPEED") return TcpMessageType::SET_SPEED; + if (msgTypeStr == "SET_CONTROL") return TcpMessageType::SET_CONTROL; + if (msgTypeStr == "SET_REALTIME") return TcpMessageType::SET_REALTIME; + if (msgTypeStr == "CMD_RESPONSE") return TcpMessageType::CMD_RESPONSE; + if (msgTypeStr == "HEARTBEAT") return TcpMessageType::HEARTBEAT; + if (msgTypeStr == "HEARTBEAT_ACK") return TcpMessageType::HEARTBEAT_ACK; + return TcpMessageType::UNKNOWN; +} + +void TearingTcpProtocol::handleJsonMessage(const TCPClient* pClient, const QByteArray& jsonData) +{ + // 解析JSON + QJsonParseError parseError; + QJsonDocument doc = QJsonDocument::fromJson(jsonData, &parseError); + + if (parseError.error != QJsonParseError::NoError) { + LOG_ERROR("Failed to parse JSON: %s\n", parseError.errorString().toStdString().c_str()); + return; + } + + if (!doc.isObject()) { + LOG_ERROR("JSON is not an object\n"); + return; + } + + QJsonObject jsonObj = doc.object(); + + // 获取消息类型 + QString msgTypeStr = jsonObj["msgType"].toString(); + TcpMessageType msgType = parseMessageType(msgTypeStr); + + // 根据消息类型处理 + switch (msgType) { + case TcpMessageType::SET_SPEED: + handleSetSpeed(pClient, jsonObj); + break; + + case TcpMessageType::SET_CONTROL: + handleSetControl(pClient, jsonObj); + break; + + case TcpMessageType::SET_REALTIME: + handleSetRealtime(pClient, jsonObj); + break; + + case TcpMessageType::HEARTBEAT: + handleHeartbeat(pClient, jsonObj); + break; + + default: + LOG_WARNING("Unknown message type: %s\n", msgTypeStr.toStdString().c_str()); + break; + } +} + +void TearingTcpProtocol::handleSetSpeed(const TCPClient* pClient, const QJsonObject& jsonObj) +{ + int speed = jsonObj["speed"].toInt(); + + LOG_INFO("Received SET_SPEED command: speed=%d mm/s\n", speed); + + // 参数验证 + bool result = true; + int errorCode = 0; + QString errorMsg; + + if (speed < 0 || speed > 5000) { + result = false; + errorCode = 1; + errorMsg = "Speed out of range (0-5000 mm/s)"; + LOG_ERROR("Invalid speed value: %d\n", speed); + } else { + // 调用速度设置回调 + if (m_speedCallback) { + errorCode = m_speedCallback(speed); + result = (errorCode == 0); + if (!result) { + errorMsg = "Speed callback execution failed"; + LOG_ERROR("Speed callback execution failed for speed: %d, error code: %d\n", speed, errorCode); + } + } + } + + // 发送应答 + sendCommandResponse(pClient, "SET_SPEED", result, errorCode, errorMsg); +} + +void TearingTcpProtocol::handleSetControl(const TCPClient* pClient, const QJsonObject& jsonObj) +{ + bool control = jsonObj["control"].toBool(); + + LOG_INFO("Received SET_CONTROL command: control=%s\n", control ? "start" : "stop"); + + // 调用控制回调 + bool result = true; + int errorCode = 0; + QString errorMsg; + + if (m_controlCallback) { + errorCode = m_controlCallback(control); + result = (errorCode == 0); + if (!result) { + errorMsg = "Control callback execution failed"; + LOG_ERROR("Control callback execution failed for control: %s, error code: %d\n", control ? "start" : "stop", errorCode); + } + } + + // 发送应答 + sendCommandResponse(pClient, "SET_CONTROL", result, errorCode, errorMsg); +} + +void TearingTcpProtocol::handleHeartbeat(const TCPClient* pClient, const QJsonObject& jsonObj) +{ + LOG_DEBUG("Received HEARTBEAT from client\n"); + + // 发送心跳应答 + sendHeartbeatAck(pClient); +} + +void TearingTcpProtocol::handleSetRealtime(const TCPClient* pClient, const QJsonObject& jsonObj) +{ + bool enable = jsonObj["enable"].toBool(); + QString clientId = generateClientId(pClient); + + LOG_INFO("Received SET_REALTIME command from %s: enable=%s\n", + clientId.toStdString().c_str(), enable ? "true" : "false"); + + // 更新客户端的实时传输开关状态 + m_clientRealtimeEnabled[clientId] = enable; + + // 发送应答 + sendCommandResponse(pClient, "SET_REALTIME", true, 0, ""); +} + +void TearingTcpProtocol::sendCommandResponse(const TCPClient* pClient, const QString& cmdType, + bool result, int errorCode, const QString& errorMsg) +{ + if (!m_tcpServer || !pClient) { + return; + } + + // 构造应答JSON + QJsonObject jsonObj; + jsonObj["msgType"] = "CMD_RESPONSE"; + jsonObj["timestamp"] = QDateTime::currentMSecsSinceEpoch(); + jsonObj["cmdType"] = cmdType; + jsonObj["result"] = result; + jsonObj["errorCode"] = errorCode; + jsonObj["errorMsg"] = errorMsg; + + // 转换为JSON字符串 + QJsonDocument doc(jsonObj); + QByteArray jsonData = doc.toJson(QJsonDocument::Compact); + + // 构造数据帧 + QByteArray frame = buildFrame(jsonData); + + // 发送应答 + bool success = m_tcpServer->SendData(pClient, frame.constData(), frame.size()); + if (success) { + LOG_DEBUG("Sent CMD_RESPONSE for %s, result=%s\n", + cmdType.toStdString().c_str(), result ? "success" : "failure"); + } else { + LOG_ERROR("Failed to send CMD_RESPONSE for %s\n", cmdType.toStdString().c_str()); + } +} + +void TearingTcpProtocol::sendHeartbeatAck(const TCPClient* pClient) +{ + if (!m_tcpServer || !pClient) { + return; + } + + // 构造心跳应答JSON + QJsonObject jsonObj; + jsonObj["msgType"] = "HEARTBEAT_ACK"; + jsonObj["timestamp"] = QDateTime::currentMSecsSinceEpoch(); + + // 转换为JSON字符串 + QJsonDocument doc(jsonObj); + QByteArray jsonData = doc.toJson(QJsonDocument::Compact); + + // 构造数据帧 + QByteArray frame = buildFrame(jsonData); + + // 发送应答 + m_tcpServer->SendData(pClient, frame.constData(), frame.size()); +} + +QString TearingTcpProtocol::imageToBase64(const QImage& image) +{ + if (image.isNull()) { + return ""; + } + + QByteArray byteArray; + QBuffer buffer(&byteArray); + buffer.open(QIODevice::WriteOnly); + + // 保存为JPEG格式，质量50 + image.save(&buffer, "JPEG", 50); + + // 转换为Base64，并添加Data URI头部 + QString base64Data = QString(byteArray.toBase64()); + return QString("data:image/jpeg;base64,%1").arg(base64Data); +} + +QString TearingTcpProtocol::generateClientId(const TCPClient* pClient) +{ + return QString("Client_%1").arg(pClient->m_nFD); +} diff --git a/App/BeltTearing/BeltTearingServer/Version.h b/App/BeltTearing/BeltTearingServer/Version.h index 0de9d1d..3b46f84 100644 --- a/App/BeltTearing/BeltTearingServer/Version.h +++ b/App/BeltTearing/BeltTearingServer/Version.h @@ -1,29 +1,29 @@ -#ifndef VERSION_H -#define VERSION_H - -#define BELT_TEARING_SERVER_VERSION_STRING "2.0.6" -#define BELT_TEARING_SERVER_VERSION_BUILD "1" -#define BELT_TEARING_SERVER_PRODUCT_NAME "BeltTearingServer" -#define BELT_TEARING_SERVER_COMPANY_NAME "VisionRobot" -#define BELT_TEARING_SERVER_COPYRIGHT "Copyright (C) 2024-2025 VisionRobot. All rights reserved." -#define BELT_TEARING_SERVER_DESCRIPTION "Belt Tearing Detection Server with Camera Integration" - -// 构建信息 -#define BELT_TEARING_SERVER_BUILD_DATE __DATE__ -#define BELT_TEARING_SERVER_BUILD_TIME __TIME__ - -#ifdef _WIN32 - #define BELT_TEARING_SERVER_PLATFORM "Windows" -#elif __linux__ - #define BELT_TEARING_SERVER_PLATFORM "Linux" -#else - #define BELT_TEARING_SERVER_PLATFORM "Unknown" -#endif - -#ifdef _DEBUG - #define BELT_TEARING_SERVER_BUILD_TYPE "Debug" -#else - #define BELT_TEARING_SERVER_BUILD_TYPE "Release" -#endif - -#endif // VERSION_H +#ifndef VERSION_H +#define VERSION_H + +#define BELT_TEARING_SERVER_VERSION_STRING "2.0.7" +#define BELT_TEARING_SERVER_VERSION_BUILD "1" +#define BELT_TEARING_SERVER_PRODUCT_NAME "BeltTearingServer" +#define BELT_TEARING_SERVER_COMPANY_NAME "VisionRobot" +#define BELT_TEARING_SERVER_COPYRIGHT "Copyright (C) 2024-2025 VisionRobot. All rights reserved." +#define BELT_TEARING_SERVER_DESCRIPTION "Belt Tearing Detection Server with Camera Integration" + +// 构建信息 +#define BELT_TEARING_SERVER_BUILD_DATE __DATE__ +#define BELT_TEARING_SERVER_BUILD_TIME __TIME__ + +#ifdef _WIN32 + #define BELT_TEARING_SERVER_PLATFORM "Windows" +#elif __linux__ + #define BELT_TEARING_SERVER_PLATFORM "Linux" +#else + #define BELT_TEARING_SERVER_PLATFORM "Unknown" +#endif + +#ifdef _DEBUG + #define BELT_TEARING_SERVER_BUILD_TYPE "Debug" +#else + #define BELT_TEARING_SERVER_BUILD_TYPE "Release" +#endif + +#endif // VERSION_H diff --git a/App/BeltTearing/BeltTearingServer/Version.md b/App/BeltTearing/BeltTearingServer/Version.md index 2964b17..8cc46e7 100644 --- a/App/BeltTearing/BeltTearingServer/Version.md +++ b/App/BeltTearing/BeltTearingServer/Version.md @@ -1,3 +1,7 @@ +# 2.0.7 +## build_1 2026-02-21 +1. 增加实时传输功能 + # 2.0.6 ## build_1 2026-02-03 1. 增加授权 diff --git a/App/BeltTearing/Doc/撕裂TCP通信协议.md b/App/BeltTearing/Doc/撕裂TCP通信协议.md index 7974e1f..e5345b8 100644 --- a/App/BeltTearing/Doc/撕裂TCP通信协议.md +++ b/App/BeltTearing/Doc/撕裂TCP通信协议.md @@ -1,14 +1,15 @@ # 皮带撕裂检测系统 TCP 通信协议 ## 版本 -版本: 1.3 -日期: 2026-02-12 +版本: 1.4 +日期: 2026-02-21 --- ### 版本历史 | 版本 | 日期 | 修改内容 | 作者 | |------|------------|------------------|-------| +| 1.4 | 2026-02-21 | 开启实时上报时不再发送DETECT_RESULT，避免重复输出；增加CMD汇总表格 | | | 1.3 | 2026-02-12 | 增加实时传输检测结果功能(SET_REALTIME/REALTIME_RESULT) | | | 1.2 | 2025-11-30 | 增加最大撕裂ID字段(maxId) | | | 1.1 | 2025-11-16 | 修改协议长度的格式 | | @@ -36,6 +37,19 @@ - 支持命令应答机制 - UTF-8编码 +### 1.3 CMD 汇总表 + +| msgType | 方向 | 说明 | 详细章节 | +|---------|------|------|----------| +| `DETECT_RESULT` | 服务器 → 客户端 | 撕裂检测结果上报（历史最大值），仅发送给**未开启**实时传输的客户端 | 4.1 | +| `REALTIME_RESULT` | 服务器 → 客户端 | 实时检测结果上报（所有撕裂详细数据），仅发送给**已开启**实时传输的客户端 | 4.2 | +| `SET_SPEED` | 客户端 → 服务器 | 设置皮带速度（mm/s） | 5.1 | +| `SET_CONTROL` | 客户端 → 服务器 | 启动/停止检测 | 5.2 | +| `SET_REALTIME` | 客户端 → 服务器 | 开启/关闭实时传输 | 5.3 | +| `CMD_RESPONSE` | 服务器 → 客户端 | 控制命令的统一应答 | 6.1 | +| `HEARTBEAT` | 客户端 → 服务器 | 心跳消息 | 9.1 | +| `HEARTBEAT_ACK` | 服务器 → 客户端 | 心跳应答 | 9.1 | + --- ## 2. 数据帧格式 @@ -200,7 +214,7 @@ - 实时传输功能需要客户端通过 `SET_REALTIME` 命令开启 - 开启后，服务器每次完成一帧检测即上报一次结果 - 关闭实时传输后，服务器停止上报 `REALTIME_RESULT` 消息 -- `REALTIME_RESULT` 与 `DETECT_RESULT` 独立，互不影响 +- `REALTIME_RESULT` 与 `DETECT_RESULT` 互斥：开启实时传输的客户端只收到 `REALTIME_RESULT`，未开启的客户端只收到 `DETECT_RESULT` - 当 count 为 0 时，tears 为空数组 `[]` **示例**（无撕裂时）: