302 lines
9.9 KiB
C++
302 lines
9.9 KiB
C++
#include "DebugDataSaver.h"
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#include "LaserDataLoader.h"
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#include "VrLog.h"
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#include "VrError.h"
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#include <QCoreApplication>
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#include <QDir>
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#include <QDirIterator>
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#include <QFile>
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#include <QFileInfo>
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#include <QDateTime>
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#include <QString>
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#include <cstring>
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namespace {
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// 获取当前应用名（不含扩展名），用于构造 debug 子目录前缀
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QString AppName()
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{
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QString name = QFileInfo(QCoreApplication::applicationFilePath()).baseName();
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if (name.isEmpty()) name = QStringLiteral("app");
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return name;
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}
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// 子目录前缀：{appName}_PointCloud_，仅匹配此前缀的子目录会被统计/清理
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QString SubDirPrefix()
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{
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return AppName() + QStringLiteral("_PointCloud_");
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}
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}
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DebugDataSaver::DebugDataSaver(int maxThreads)
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: m_maxThreads(std::max(1, std::min(maxThreads, 4)))
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, m_running(true)
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{
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for (int i = 0; i < m_maxThreads; ++i) {
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m_workers.emplace_back(&DebugDataSaver::WorkerThread, this);
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}
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LOG_INFO("[DebugDataSaver] 已启动 %d 个存储线程\n", m_maxThreads);
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}
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DebugDataSaver::~DebugDataSaver()
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{
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Stop();
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}
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void DebugDataSaver::Stop()
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{
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if (!m_running.exchange(false)) {
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return;
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}
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m_queueCondition.notify_all();
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for (auto& worker : m_workers) {
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if (worker.joinable()) {
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worker.join();
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}
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}
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m_workers.clear();
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// 释放队列中未处理的任务
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while (!m_taskQueue.empty()) {
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FreeData(m_taskQueue.front().data);
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m_taskQueue.pop();
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}
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LOG_INFO("[DebugDataSaver] 已停止\n");
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}
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void DebugDataSaver::SaveAsync(const std::string& basePath, const std::string& timestamp, const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& data, const std::string& deviceName)
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{
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if (data.empty() || !m_running) return;
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SaveTask task;
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task.deviceName = deviceName;
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task.filePath = GenerateSavePath(basePath, timestamp, deviceName);
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task.data = DeepCopyData(data);
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// 在入队前清理超限文件，避免任务堆积时磁盘瞬间打满
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EnsureStorageLimit(basePath);
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{
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std::lock_guard<std::mutex> lock(m_queueMutex);
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m_taskQueue.push(std::move(task));
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}
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m_queueCondition.notify_one();
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}
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void DebugDataSaver::WorkerThread()
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{
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LaserDataLoader dataLoader;
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while (true) {
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SaveTask task;
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{
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std::unique_lock<std::mutex> lock(m_queueMutex);
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m_queueCondition.wait(lock, [this] {
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return !m_taskQueue.empty() || !m_running;
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});
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if (!m_running && m_taskQueue.empty()) {
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break;
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}
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if (m_taskQueue.empty()) {
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continue;
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}
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task = std::move(m_taskQueue.front());
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m_taskQueue.pop();
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}
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int lineNum = static_cast<int>(task.data.size());
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float scanSpeed = 0.0f;
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int maxTimeStamp = 0;
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int clockPerSecond = 0;
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int result = dataLoader.SaveLaserScanData(task.filePath, task.data, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
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if (result == SUCCESS) {
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LOG_INFO("[DebugDataSaver] 保存成功: %s (%d行)\n", task.filePath.c_str(), lineNum);
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} else {
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LOG_ERROR("[DebugDataSaver] 保存失败: %s, 错误: %s\n", task.filePath.c_str(), dataLoader.GetLastError().c_str());
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}
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FreeData(task.data);
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}
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}
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>> DebugDataSaver::DeepCopyData(
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const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& src)
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{
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>> dst;
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dst.reserve(src.size());
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for (const auto& item : src) {
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EVzResultDataType dataType = item.first;
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const SVzLaserLineData& srcLine = item.second;
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SVzLaserLineData dstLine;
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memset(&dstLine, 0, sizeof(SVzLaserLineData));
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if (srcLine.nPointCount > 0) {
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if (dataType == keResultDataType_Position) {
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dstLine.p3DPoint = new SVzNL3DPosition[srcLine.nPointCount];
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if (srcLine.p3DPoint) {
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memcpy(dstLine.p3DPoint, srcLine.p3DPoint, sizeof(SVzNL3DPosition) * srcLine.nPointCount);
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}
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dstLine.p2DPoint = new SVzNL2DPosition[srcLine.nPointCount];
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if (srcLine.p2DPoint) {
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memcpy(dstLine.p2DPoint, srcLine.p2DPoint, sizeof(SVzNL2DPosition) * srcLine.nPointCount);
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}
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} else if (dataType == keResultDataType_PointXYZRGBA) {
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dstLine.p3DPoint = new SVzNLPointXYZRGBA[srcLine.nPointCount];
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if (srcLine.p3DPoint) {
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memcpy(dstLine.p3DPoint, srcLine.p3DPoint, sizeof(SVzNLPointXYZRGBA) * srcLine.nPointCount);
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}
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dstLine.p2DPoint = new SVzNL2DLRPoint[srcLine.nPointCount];
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if (srcLine.p2DPoint) {
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memcpy(dstLine.p2DPoint, srcLine.p2DPoint, sizeof(SVzNL2DLRPoint) * srcLine.nPointCount);
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}
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}
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}
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dstLine.nPointCount = srcLine.nPointCount;
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dstLine.llTimeStamp = srcLine.llTimeStamp;
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dstLine.llFrameIdx = srcLine.llFrameIdx;
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dstLine.nEncodeNo = srcLine.nEncodeNo;
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dstLine.fSwingAngle = srcLine.fSwingAngle;
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dstLine.bEndOnceScan = srcLine.bEndOnceScan;
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dst.push_back(std::make_pair(dataType, dstLine));
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}
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return dst;
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}
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void DebugDataSaver::FreeData(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& data)
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{
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LaserDataLoader loader;
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loader.FreeLaserScanData(data);
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data.clear();
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}
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std::string DebugDataSaver::GenerateSavePath(const std::string& basePath, const std::string& timestamp, const std::string& deviceName)
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{
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// 子目录命名：{appName}_PointCloud_YYYYMMDD（时间戳前 8 位为日期）
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QString subDir = SubDirPrefix() + QString::fromStdString(timestamp.substr(0, 8));
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QString fullPath = QString::fromStdString(basePath) + "/" + subDir;
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QDir dir(fullPath);
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if (!dir.exists()) {
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dir.mkpath(".");
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}
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// 文件名：{设备名}_{日期}_{时间}.txt（timestamp 形如 YYYYMMDD_HHmmsszzz）
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// 设备名缺省时退化为 pointcloud
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QString name = deviceName.empty() ? QStringLiteral("pointcloud")
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: QString::fromStdString(deviceName);
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QString fileName = QString("%1/%2_%3.txt").arg(fullPath)
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.arg(name)
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.arg(QString::fromStdString(timestamp));
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return fileName.toStdString();
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}
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void DebugDataSaver::EnsureStorageLimit(const std::string& basePath)
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{
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std::lock_guard<std::mutex> lock(m_diskSpaceMutex);
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const int64_t limit = m_maxStorageSize.load();
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if (limit <= 0) return;
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int64_t totalSize = ComputeDirSize(basePath);
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const QString prefix = SubDirPrefix();
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// 循环删除最早的文件，直到目录总大小 <= limit
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while (totalSize > limit) {
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std::string oldest = FindOldestFile(basePath);
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if (oldest.empty()) {
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LOG_WARNING("[DebugDataSaver] 目录大小 %lld 超过上限 %lld，但无可删除文件\n",
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static_cast<long long>(totalSize), static_cast<long long>(limit));
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break;
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}
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QFileInfo info(QString::fromStdString(oldest));
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qint64 fileSize = info.size();
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QString parentPath = info.absolutePath();
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if (!QFile::remove(QString::fromStdString(oldest))) {
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LOG_ERROR("[DebugDataSaver] 删除失败: %s\n", oldest.c_str());
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break;
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}
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LOG_INFO("[DebugDataSaver] 磁盘超限，删除最早文件: %s (%lld 字节)\n",
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oldest.c_str(), static_cast<long long>(fileSize));
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totalSize -= fileSize;
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// 父目录若已为空且名字匹配 {appName}_PointCloud_* 前缀，连同目录一起回收
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QDir parentDir(parentPath);
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const QString parentName = parentDir.dirName();
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if (parentName.startsWith(prefix) && parentDir.isEmpty()) {
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parentDir.cdUp();
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if (parentDir.rmdir(parentName)) {
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LOG_INFO("[DebugDataSaver] 已移除空目录: %s\n", parentPath.toStdString().c_str());
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}
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}
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}
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}
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int64_t DebugDataSaver::ComputeDirSize(const std::string& rootPath)
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{
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QString root = QString::fromStdString(rootPath);
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QDir rootDir(root);
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if (!rootDir.exists()) return 0;
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const QString prefix = SubDirPrefix();
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int64_t total = 0;
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// 只统计匹配 {appName}_debug_* 模式的子目录，避免误判 basePath 下其他内容
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const QStringList subDirs = rootDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
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for (const QString& name : subDirs) {
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if (!name.startsWith(prefix)) continue;
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QString subPath = rootDir.absoluteFilePath(name);
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QDirIterator it(subPath, QStringList() << "*.txt", QDir::Files, QDirIterator::Subdirectories);
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while (it.hasNext()) {
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it.next();
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total += it.fileInfo().size();
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}
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}
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return total;
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}
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std::string DebugDataSaver::FindOldestFile(const std::string& rootPath)
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{
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QString root = QString::fromStdString(rootPath);
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QDir rootDir(root);
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if (!rootDir.exists()) return std::string();
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const QString prefix = SubDirPrefix();
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QString oldestPath;
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QDateTime oldestTime;
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bool first = true;
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const QStringList subDirs = rootDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
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for (const QString& name : subDirs) {
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if (!name.startsWith(prefix)) continue;
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QString subPath = rootDir.absoluteFilePath(name);
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QDirIterator it(subPath, QStringList() << "*.txt", QDir::Files, QDirIterator::Subdirectories);
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while (it.hasNext()) {
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it.next();
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QFileInfo info = it.fileInfo();
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QDateTime mtime = info.lastModified();
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if (first || mtime < oldestTime) {
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oldestTime = mtime;
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oldestPath = info.absoluteFilePath();
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first = false;
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}
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}
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}
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return oldestPath.toStdString();
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}
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