506 lines
16 KiB
C++
506 lines
16 KiB
C++
#include "DroneScrewCtrlPresenter.h"
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#include <QPainter>
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#include <QFont>
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DroneScrewCtrlPresenter::DroneScrewCtrlPresenter(QObject* parent)
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: QObject(parent)
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{
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m_pReconnectTimer = new QTimer(this);
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m_pReconnectTimer->setInterval(3000);
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connect(m_pReconnectTimer, &QTimer::timeout, this, &DroneScrewCtrlPresenter::onReconnectTimer);
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connect(this, &DroneScrewCtrlPresenter::rtspFrameReady,
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this, &DroneScrewCtrlPresenter::onOverlayFrameReady,
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Qt::QueuedConnection);
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connect(this, &DroneScrewCtrlPresenter::detectionResultReady,
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this, &DroneScrewCtrlPresenter::onResultReceived,
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Qt::QueuedConnection);
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}
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DroneScrewCtrlPresenter::~DroneScrewCtrlPresenter()
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{
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DeinitApp();
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}
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void DroneScrewCtrlPresenter::ApplyConfig(const DroneScrewCtrlConfigResult& cfg)
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{
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m_cfg = cfg;
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if (m_bRunning.load())
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{
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DeinitApp();
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InitApp();
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}
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}
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int DroneScrewCtrlPresenter::InitApp()
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{
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if (m_bRunning.load()) return 0;
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// 1) 创建 WDRemoteReceiver 并注入回调（控制 + 结果 + 原始图）
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if (IWDRemoteReceiver::CreateInstance(&m_pRemote) != 0 || !m_pRemote)
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{
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m_bConnected = false;
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emit serverConnectionChanged(false);
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m_pReconnectTimer->start();
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return -1;
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}
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m_pRemote->SetEventCallback(
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[this](WDRemoteEventType ev, const std::string& msg) {
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this->onRemoteEvent(ev, msg);
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});
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m_pRemote->SetDetectionCallback(
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[this](const WDRemoteDetectionFrame& f) {
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this->onRemoteDetection(f);
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});
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// 检测模式下板一关闭 RTSP、改用 ZMQ 原始图通道发图；订阅之以显示检测结果图像
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m_pRemote->SetRawImageCallback(
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[this](const WDRemoteBinocularRawImage& img) {
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this->onRemoteRawImage(img);
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});
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// 2) UDP 搜索设备 → 默认自动打开第一个；搜不到不再按固定 IP 直接交互。
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bool opened = false;
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std::vector<WDRemoteDeviceInfo> devices;
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if (m_pRemote->SearchDevices(devices, 500) == 0 && !devices.empty())
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{
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const WDRemoteDeviceInfo& d = devices.front();
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if (m_pRemote->Open(d.machineCode) == 0)
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{
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// 用发现到的设备信息更新连接参数，供 RTSP 拉流使用
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if (!d.serverIp.empty()) m_cfg.server.serverIp = d.serverIp;
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if (d.controlPort > 0) m_cfg.server.zmqControlPort = d.controlPort;
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if (d.resultPort > 0) m_cfg.server.zmqResultPort = d.resultPort;
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m_cfg.server.zmqRawImagePort = d.rawImagePort;
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if (!d.rtspUrl.empty()) m_streamUrl = QString::fromStdString(d.rtspUrl);
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opened = true;
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emit statusMessage(QStringLiteral("已自动打开设备 %1 (%2)")
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.arg(QString::fromStdString(d.deviceName),
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QString::fromStdString(d.serverIp)));
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}
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}
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if (!opened)
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{
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emit statusMessage(QStringLiteral("未发现 DroneScrewServer，等待自动搜索"));
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m_bConnected = false;
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emit serverConnectionChanged(false);
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delete m_pRemote;
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m_pRemote = nullptr;
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m_pReconnectTimer->start();
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return -1;
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}
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// 拉流器等 start_stream 成功后再打开；地址以 Server get_info/discovery 返回为准。
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m_bConnected = true;
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m_bRunning = true;
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emit serverConnectionChanged(true);
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emit statusMessage(QStringLiteral("已连接到服务器"));
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// 4) 延迟从 Server 获取参数（相机参数、算法参数）并更新 UI
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QTimer::singleShot(200, this, [this]() {
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if (m_pRemote && m_bConnected.load())
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{
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WDRemoteServerInfo info = m_pRemote->GetServerInfo();
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if (info.ok)
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{
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updateStreamInfo(info);
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emit serverInfoReceived(info);
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}
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}
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});
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return 0;
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}
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void DroneScrewCtrlPresenter::DeinitApp()
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{
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if (m_pReconnectTimer && m_pReconnectTimer->isActive()) m_pReconnectTimer->stop();
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releasePuller();
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if (m_pRemote)
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{
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m_pRemote->Disconnect();
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delete m_pRemote;
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m_pRemote = nullptr;
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}
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m_bRunning = false;
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m_bConnected = false;
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m_streamUrl.clear();
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}
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void DroneScrewCtrlPresenter::onReconnectTimer()
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{
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if (m_bRunning.load() && m_bConnected.load()) { m_pReconnectTimer->stop(); return; }
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emit statusMessage(QStringLiteral("尝试重新连接..."));
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DeinitApp();
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if (InitApp() == 0) m_pReconnectTimer->stop();
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}
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void DroneScrewCtrlPresenter::updateStreamInfo(const WDRemoteServerInfo& info)
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{
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if (!info.ok) return;
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if (!info.rtspUrl.empty())
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m_streamUrl = QString::fromStdString(info.rtspUrl).trimmed();
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}
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void DroneScrewCtrlPresenter::releasePuller()
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{
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if (!m_pPuller) return;
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m_pPuller->Stop();
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m_pPuller->UnInit();
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delete m_pPuller;
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m_pPuller = nullptr;
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}
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bool DroneScrewCtrlPresenter::initPuller(const QString& streamUrl)
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{
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releasePuller();
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const QString url = streamUrl.trimmed();
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if (url.isEmpty())
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{
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emit statusMessage(QStringLiteral("Server 未返回拉流地址"));
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return false;
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}
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if (!IVrFFMediaPuller::CreateObject(&m_pPuller) || !m_pPuller)
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{
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emit statusMessage(QStringLiteral("创建拉流器失败"));
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return false;
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}
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VrFFPullConfig pc;
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pc.rtspUrl = url.toStdString();
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pc.useTcp = m_cfg.server.rtspUseTcp;
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pc.outputFormat = EFFPullPixelFormat::NV12;
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m_pPuller->SetFrameCallback([this](const VrFFPulledFrame& f) {
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this->onRtspFrame(f);
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});
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const int ret = m_pPuller->Init(pc);
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if (ret != 0)
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{
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emit statusMessage(QStringLiteral("打开拉流地址失败: %1").arg(url));
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releasePuller();
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return false;
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}
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return true;
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}
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bool DroneScrewCtrlPresenter::TriggerSingleDetection()
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{
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return m_pRemote && m_pRemote->RequestSingleDetection() == 0;
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}
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bool DroneScrewCtrlPresenter::StartLiveStream()
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{
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if (!m_pRemote) return false;
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releasePuller();
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m_pRemote->StopWork(WDRemoteWorkMode::Detection);
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bool ok = m_pRemote->StartWork(WDRemoteWorkMode::LiveStream) == 0;
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if (ok)
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{
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WDRemoteServerInfo info = m_pRemote->GetServerInfo();
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if (info.ok)
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{
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updateStreamInfo(info);
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emit serverInfoReceived(info);
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}
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if (!initPuller(m_streamUrl))
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{
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m_pRemote->StopWork(WDRemoteWorkMode::LiveStream);
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return false;
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}
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const int startRet = m_pPuller ? m_pPuller->Start() : -1;
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if (startRet != 0)
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{
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emit statusMessage(QStringLiteral("启动拉流失败: %1").arg(m_streamUrl));
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releasePuller();
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m_pRemote->StopWork(WDRemoteWorkMode::LiveStream);
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return false;
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}
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emit statusMessage(QStringLiteral("Server 已开流: %1").arg(m_streamUrl));
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}
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return ok;
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}
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bool DroneScrewCtrlPresenter::StopLiveStream()
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{
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if (!m_pRemote) return false;
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// 停止 RTSP 拉流
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releasePuller();
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bool ok = m_pRemote->StopWork(WDRemoteWorkMode::LiveStream) == 0;
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if (ok) emit statusMessage(QStringLiteral("Server 已关流"));
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return ok;
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}
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bool DroneScrewCtrlPresenter::StartDetection()
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{
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if (!m_pRemote) return false;
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// 检测模式下停止 RTSP 拉流（改用 ZMQ 原始图像通道）
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releasePuller();
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m_pRemote->StopWork(WDRemoteWorkMode::LiveStream);
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// 使用单目传输模式：仅接收左目图像，减少网络带宽消耗
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m_pRemote->SetDetectMode("mono");
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bool ok = m_pRemote->StartWork(WDRemoteWorkMode::Detection) == 0;
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if (ok) emit statusMessage(QStringLiteral("Server 已开始检测（单目传输）"));
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return ok;
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}
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bool DroneScrewCtrlPresenter::StopDetection()
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{
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if (!m_pRemote) return false;
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bool ok = m_pRemote->StopWork(WDRemoteWorkMode::Detection) == 0;
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if (ok) emit statusMessage(QStringLiteral("Server 已停止检测"));
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return ok;
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}
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bool DroneScrewCtrlPresenter::StopAll()
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{
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if (!m_pRemote) return false;
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// 停止 RTSP 拉流
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releasePuller();
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// 两种模式都停掉，保证服务端回到空闲（幂等）
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m_pRemote->StopWork(WDRemoteWorkMode::Detection, 1000);
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m_pRemote->StopWork(WDRemoteWorkMode::LiveStream, 1000);
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emit statusMessage(QStringLiteral("Server 已停止（实时/检测）"));
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return true;
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}
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bool DroneScrewCtrlPresenter::SetServerExposure(double exposureTime)
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{
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return m_pRemote && m_pRemote->SetExposure(exposureTime) == 0;
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}
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bool DroneScrewCtrlPresenter::SetServerGain(double gain)
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{
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return m_pRemote && m_pRemote->SetGain(gain) == 0;
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}
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bool DroneScrewCtrlPresenter::PushAlgoParams(const DroneScrewAlgoUiParams& params)
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{
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if (!m_pRemote) return false;
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WDRemoteAlgoParams p;
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p.scoreThreshold = params.scoreThreshold;
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p.nmsThreshold = params.nmsThreshold;
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p.inputWidth = params.inputWidth;
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p.inputHeight = params.inputHeight;
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p.modelType = params.modelType;
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p.modelPath = params.modelPath;
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return m_pRemote->SetAlgoParams(p) == 0;
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}
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// =====================================================================
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// WDRemoteReceiver 回调
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// =====================================================================
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void DroneScrewCtrlPresenter::onRemoteDetection(const WDRemoteDetectionFrame& f)
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{
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CtrlDetectionFrame frame = toCtrlFrame(f);
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{
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QMutexLocker lk(&m_lastResultMutex);
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m_lastResult = frame;
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m_bHasResult = true;
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}
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emit detectionResultReady(frame);
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}
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void DroneScrewCtrlPresenter::onRemoteRawImage(const WDRemoteBinocularRawImage& img)
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{
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// 检测模式下板一通过 ZMQ 原始图通道发来左目图像（此时 RTSP 已关闭）。
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// 转为 QImage，走与 RTSP 相同的叠加+显示通路（onOverlayFrameReady 会叠加检测框）。
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if (!img.leftData || img.leftWidth <= 0 || img.leftHeight <= 0) return;
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QImage q;
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switch (img.leftPixelFormat)
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{
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case WDRemotePixelFormat::MONO8:
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q = QImage(reinterpret_cast<const uchar*>(img.leftData),
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img.leftWidth, img.leftHeight, img.leftStride,
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QImage::Format_Grayscale8).copy();
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break;
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case WDRemotePixelFormat::RGB8:
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q = QImage(reinterpret_cast<const uchar*>(img.leftData),
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img.leftWidth, img.leftHeight, img.leftStride,
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QImage::Format_RGB888).copy();
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break;
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case WDRemotePixelFormat::BGR8:
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q = QImage(reinterpret_cast<const uchar*>(img.leftData),
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img.leftWidth, img.leftHeight, img.leftStride,
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QImage::Format_RGB888).rgbSwapped();
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break;
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default:
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return;
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}
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if (!q.isNull()) emit rtspFrameReady(q);
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}
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void DroneScrewCtrlPresenter::onRemoteEvent(WDRemoteEventType ev, const std::string& msg)
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{
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switch (ev)
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{
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case WDRemoteEventType::CONNECTED:
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m_bConnected = true;
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emit serverConnectionChanged(true);
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emit statusMessage(QStringLiteral("控制通道已连接"));
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break;
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case WDRemoteEventType::DISCONNECTED:
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m_bConnected = false;
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emit serverConnectionChanged(false);
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emit statusMessage(QStringLiteral("控制通道已断开"));
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if (m_bRunning.load()) m_pReconnectTimer->start();
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break;
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case WDRemoteEventType::CONNECTION_ERROR:
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m_bConnected = false;
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emit serverConnectionChanged(false);
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emit statusMessage(QStringLiteral("连接错误: %1").arg(QString::fromStdString(msg)));
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if (m_bRunning.load()) m_pReconnectTimer->start();
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break;
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case WDRemoteEventType::REQUEST_TIMEOUT:
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emit statusMessage(QStringLiteral("请求超时"));
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break;
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default: break;
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}
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}
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CtrlDetectionFrame DroneScrewCtrlPresenter::toCtrlFrame(const WDRemoteDetectionFrame& f)
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{
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CtrlDetectionFrame frame;
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frame.frameId = static_cast<qint64>(f.frameId);
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frame.timestampUs = f.timestampUs;
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frame.imageWidth = f.imageWidth;
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frame.imageHeight = f.imageHeight;
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frame.success = f.success;
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frame.errorCode = f.errorCode;
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frame.message = QString::fromStdString(f.message);
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frame.boxes.reserve(f.boxes.size());
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for (const auto& b : f.boxes)
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{
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CtrlDetectionBox cb;
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cb.classId = b.classId;
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cb.score = b.score;
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cb.x = b.x;
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cb.y = b.y;
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cb.width = b.width;
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cb.height = b.height;
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frame.boxes.push_back(cb);
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}
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frame.distances.reserve(f.distances.size());
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for (const auto& d : f.distances)
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{
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CtrlDetectionDistance cd;
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cd.fromId = d.fromId;
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cd.toId = d.toId;
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cd.distanceMm = d.distanceMm;
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frame.distances.push_back(cd);
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}
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return frame;
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}
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// =====================================================================
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// RTSP
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// =====================================================================
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void DroneScrewCtrlPresenter::onRtspFrame(const VrFFPulledFrame& frame)
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{
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if (!frame.data || frame.width == 0 || frame.height == 0) return;
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QImage img;
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if (frame.format == EFFPullPixelFormat::NV12)
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{
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img = QImage(static_cast<const uchar*>(frame.data),
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frame.width, frame.height, frame.stride,
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QImage::Format_Grayscale8).copy();
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}
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else if (frame.format == EFFPullPixelFormat::RGBA32)
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{
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img = QImage(static_cast<const uchar*>(frame.data),
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frame.width, frame.height, frame.stride,
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QImage::Format_RGBA8888).copy();
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}
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else if (frame.format == EFFPullPixelFormat::BGR24)
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{
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img = QImage(static_cast<const uchar*>(frame.data),
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frame.width, frame.height, frame.stride,
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QImage::Format_BGR888).copy();
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}
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else
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{
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return;
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}
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emit rtspFrameReady(img);
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}
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void DroneScrewCtrlPresenter::onOverlayFrameReady(const QImage& img)
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{
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QImage frame = img;
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CtrlDetectionFrame det;
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bool hasDet = false;
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{
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QMutexLocker lk(&m_lastResultMutex);
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hasDet = m_bHasResult;
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if (hasDet) det = m_lastResult;
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}
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if (hasDet) overlayDetectionBoxes(frame, det);
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{
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QMutexLocker lk(&m_lastImgMutex);
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m_lastDisplay = frame;
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}
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if (m_pReceiver) m_pReceiver->OnRtspFrame(frame);
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}
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void DroneScrewCtrlPresenter::onResultReceived(const CtrlDetectionFrame& result)
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{
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if (m_pReceiver) m_pReceiver->OnDetectionResult(result);
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}
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void DroneScrewCtrlPresenter::overlayDetectionBoxes(QImage& img, const CtrlDetectionFrame& frame)
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{
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if (!m_cfg.display.drawBoxes || frame.boxes.empty()) return;
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QPainter p(&img);
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QPen pen(QColor(0, 220, 0), m_cfg.display.boxThickness);
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p.setPen(pen);
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QFont f = p.font(); f.setPointSize(10); p.setFont(f);
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const double scaleX = (frame.imageWidth > 0)
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? static_cast<double>(img.width()) / frame.imageWidth
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: 1.0;
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const double scaleY = (frame.imageHeight > 0)
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? static_cast<double>(img.height()) / frame.imageHeight
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: 1.0;
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for (const auto& b : frame.boxes)
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{
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QRect r(static_cast<int>(b.x * scaleX),
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static_cast<int>(b.y * scaleY),
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static_cast<int>(b.width * scaleX),
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static_cast<int>(b.height * scaleY));
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p.drawRect(r);
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if (m_cfg.display.drawScores || m_cfg.display.drawClassId)
|
||
{
|
||
QString label;
|
||
if (m_cfg.display.drawClassId) label += QString("cls=%1 ").arg(b.classId);
|
||
if (m_cfg.display.drawScores) label += QString("%1").arg(b.score, 0, 'f', 2);
|
||
p.drawText(r.topLeft() + QPoint(0, -3), label);
|
||
}
|
||
}
|
||
}
|
||
|
||
QImage DroneScrewCtrlPresenter::GetLastDisplayImage() const
|
||
{
|
||
QMutexLocker lk(&m_lastImgMutex);
|
||
return m_lastDisplay;
|
||
}
|