1232 lines
43 KiB
C++
1232 lines
43 KiB
C++
#include "BasePresenter.h"
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#include "VrLog.h"
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#include "VrError.h"
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#include <fstream>
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#include <QFileInfo>
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#include <QDir>
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#include <QDateTime>
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#include <QString>
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#include <QCoreApplication>
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#include "PathManager.h"
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#include "IYModbusTCPServer.h"
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BasePresenter::BasePresenter(QObject *parent)
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: QObject(parent)
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, m_currentCameraIndex(0)
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, m_bCameraConnected(false)
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, m_bAlgoDetectThreadRunning(false)
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, m_pCameraReconnectTimer(nullptr)
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{
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// 创建相机重连定时器
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m_pCameraReconnectTimer = new QTimer(this);
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m_pCameraReconnectTimer->setInterval(2000); // 默认2秒
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connect(m_pCameraReconnectTimer, &QTimer::timeout, this, &BasePresenter::OnCameraReconnectTimer);
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}
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BasePresenter::~BasePresenter()
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{
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// 清除状态回调指针，防止后续回调访问
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m_pStatusCallback = nullptr;
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// 等待初始化线程完成
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if (m_initThread.joinable()) {
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m_initThread.join();
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}
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// 处理待处理的 Qt 事件，确保 QueuedConnection 的回调执行时检查到 m_pStatusCallback 为空
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QCoreApplication::processEvents();
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// 停止检测线程
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StopAlgoDetectThread();
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// 停止调试数据异步存储
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m_debugDataSaver.Stop();
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// 释放检测数据缓存中的动态内存
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ClearDetectionDataCache();
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// 停止重连定时器
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StopCameraReconnectTimer();
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// 停止ModbusTCP服务器
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StopModbusServer();
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// 清理相机设备
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for (size_t i = 0; i < m_vrEyeDeviceList.size(); ++i) {
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auto& camera = m_vrEyeDeviceList[i];
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if (camera.second) {
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camera.second->CloseDevice();
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delete camera.second;
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camera.second = nullptr;
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}
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}
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m_vrEyeDeviceList.clear();
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// 清理相机回调上下文
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for (auto& pair : m_cameraContexts) {
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delete pair.second;
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}
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m_cameraContexts.clear();
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// 清理各相机独立数据缓存
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ClearAllCameraDataCaches();
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LOG_INFO("BasePresenter destructor finished\n");
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}
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int BasePresenter::Init()
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{
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LOG_INFO("BasePresenter::Init()\n");
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// 在后台线程中执行初始化
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m_initThread = std::thread([this]() {
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int nRet = InitApp();
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if (nRet != SUCCESS) {
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LOG_ERROR("InitApp failed: %d\n", nRet);
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return;
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}
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// 初始化算法参数
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nRet = InitAlgoParams();
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LOG_INFO("Algorithm parameters initialization result: %d\n", nRet);
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// 启动ModbusTCP服务（子类可通过重写 ShouldStartModbusServer() 跳过）
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if (ShouldStartModbusServer()) {
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int modbusRet = StartModbusServer(5020);
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if (modbusRet == SUCCESS) {
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LOG_INFO("ModbusTCP server started on port 5020\n");
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} else {
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LOG_WARNING("Failed to start ModbusTCP server\n");
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}
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}
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SetWorkStatus(WorkStatus::Ready);
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});
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return SUCCESS;
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}
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int BasePresenter::StartDetection(int cameraIndex, bool isAuto)
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{
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LOG_INFO("[BasePresenter] StartDetection - cameraIndex=%d, isAuto=%d, simultaneousCount=%d\n",
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cameraIndex, isAuto, m_scanConfig.simultaneousCount);
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// ===== 分支1: cameraIndex > 0，单相机模式 =====
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if (cameraIndex > 0) {
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m_currentCameraIndex = cameraIndex;
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int currentCamera = m_currentCameraIndex;
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if (m_vrEyeDeviceList.empty()) {
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LOG_ERROR("[BasePresenter] No camera device found\n");
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return ERR_CODE(DEV_NOT_FIND);
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}
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ClearDetectionDataCache();
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int arrayIndex = currentCamera - 1;
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if (arrayIndex < 0 || arrayIndex >= static_cast<int>(m_vrEyeDeviceList.size()) ||
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m_vrEyeDeviceList[arrayIndex].second == nullptr) {
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LOG_ERROR("[BasePresenter] Camera %d is not connected or invalid\n", currentCamera);
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return ERR_CODE(DEV_NOT_FIND);
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}
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SetWorkStatus(WorkStatus::Working);
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IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrayIndex].second;
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EVzResultDataType eDataType = GetDetectionDataType();
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VzNL_OnNotifyStatusCBEx statusCallback = GetCameraStatusCallback();
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VzNL_AutoOutputLaserLineExCB detectCallback = GetDetectionCallback();
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// 使用相机专属的回调上下文
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CameraCallbackContext* ctx = m_cameraContexts[currentCamera];
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pDevice->SetStatusCallback(statusCallback, ctx);
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int nRet = pDevice->StartDetect(detectCallback, eDataType, ctx);
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LOG_INFO("[BasePresenter] Camera %d start detection result: %d\n", currentCamera, nRet);
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if (nRet == SUCCESS) {
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StartAlgoDetectThread();
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}
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LOG_INFO("[BasePresenter] StartDetection finish\n");
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return nRet;
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}
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// ===== 分支2: cameraIndex <= 0 且为单相机模式，使用默认相机 =====
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if (m_scanConfig.simultaneousCount == 1) {
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cameraIndex = m_currentCameraIndex;
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if (cameraIndex <= 0) cameraIndex = 1;
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m_currentCameraIndex = cameraIndex;
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int currentCamera = m_currentCameraIndex;
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if (m_vrEyeDeviceList.empty()) {
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LOG_ERROR("[BasePresenter] No camera device found\n");
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return ERR_CODE(DEV_NOT_FIND);
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}
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ClearDetectionDataCache();
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int arrayIndex = currentCamera - 1;
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if (arrayIndex < 0 || arrayIndex >= static_cast<int>(m_vrEyeDeviceList.size()) ||
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m_vrEyeDeviceList[arrayIndex].second == nullptr) {
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LOG_ERROR("[BasePresenter] Camera %d is not connected or invalid\n", currentCamera);
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return ERR_CODE(DEV_NOT_FIND);
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}
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SetWorkStatus(WorkStatus::Working);
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IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrayIndex].second;
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EVzResultDataType eDataType = GetDetectionDataType();
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VzNL_OnNotifyStatusCBEx statusCallback = GetCameraStatusCallback();
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VzNL_AutoOutputLaserLineExCB detectCallback = GetDetectionCallback();
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CameraCallbackContext* ctx = m_cameraContexts[currentCamera];
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pDevice->SetStatusCallback(statusCallback, ctx);
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int nRet = pDevice->StartDetect(detectCallback, eDataType, ctx);
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LOG_INFO("[BasePresenter] Camera %d start detection result: %d\n", currentCamera, nRet);
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if (nRet == SUCCESS) {
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StartAlgoDetectThread();
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}
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LOG_INFO("[BasePresenter] StartDetection finish\n");
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return nRet;
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}
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// ===== 分支3: 多相机同时/分批扫描 =====
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LOG_INFO("[BasePresenter] 进入多相机分批扫描模式\n");
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// 停止当前正在进行的检测
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if (m_batchInProgress.load() || m_bAlgoDetectThreadRunning) {
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StopDetection();
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}
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// 收集本轮所有已连接的相机
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m_batchCameraList.clear();
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for (int i = 0; i < static_cast<int>(m_vrEyeDeviceList.size()); i++) {
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if (m_vrEyeDeviceList[i].second != nullptr) {
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m_batchCameraList.push_back(i + 1); // 1-based index
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}
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}
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if (m_batchCameraList.empty()) {
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LOG_ERROR("[BasePresenter] No connected cameras for batch scan\n");
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return ERR_CODE(DEV_NOT_FIND);
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}
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// 计算每批大小
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int totalCameras = static_cast<int>(m_batchCameraList.size());
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if (m_scanConfig.simultaneousCount == 0) {
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m_batchSize = totalCameras;
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} else {
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m_batchSize = std::min(m_scanConfig.simultaneousCount, totalCameras);
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}
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// 初始化分批状态
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m_batchStartIndex = 0;
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m_batchFinishedCount = 0;
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m_batchInProgress = true;
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// 清空所有 per-camera 缓存
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ClearAllCameraDataCaches();
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SetWorkStatus(WorkStatus::Working);
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// 启动算法检测线程
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if (!m_bAlgoDetectThreadRunning) {
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StartAlgoDetectThread();
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}
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// 启动第一批相机扫描
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StartBatchScan();
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LOG_INFO("[BasePresenter] 分批扫描已启动: total=%d, batchSize=%d\n", totalCameras, m_batchSize);
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return SUCCESS;
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}
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int BasePresenter::StopDetection()
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{
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LOG_INFO("[BasePresenter] StopDetection\n");
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// 停止所有相机的检测
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for (size_t i = 0; i < m_vrEyeDeviceList.size(); ++i) {
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IVrEyeDevice* pDevice = m_vrEyeDeviceList[i].second;
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if (pDevice) {
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int ret = pDevice->StopDetect();
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if (ret == 0) {
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LOG_INFO("[BasePresenter] Camera %zu stop detection successfully\n", i + 1);
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} else {
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LOG_WARNING("[BasePresenter] Camera %zu stop detection failed, error code: %d\n", i + 1, ret);
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}
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}
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}
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// 停止算法检测线程
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StopAlgoDetectThread();
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// 清理多相机分批扫描状态
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{
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std::lock_guard<std::mutex> lock(m_batchStateMutex);
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m_batchInProgress = false;
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m_batchFinishedCount = 0;
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m_batchCameraList.clear();
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}
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ClearAllCameraDataCaches();
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return SUCCESS;
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}
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int BasePresenter::GetDetectionDataCacheSize() const
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{
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std::lock_guard<std::mutex> lock(const_cast<std::mutex&>(m_detectionDataMutex));
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return static_cast<int>(m_detectionDataCache.size());
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}
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int BasePresenter::SaveDetectionDataToFile(const std::string& filePath)
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{ std::lock_guard<std::mutex> lock(m_detectionDataMutex);
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if(m_detectionDataCache.empty()){
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LOG_WARNING("[BasePresenter] 检测数据缓存为空，无数据可保存\n");
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return ERR_CODE(DATA_ERR_INVALID);
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}
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int lineNum = static_cast<int>(m_detectionDataCache.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 = m_dataLoader.SaveLaserScanData(filePath, m_detectionDataCache, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
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if (result == SUCCESS) {
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LOG_INFO("[BasePresenter] 成功保存 %d 行检测数据到文件: %s\n", lineNum, filePath.c_str());
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} else {
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LOG_ERROR("[BasePresenter] 保存检测数据失败，错误: %s\n", m_dataLoader.GetLastError().c_str());
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}
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return result;
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}
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int BasePresenter::LoadDebugDataAndDetect(const std::string& filePath)
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{
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SetWorkStatus(WorkStatus::Working);
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LOG_INFO("[BasePresenter] Loading debug data from file: %s\n", filePath.c_str());
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int lineNum = 0;
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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 = SUCCESS;
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// 1. 清空现有的检测数据缓存
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ClearDetectionDataCache();
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std::string fileName = QFileInfo(QString::fromStdString(filePath)).fileName().toStdString();
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OnStatusUpdate(QString("加载文件:%1").arg(fileName.c_str()).toStdString());
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// 2. 加载数据到缓存
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{
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std::lock_guard<std::mutex> lock(m_detectionDataMutex);
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result = m_dataLoader.LoadLaserScanData(filePath, m_detectionDataCache, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
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}
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if (result != SUCCESS) {
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LOG_ERROR("[BasePresenter] 加载调试数据失败: %s\n", m_dataLoader.GetLastError().c_str());
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OnStatusUpdate("调试数据加载失败");
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return result;
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}
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OnStatusUpdate(QString("成功加载 %1 行调试数据").arg(lineNum).toStdString());
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LOG_INFO("[BasePresenter] 成功加载 %d 行调试数据\n", lineNum);
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// 3. 执行检测任务
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result = DetectTask();
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return result;
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}
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void BasePresenter::SetCameraStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void* param)
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{
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for (size_t i = 0; i < m_vrEyeDeviceList.size(); i++) {
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IVrEyeDevice* pDevice = m_vrEyeDeviceList[i].second;
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if (pDevice) {
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pDevice->SetStatusCallback(fNotify, param);
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LOG_DEBUG("[BasePresenter] Status callback set for camera %zu\n", i + 1);
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}
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}
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}
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void BasePresenter::SetWorkStatus(WorkStatus status)
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{
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if (m_currentWorkStatus != status) {
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m_currentWorkStatus = status;
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LOG_INFO("[BasePresenter] Work status changed to: %s\n", WorkStatusToString(status).c_str());
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// 调用虚函数通知子类，子类可以在此调用UI回调
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OnWorkStatusChanged(status);
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}
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}
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// ============ InitCamera 完整实现 ============
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int BasePresenter::InitCamera(std::vector<DeviceInfo>& cameraList, bool bRGB, bool bSwing)
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{
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LOG_INFO("[BasePresenter] InitCamera\n");
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m_bRGB = bRGB;
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m_bSwing = bSwing;
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// 保存相机配置信息，用于重连尝试
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m_expectedList = cameraList;
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// 通知UI相机个数
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int cameraCount = cameraList.size();
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OnCameraCountChanged(cameraCount);
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LOG_INFO("[BasePresenter] init eyedevice list\n");
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// 初始化相机列表，预分配空间
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m_vrEyeDeviceList.resize(cameraCount, std::make_pair("", nullptr));
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LOG_INFO("[BasePresenter] camera count : %d\n", cameraCount);
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for(int i = 0; i < cameraCount; i++)
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{
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m_vrEyeDeviceList[i] = std::make_pair(cameraList[i].name, nullptr);
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LOG_INFO("[BasePresenter] camera %d name : %s, ip : %s\n", i, cameraList[i].name.c_str(), cameraList[i].ip.c_str());
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}
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// 尝试初始化所有相机
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bool allCamerasConnected = true;
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if(cameraCount > 0){
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// 循环打开所有配置的相机
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for (int i = 0; i < cameraCount; i++) {
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int cameraIndex = i + 1; // 相机索引从1开始
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int nRet = OpenDevice(cameraIndex, cameraList[i].name.c_str(), cameraList[i].ip.c_str(), bRGB, bSwing);
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bool isConnected = (nRet == SUCCESS);
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// 通知相机状态变化
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OnCameraStatusChanged(cameraIndex, isConnected);
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if (!isConnected) {
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allCamerasConnected = false;
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LOG_WARNING("[BasePresenter] 相机%d (%s) 连接失败\n", cameraIndex, cameraList[i].name.c_str());
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} else {
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LOG_INFO("[BasePresenter] 相机%d (%s) 连接成功\n", cameraIndex, cameraList[i].name.c_str());
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}
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}
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} else {
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// 没有配置相机，创建一个默认项
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m_vrEyeDeviceList.resize(1, std::make_pair("", nullptr));
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DeviceInfo devInfo;
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devInfo.index = 1;
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devInfo.ip = "";
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devInfo.name = "相机";
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m_expectedList.push_back(devInfo);
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int nRet = OpenDevice(1, "相机", nullptr, bRGB, bSwing);
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if (nRet != SUCCESS) {
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allCamerasConnected = false;
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}
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// 通知相机状态变化
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OnCameraStatusChanged(1, SUCCESS == nRet);
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}
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// 检查连接状态
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int connectedCount = 0;
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for (const auto& device : m_vrEyeDeviceList) {
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if (device.second != nullptr) {
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connectedCount++;
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}
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}
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m_bCameraConnected = (connectedCount > 0); // 至少有一个相机连接成功
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// 设置默认相机索引为第一个连接的相机
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m_currentCameraIndex = 1; // 默认从1开始
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for (int i = 0; i < static_cast<int>(m_vrEyeDeviceList.size()); i++) {
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if (m_vrEyeDeviceList[i].second != nullptr) {
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m_currentCameraIndex = i + 1; // 找到第一个连接的相机
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break;
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}
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}
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LOG_INFO("[BasePresenter] 相机初始化完成: %d/%d 台相机连接成功, 默认相机索引: %d\n",
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connectedCount, m_expectedList.size(), m_currentCameraIndex);
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// 如果不是所有期望的相机都连接成功，启动重连定时器
|
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if (!allCamerasConnected && !m_expectedList.empty()) {
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LOG_INFO("[BasePresenter] 部分相机未连接 (%d/%d)，启动重连定时器\n", connectedCount, m_expectedList.size());
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StartCameraReconnectTimer();
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} else if (allCamerasConnected) {
|
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LOG_INFO("[BasePresenter] 所有相机连接成功\n");
|
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// 确保定时器停止
|
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StopCameraReconnectTimer();
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} else {
|
||
LOG_WARNING("[BasePresenter] 没有配置相机 (expectedCount=%d)\n", m_expectedList.size());
|
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}
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return SUCCESS;
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}
|
||
|
||
// ============ CreateDevice 默认实现 ============
|
||
int BasePresenter::CreateDevice(IVrEyeDevice** ppDevice)
|
||
{
|
||
if (!ppDevice) {
|
||
return ERR_CODE(DEV_ARG_INVAILD);
|
||
}
|
||
|
||
// 默认创建VzNLSDK设备
|
||
IVrEyeDevice::CreateObject(ppDevice);
|
||
if (*ppDevice) {
|
||
LOG_INFO("[BasePresenter] Created VzNL SDK device (default)\n");
|
||
return SUCCESS;
|
||
}
|
||
|
||
LOG_ERROR("[BasePresenter] Failed to create VzNL SDK device\n");
|
||
return ERR_CODE(DEV_OPEN_ERR);
|
||
}
|
||
|
||
// ============ OpenDevice 完整实现 ============
|
||
int BasePresenter::OpenDevice(int cameraIndex, const char* cameraName, const char* cameraIp, bool bRGB, bool bSwing)
|
||
{
|
||
LOG_INFO("[BasePresenter] OpenDevice - index %d (%s, %s)\n",
|
||
cameraIndex, cameraName, cameraIp ? cameraIp : "NULL");
|
||
|
||
// 1. 通过虚函数创建设备对象（子类可重写以创建不同类型的设备）
|
||
IVrEyeDevice* pDevice = nullptr;
|
||
int nCreateRet = CreateDevice(&pDevice);
|
||
if (nCreateRet != SUCCESS || !pDevice) {
|
||
LOG_ERROR("[BasePresenter] Failed to create device object, result: %d\n", nCreateRet);
|
||
return ERR_CODE(DEV_OPEN_ERR);
|
||
}
|
||
|
||
// 2. 初始化设备
|
||
int nRet = pDevice->InitDevice();
|
||
if(nRet != SUCCESS){
|
||
delete pDevice;
|
||
LOG_ERROR("[BasePresenter] InitDevice failed, error code: %d\n", nRet);
|
||
}
|
||
ERR_CODE_RETURN(nRet);
|
||
|
||
// 3. 打开相机设备
|
||
nRet = pDevice->OpenDevice(cameraIp, bRGB, bSwing);
|
||
LOG_INFO("[BasePresenter] OpenDevice camera %d (%s/%s) result: %d \n", cameraIndex,
|
||
bRGB ? "RGB" : "Normal", bSwing ? "Swing" : "Normal", nRet);
|
||
|
||
// 4. 处理打开结果
|
||
bool cameraConnected = (SUCCESS == nRet);
|
||
if(!cameraConnected){
|
||
delete pDevice; // 释放失败的设备
|
||
pDevice = nullptr;
|
||
} else {
|
||
|
||
// 释放旧的回调上下文（重连场景）
|
||
auto oldCtx = m_cameraContexts.find(cameraIndex);
|
||
if (oldCtx != m_cameraContexts.end()) {
|
||
delete oldCtx->second;
|
||
}
|
||
|
||
// 创建新的回调上下文，携带相机索引
|
||
CameraCallbackContext* ctx = new CameraCallbackContext{this, cameraIndex};
|
||
m_cameraContexts[cameraIndex] = ctx;
|
||
|
||
// 设置状态回调（使用带相机索引的上下文）
|
||
VzNL_OnNotifyStatusCBEx callback = GetCameraStatusCallback();
|
||
nRet = pDevice->SetStatusCallback(callback, ctx);
|
||
LOG_DEBUG("[BasePresenter] SetStatusCallback result: %d\n", nRet);
|
||
if (nRet != SUCCESS) {
|
||
delete pDevice;
|
||
pDevice = nullptr;
|
||
}
|
||
}
|
||
LOG_DEBUG("[BasePresenter] Camera %d (%s) connected %s\n", cameraIndex, cameraName, cameraConnected ? "success" : "failed");
|
||
|
||
// 6. 存储到设备列表
|
||
int arrIdx = cameraIndex - 1;
|
||
if(m_vrEyeDeviceList.size() > static_cast<size_t>(arrIdx)){
|
||
m_vrEyeDeviceList[arrIdx] = std::make_pair(cameraName, pDevice);
|
||
} else {
|
||
LOG_WARNING("[BasePresenter] Camera index %d out of range, list size: %zu\n", cameraIndex, m_vrEyeDeviceList.size());
|
||
}
|
||
|
||
return nRet;
|
||
}
|
||
|
||
// ============ AlgoDetectThreadFunc 实现 ============
|
||
void BasePresenter::AlgoDetectThreadFunc()
|
||
{
|
||
LOG_INFO("[BasePresenter] 算法检测线程启动\n");
|
||
|
||
while(m_bAlgoDetectThreadRunning)
|
||
{
|
||
std::unique_lock<std::mutex> lock(m_algoDetectMutex);
|
||
|
||
// 等待检测触发
|
||
m_algoDetectCondition.wait(lock);
|
||
|
||
if(!m_bAlgoDetectThreadRunning){
|
||
break;
|
||
}
|
||
|
||
if (m_batchInProgress.load()) {
|
||
// 多相机分批模式：检查批次是否完成并处理
|
||
ProcessBatchIfReady();
|
||
} else {
|
||
// 单相机模式：直接执行检测任务
|
||
LOG_INFO("[BasePresenter] 检测线程被唤醒，开始执行检测任务\n");
|
||
int nRet = DetectTask();
|
||
if(nRet != SUCCESS){
|
||
LOG_ERROR("[BasePresenter] 检测任务执行失败，错误码: %d\n", nRet);
|
||
} else {
|
||
LOG_INFO("[BasePresenter] 检测任务执行成功\n");
|
||
}
|
||
}
|
||
}
|
||
|
||
LOG_INFO("[BasePresenter] 算法检测线程退出\n");
|
||
}
|
||
|
||
// ============ DetectTask 实现 ============
|
||
int BasePresenter::DetectTask()
|
||
{
|
||
LOG_INFO("[BasePresenter] DetectTask - 开始执行检测任务\n");
|
||
|
||
// 获取调试参数
|
||
VrDebugParam debugParam = GetDebugParam();
|
||
|
||
// 详细日志模式
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
LOG_INFO("[BasePresenter] 调试模式已启用\n");
|
||
LOG_INFO("[BasePresenter] - savePointCloud: %s\n", debugParam.savePointCloud ? "true" : "false");
|
||
LOG_INFO("[BasePresenter] - saveDebugImage: %s\n", debugParam.saveDebugImage ? "true" : "false");
|
||
LOG_INFO("[BasePresenter] - debugOutputPath: %s\n", debugParam.debugOutputPath.c_str());
|
||
}
|
||
|
||
// 1. 把数据从 cache 中 move 出来（O(1)），仅持锁极短时间
|
||
// 避免后续深拷贝/算法处理期间持锁阻塞相机回调线程的 AddDetectionDataToCache
|
||
std::vector<std::pair<EVzResultDataType, SVzLaserLineData>> localData;
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_detectionDataMutex);
|
||
if (m_detectionDataCache.empty()) {
|
||
LOG_WARNING("[BasePresenter] 检测数据缓存为空\n");
|
||
SetWorkStatus(WorkStatus::Error);
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
LOG_INFO("[BasePresenter] 检测数据缓存大小: %zu\n", m_detectionDataCache.size());
|
||
localData = std::move(m_detectionDataCache);
|
||
m_detectionDataCache.clear();
|
||
}
|
||
|
||
// 2. 调试模式 - 异步保存点云数据（不持 m_detectionDataMutex 锁，深拷贝在 SaveAsync 内进行）
|
||
if (debugParam.enableDebug && debugParam.savePointCloud) {
|
||
// 确定输出路径
|
||
QString outputPath;
|
||
if (debugParam.debugOutputPath.empty()) {
|
||
outputPath = QCoreApplication::applicationDirPath() + "/debug";
|
||
} else {
|
||
outputPath = QString::fromStdString(debugParam.debugOutputPath);
|
||
}
|
||
|
||
// 确保输出根目录存在
|
||
QDir dir(outputPath);
|
||
if (!dir.exists()) {
|
||
dir.mkpath(".");
|
||
}
|
||
|
||
// 在检测时刻生成时间戳（毫秒精度），文件名将形如 {设备名}_YYYYMMDD_HHmmsszzz.txt
|
||
std::string timestamp = QDateTime::currentDateTime().toString("yyyyMMdd_HHmmsszzz").toStdString();
|
||
|
||
// 获取当前相机名称，用于生成更直观的文件名
|
||
std::string deviceName;
|
||
int arrayIndex = m_currentCameraIndex - 1;
|
||
LOG_INFO("[BasePresenter] currentCameraIndex: %d, arrayIndex: %d\n", m_currentCameraIndex, arrayIndex);
|
||
if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
|
||
deviceName = m_vrEyeDeviceList[arrayIndex].first;
|
||
}
|
||
|
||
// 子类可附加模式标签（如轮毂/工装），仅作用于保存文件名
|
||
std::string saveTag = GetSaveDeviceTag();
|
||
if (!saveTag.empty() && !deviceName.empty()) {
|
||
deviceName = deviceName + "_" + saveTag;
|
||
}
|
||
|
||
if (debugParam.printDetailLog) {
|
||
LOG_INFO("[BasePresenter] 提交点云数据异步保存任务，路径: %s，时间: %s，设备: %s\n", outputPath.toStdString().c_str(), timestamp.c_str(), deviceName.c_str());
|
||
}
|
||
|
||
// 不持锁调用 SaveAsync，SaveAsync 内部对 localData 做深拷贝
|
||
// 此时相机回调线程可并行往 m_detectionDataCache 添加新一轮数据
|
||
m_debugDataSaver.SaveAsync(outputPath.toStdString(), timestamp, localData, deviceName);
|
||
}
|
||
|
||
// 3. 调用子类实现的算法检测，使用 local 副本（不持锁）
|
||
LOG_INFO("[BasePresenter] ProcessAlgoDetection 执行算法检测\n");
|
||
int nRet = ProcessAlgoDetection(localData);
|
||
LOG_INFO("[BasePresenter] ProcessAlgoDetection 执行结果: %d\n", nRet);
|
||
|
||
// 4. 算法完成后把数据还回 m_detectionDataCache，便于 SaveDetectionDataToFile 等接口访问
|
||
// 若 cache 已被新一轮扫描填充，则直接释放 local，避免覆盖新数据
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_detectionDataMutex);
|
||
if (m_detectionDataCache.empty()) {
|
||
m_detectionDataCache = std::move(localData);
|
||
} else {
|
||
m_dataLoader.FreeLaserScanData(localData);
|
||
}
|
||
}
|
||
|
||
// 批量模式下不在这里设置Completed，由ProcessBatchIfReady统一设置
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||
if (!m_batchInProgress.load()) {
|
||
SetWorkStatus(WorkStatus::Completed);
|
||
}
|
||
}
|
||
|
||
LOG_INFO("[BasePresenter] DetectTask - 检测任务执行成功\n");
|
||
return nRet;
|
||
}
|
||
|
||
void BasePresenter::StartAlgoDetectThread()
|
||
{
|
||
if (m_bAlgoDetectThreadRunning) {
|
||
LOG_WARNING("[BasePresenter] 算法检测线程已经在运行\n");
|
||
return;
|
||
}
|
||
|
||
m_bAlgoDetectThreadRunning = true;
|
||
|
||
// 启动检测线程（不再detach，使用joinable线程）
|
||
m_algoDetectThread = std::thread(&BasePresenter::AlgoDetectThreadFunc, this);
|
||
|
||
LOG_INFO("[BasePresenter] 算法检测线程已启动\n");
|
||
}
|
||
|
||
void BasePresenter::StopAlgoDetectThread()
|
||
{
|
||
if (!m_bAlgoDetectThreadRunning) {
|
||
return;
|
||
}
|
||
|
||
LOG_INFO("[BasePresenter] 正在停止算法检测线程...\n");
|
||
|
||
m_bAlgoDetectThreadRunning = false;
|
||
|
||
// 唤醒可能在等待的线程
|
||
m_algoDetectCondition.notify_all();
|
||
|
||
// 等待线程退出
|
||
if (m_algoDetectThread.joinable()) {
|
||
m_algoDetectThread.join();
|
||
}
|
||
|
||
LOG_INFO("[BasePresenter] 算法检测线程已停止\n");
|
||
}
|
||
|
||
void BasePresenter::ClearDetectionDataCache()
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_detectionDataMutex);
|
||
// 释放加载的数据
|
||
m_dataLoader.FreeLaserScanData(m_detectionDataCache);
|
||
LOG_DEBUG("[BasePresenter] 检测数据缓存已清空\n");
|
||
}
|
||
|
||
void BasePresenter::AddDetectionDataToCache(EVzResultDataType dataType, const SVzLaserLineData& laserData)
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_detectionDataMutex);
|
||
m_detectionDataCache.push_back(std::make_pair(dataType, laserData));
|
||
}
|
||
|
||
// 通用的静态检测数据回调函数实现
|
||
void BasePresenter::_StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData)
|
||
{
|
||
// 验证输入参数
|
||
if (!pLaserLinePoint) {
|
||
LOG_WARNING("[BasePresenter Detection Callback] pLaserLinePoint is null\n");
|
||
return;
|
||
}
|
||
|
||
if (pLaserLinePoint->nPointCount <= 0) {
|
||
LOG_WARNING("[BasePresenter Detection Callback] Point count is zero or negative: %d\n", pLaserLinePoint->nPointCount);
|
||
return;
|
||
}
|
||
|
||
if (!pLaserLinePoint->p3DPoint) {
|
||
LOG_WARNING("[BasePresenter Detection Callback] p3DPoint is null\n");
|
||
return;
|
||
}
|
||
|
||
// 提取回调上下文（多相机模式下携带相机索引）
|
||
CameraCallbackContext* ctx = static_cast<CameraCallbackContext*>(pUserData);
|
||
if (!ctx || !ctx->presenter) {
|
||
LOG_ERROR("[BasePresenter Detection Callback] invalid context\n");
|
||
return;
|
||
}
|
||
BasePresenter* pThis = ctx->presenter;
|
||
int cameraIndex = ctx->cameraIndex;
|
||
|
||
// 创建 SVzLaserLineData 副本
|
||
SVzLaserLineData lineData;
|
||
memset(&lineData, 0, sizeof(SVzLaserLineData));
|
||
|
||
// 根据数据类型分配和复制点云数据
|
||
if (eDataType == keResultDataType_Position) {
|
||
// 复制 SVzNL3DPosition 数据
|
||
if (pLaserLinePoint->p3DPoint && pLaserLinePoint->nPointCount > 0) {
|
||
lineData.p3DPoint = new SVzNL3DPosition[pLaserLinePoint->nPointCount];
|
||
if (lineData.p3DPoint) {
|
||
if(pLaserLinePoint->p3DPoint){
|
||
memcpy(lineData.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNL3DPosition) * pLaserLinePoint->nPointCount);
|
||
} else {
|
||
memset(lineData.p3DPoint, 0, sizeof(SVzNL3DPosition) * pLaserLinePoint->nPointCount);
|
||
}
|
||
}
|
||
lineData.p2DPoint = new SVzNL2DPosition[pLaserLinePoint->nPointCount];
|
||
if (lineData.p2DPoint){
|
||
if(pLaserLinePoint->p2DPoint) {
|
||
memcpy(lineData.p2DPoint, pLaserLinePoint->p2DPoint, sizeof(SVzNL2DPosition) * pLaserLinePoint->nPointCount);
|
||
} else {
|
||
memset(lineData.p2DPoint, 0, sizeof(SVzNL2DPosition) * pLaserLinePoint->nPointCount);
|
||
}
|
||
}
|
||
}
|
||
} else if (eDataType == keResultDataType_PointXYZRGBA) {
|
||
// 复制 SVzNLPointXYZRGBA 数据
|
||
if (pLaserLinePoint->p3DPoint && pLaserLinePoint->nPointCount > 0) {
|
||
lineData.p3DPoint = new SVzNLPointXYZRGBA[pLaserLinePoint->nPointCount];
|
||
if (lineData.p3DPoint) {
|
||
if(pLaserLinePoint->p3DPoint){
|
||
memcpy(lineData.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNLPointXYZRGBA) * pLaserLinePoint->nPointCount);
|
||
} else {
|
||
memset(lineData.p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * pLaserLinePoint->nPointCount);
|
||
}
|
||
}
|
||
lineData.p2DPoint = new SVzNL2DLRPoint[pLaserLinePoint->nPointCount];
|
||
if (lineData.p2DPoint) {
|
||
if(pLaserLinePoint->p2DPoint) {
|
||
memcpy(lineData.p2DPoint, pLaserLinePoint->p2DPoint, sizeof(SVzNL2DLRPoint) * pLaserLinePoint->nPointCount);
|
||
} else {
|
||
memset(lineData.p2DPoint, 0, sizeof(SVzNL2DLRPoint) * pLaserLinePoint->nPointCount);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
// 复制其他字段
|
||
lineData.nPointCount = pLaserLinePoint->nPointCount;
|
||
lineData.llTimeStamp = pLaserLinePoint->llTimeStamp;
|
||
lineData.llFrameIdx = pLaserLinePoint->llFrameIdx;
|
||
lineData.nEncodeNo = pLaserLinePoint->nEncodeNo;
|
||
lineData.fSwingAngle = pLaserLinePoint->fSwingAngle;
|
||
lineData.bEndOnceScan = pLaserLinePoint->bEndOnceScan;
|
||
|
||
// 根据扫描模式分流存储
|
||
if (pThis->m_batchInProgress.load()) {
|
||
// 多相机分批扫描模式：存入该相机的独立缓存
|
||
pThis->AddDetectionDataToCameraCache(cameraIndex, eDataType, lineData);
|
||
} else {
|
||
// 单相机模式：存入共享缓存
|
||
pThis->AddDetectionDataToCache(eDataType, lineData);
|
||
}
|
||
}
|
||
|
||
// 通用的静态相机状态回调函数实现
|
||
void BasePresenter::_StaticCameraStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam)
|
||
{
|
||
LOG_DEBUG("[BasePresenter Camera Status Callback] received: status=%d\n", (int)eStatus);
|
||
|
||
// 提取回调上下文（携带相机索引）
|
||
CameraCallbackContext* ctx = static_cast<CameraCallbackContext*>(pInfoParam);
|
||
if (!ctx || !ctx->presenter) {
|
||
LOG_ERROR("[BasePresenter Camera Status Callback] invalid context\n");
|
||
return;
|
||
}
|
||
BasePresenter* pThis = ctx->presenter;
|
||
int cameraIndex = ctx->cameraIndex;
|
||
|
||
switch (eStatus) {
|
||
case EVzDeviceWorkStatus::keDeviceWorkStatus_Offline:
|
||
{
|
||
LOG_WARNING("[BasePresenter Camera Status Callback] Camera %d offline/disconnected\n", cameraIndex);
|
||
|
||
pThis->m_bCameraConnected = false;
|
||
pThis->OnCameraStatusChanged(cameraIndex, false);
|
||
break;
|
||
}
|
||
|
||
case EVzDeviceWorkStatus::keDeviceWorkStatus_Eye_Reconnect:
|
||
{
|
||
LOG_INFO("[BasePresenter Camera Status Callback] Camera %d online/connected\n", cameraIndex);
|
||
|
||
pThis->m_bCameraConnected = true;
|
||
pThis->OnCameraStatusChanged(cameraIndex, true);
|
||
break;
|
||
}
|
||
|
||
case EVzDeviceWorkStatus::keDeviceWorkStatus_Device_Swing_Finish:
|
||
{
|
||
LOG_INFO("[BasePresenter Camera Status Callback] Camera %d scan finished\n", cameraIndex);
|
||
|
||
// 分批模式下记录批次完成
|
||
if (pThis->m_batchInProgress.load()) {
|
||
pThis->OnCameraScanFinished(cameraIndex);
|
||
}
|
||
|
||
// 唤醒算法检测线程
|
||
pThis->m_algoDetectCondition.notify_one();
|
||
break;
|
||
}
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
// 相机一直重联
|
||
void BasePresenter::StartCameraReconnectTimer()
|
||
{
|
||
LOG_DEBUG("[BasePresenter] StartCameraReconnectTimer called\n");
|
||
|
||
// 使用QMetaObject::invokeMethod确保在正确的线程中操作定时器
|
||
QMetaObject::invokeMethod(this, [this]() {
|
||
if (!m_pCameraReconnectTimer) {
|
||
return;
|
||
}
|
||
|
||
if (m_pCameraReconnectTimer->isActive()) {
|
||
return;
|
||
}
|
||
|
||
m_pCameraReconnectTimer->start();
|
||
}, Qt::QueuedConnection);
|
||
}
|
||
|
||
void BasePresenter::StopCameraReconnectTimer()
|
||
{
|
||
// 直接停止定时器（析构时需要立即停止，不能用QueuedConnection）
|
||
if (m_pCameraReconnectTimer) {
|
||
m_pCameraReconnectTimer->stop();
|
||
}
|
||
}
|
||
|
||
// ============ OnCameraReconnectTimer 实现 ============
|
||
void BasePresenter::OnCameraReconnectTimer()
|
||
{
|
||
#ifdef _WIN32
|
||
return;
|
||
#endif
|
||
// 调用子类实现的重连逻辑
|
||
bool allConnected = TryReconnectCameras();
|
||
|
||
if (allConnected) {
|
||
LOG_INFO("[BasePresenter] 所有相机重连成功，停止定时器\n");
|
||
StopCameraReconnectTimer();
|
||
}
|
||
}
|
||
|
||
// ============ TryReconnectCameras 默认实现 ============
|
||
bool BasePresenter::TryReconnectCameras()
|
||
{
|
||
LOG_DEBUG("[BasePresenter] TryReconnectCameras all %zd \n", m_expectedList.size());
|
||
|
||
bool allConnected = true;
|
||
int connectedCount = 0;
|
||
|
||
// 遍历所有配置的相机，尝试重连失败的相机
|
||
for (int i = 0; i < static_cast<int>(m_expectedList.size()); i++) {
|
||
// 检查该位置的相机是否已连接
|
||
if (i < static_cast<int>(m_vrEyeDeviceList.size()) && m_vrEyeDeviceList[i].second != nullptr) {
|
||
// 相机已连接，跳过
|
||
connectedCount++;
|
||
continue;
|
||
}
|
||
|
||
// 尝试重连相机
|
||
int cameraIndex = i + 1; // 相机索引从1开始
|
||
const DeviceInfo& cameraInfo = m_expectedList[i];
|
||
|
||
LOG_DEBUG("[BasePresenter] 尝试重连相机 %d (%s, %s)\n", cameraIndex, cameraInfo.name.c_str(), cameraInfo.ip.c_str());
|
||
|
||
// 调用 OpenDevice 重连（使用初始化时的 RGB/Swing 参数）
|
||
int nRet = OpenDevice(cameraIndex, cameraInfo.name.c_str(), cameraInfo.ip.c_str(), m_bRGB, m_bSwing);
|
||
|
||
OnCameraStatusChanged(cameraIndex, SUCCESS == nRet);
|
||
if (nRet == SUCCESS) {
|
||
LOG_INFO("[BasePresenter] 相机 %d (%s) 重连成功\n", cameraIndex, cameraInfo.name.c_str());
|
||
connectedCount++;
|
||
} else {
|
||
LOG_DEBUG("[BasePresenter] 相机 %d (%s) 重连失败，错误码: %d\n", cameraIndex, cameraInfo.name.c_str(), nRet);
|
||
allConnected = false;
|
||
}
|
||
}
|
||
|
||
// 更新相机连接状态
|
||
m_bCameraConnected = (connectedCount > 0);
|
||
|
||
// 更新默认相机索引为第一个连接的相机
|
||
for (int i = 0; i < static_cast<int>(m_vrEyeDeviceList.size()); i++) {
|
||
if (m_vrEyeDeviceList[i].second != nullptr) {
|
||
m_currentCameraIndex = i + 1;
|
||
break;
|
||
}
|
||
}
|
||
|
||
LOG_INFO("[BasePresenter] 相机重连尝试完成: %d/%d 台相机已连接\n", connectedCount, m_expectedList.size());
|
||
|
||
return (connectedCount == m_expectedList.size() && allConnected);
|
||
}
|
||
|
||
// ============ ModbusTCP 服务实现 ============
|
||
|
||
int BasePresenter::StartModbusServer(int port)
|
||
{
|
||
LOG_INFO("[BasePresenter] 启动ModbusTCP服务器，端口: %d\n", port);
|
||
|
||
// 如果已经运行，先停止
|
||
if (m_modbusServer) {
|
||
StopModbusServer();
|
||
}
|
||
|
||
// 创建ModbusTCP服务器实例
|
||
if (!IYModbusTCPServer::CreateInstance(&m_modbusServer)) {
|
||
LOG_ERROR("[BasePresenter] 创建ModbusTCP服务器实例失败\n");
|
||
return ERR_CODE(DEV_OPEN_ERR);
|
||
}
|
||
|
||
// 设置写寄存器回调
|
||
m_modbusServer->setWriteRegistersCallback(
|
||
[this](uint8_t unitId, uint16_t startAddress, uint16_t quantity, const uint16_t* values) -> IYModbusTCPServer::ErrorCode {
|
||
int ret = this->OnModbusWriteRegisters(unitId, startAddress, quantity, values);
|
||
return (ret == 0) ? IYModbusTCPServer::ErrorCode::SUCCESS : IYModbusTCPServer::ErrorCode::SERVER_FAILURE;
|
||
}
|
||
);
|
||
|
||
// 设置连接状态回调
|
||
m_modbusServer->setConnectionStatusCallback(
|
||
[this](bool isConnected) {
|
||
LOG_INFO("[BasePresenter] Modbus客户端%s\n", isConnected ? "已连接" : "已断开");
|
||
// 通知子类 ModbusTCP 连接状态变化
|
||
this->OnModbusServerStatusChanged(isConnected);
|
||
}
|
||
);
|
||
|
||
// 启动服务器
|
||
int ret = m_modbusServer->start(port, 5);
|
||
if (ret != 0) {
|
||
LOG_ERROR("[BasePresenter] 启动ModbusTCP服务器失败，错误码: %d\n", ret);
|
||
delete m_modbusServer;
|
||
m_modbusServer = nullptr;
|
||
return ERR_CODE(DEV_OPEN_ERR);
|
||
}
|
||
|
||
LOG_INFO("[BasePresenter] ModbusTCP服务器启动成功\n");
|
||
return SUCCESS;
|
||
}
|
||
|
||
void BasePresenter::StopModbusServer()
|
||
{
|
||
if (m_modbusServer) {
|
||
m_modbusServer->stop();
|
||
delete m_modbusServer;
|
||
m_modbusServer = nullptr;
|
||
}
|
||
}
|
||
|
||
bool BasePresenter::IsModbusServerRunning() const
|
||
{
|
||
return m_modbusServer != nullptr;
|
||
}
|
||
|
||
int BasePresenter::WriteModbusRegisters(uint16_t startAddress, const uint16_t* data, uint16_t count)
|
||
{
|
||
if (!m_modbusServer) {
|
||
LOG_WARNING("[BasePresenter] ModbusTCP服务器未运行\n");
|
||
return ERR_CODE(DEV_NOT_FIND);
|
||
}
|
||
|
||
if (!data || count == 0) {
|
||
LOG_WARNING("[BasePresenter] 无效的Modbus写入参数\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
// 转换为vector并写入
|
||
std::vector<uint16_t> values(data, data + count);
|
||
m_modbusServer->updateHoldingRegisters(startAddress, values);
|
||
|
||
return SUCCESS;
|
||
}
|
||
|
||
int BasePresenter::OnModbusWriteRegisters(uint8_t unitId, uint16_t startAddress,
|
||
uint16_t quantity, const uint16_t* values)
|
||
{
|
||
LOG_DEBUG("[BasePresenter] Modbus收到写寄存器: unitId=%d, 地址=%d, 数量=%d\n", unitId, startAddress, quantity);
|
||
|
||
// 调用虚函数让子类处理
|
||
OnModbusWriteCallback(startAddress, values, quantity);
|
||
|
||
return 0;
|
||
}
|
||
|
||
// ============ 多相机同时扫描方法实现 ============
|
||
|
||
void BasePresenter::AddDetectionDataToCameraCache(int cameraIndex,
|
||
EVzResultDataType dataType, const SVzLaserLineData& laserData)
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_perCameraDataMutex);
|
||
m_perCameraDataCache[cameraIndex].push_back(std::make_pair(dataType, laserData));
|
||
}
|
||
|
||
void BasePresenter::ClearAllCameraDataCaches()
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_perCameraDataMutex);
|
||
for (auto& pair : m_perCameraDataCache) {
|
||
m_dataLoader.FreeLaserScanData(pair.second);
|
||
}
|
||
m_perCameraDataCache.clear();
|
||
}
|
||
|
||
void BasePresenter::OnCameraScanFinished(int cameraIndex)
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||
m_batchFinishedCount++;
|
||
LOG_INFO("[BasePresenter] Camera %d finished, batch progress: %d/%d\n",
|
||
cameraIndex, m_batchFinishedCount, m_batchSize);
|
||
}
|
||
|
||
void BasePresenter::StartBatchScan()
|
||
{
|
||
int batchEnd = std::min(m_batchStartIndex + m_batchSize, static_cast<int>(m_batchCameraList.size()));
|
||
int batchCount = batchEnd - m_batchStartIndex;
|
||
|
||
LOG_INFO("[BasePresenter] StartBatchScan: cameras [%d, %d), count=%d\n",
|
||
m_batchStartIndex, batchEnd, batchCount);
|
||
|
||
if (batchCount <= 0) {
|
||
LOG_WARNING("[BasePresenter] StartBatchScan: empty batch\n");
|
||
return;
|
||
}
|
||
|
||
EVzResultDataType eDataType = GetDetectionDataType();
|
||
VzNL_AutoOutputLaserLineExCB detectCallback = GetDetectionCallback();
|
||
VzNL_OnNotifyStatusCBEx statusCallback = GetCameraStatusCallback();
|
||
|
||
for (int i = m_batchStartIndex; i < batchEnd; i++) {
|
||
int cameraIndex = m_batchCameraList[i];
|
||
int arrIndex = cameraIndex - 1;
|
||
|
||
if (arrIndex < 0 || arrIndex >= static_cast<int>(m_vrEyeDeviceList.size())) {
|
||
LOG_WARNING("[BasePresenter] Camera %d index out of range, skipping\n", cameraIndex);
|
||
continue;
|
||
}
|
||
|
||
IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrIndex].second;
|
||
if (!pDevice) {
|
||
LOG_WARNING("[BasePresenter] Camera %d device is null, skipping\n", cameraIndex);
|
||
continue;
|
||
}
|
||
|
||
// 清空该相机的独立缓存
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_perCameraDataMutex);
|
||
auto it = m_perCameraDataCache.find(cameraIndex);
|
||
if (it != m_perCameraDataCache.end()) {
|
||
m_dataLoader.FreeLaserScanData(it->second);
|
||
m_perCameraDataCache.erase(it);
|
||
}
|
||
}
|
||
|
||
// 使用相机专属的回调上下文
|
||
CameraCallbackContext* ctx = m_cameraContexts[cameraIndex];
|
||
pDevice->SetStatusCallback(statusCallback, ctx);
|
||
|
||
int nRet = pDevice->StartDetect(detectCallback, eDataType, ctx);
|
||
LOG_INFO("[BasePresenter] Camera %d start detect: %d\n", cameraIndex, nRet);
|
||
}
|
||
|
||
LOG_INFO("[BasePresenter] Batch scan started: %d cameras\n", batchCount);
|
||
}
|
||
|
||
void BasePresenter::ProcessBatchIfReady()
|
||
{
|
||
// 检查当前批次是否全部完成
|
||
bool batchComplete = false;
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||
if (!m_batchInProgress.load()) return;
|
||
batchComplete = (m_batchFinishedCount >= m_batchSize);
|
||
}
|
||
|
||
if (!batchComplete) {
|
||
// 批次未完成，可能是被提前唤醒（Offline 等事件）
|
||
return;
|
||
}
|
||
|
||
int batchEnd = std::min(m_batchStartIndex + m_batchSize, static_cast<int>(m_batchCameraList.size()));
|
||
|
||
LOG_INFO("[BasePresenter] 批次完成，处理相机 [%d, %d)\n", m_batchStartIndex, batchEnd);
|
||
|
||
// 逐个处理批次内每个相机的数据
|
||
for (int i = m_batchStartIndex; i < batchEnd; i++) {
|
||
int cameraIndex = m_batchCameraList[i];
|
||
|
||
// 将相机数据从 per-camera 缓存移到 m_detectionDataCache
|
||
{
|
||
std::lock_guard<std::mutex> dataLock(m_perCameraDataMutex);
|
||
auto it = m_perCameraDataCache.find(cameraIndex);
|
||
if (it != m_perCameraDataCache.end() && !it->second.empty()) {
|
||
std::lock_guard<std::mutex> detLock(m_detectionDataMutex);
|
||
m_dataLoader.FreeLaserScanData(m_detectionDataCache);
|
||
m_detectionDataCache.clear();
|
||
m_detectionDataCache = std::move(it->second);
|
||
m_perCameraDataCache.erase(it);
|
||
} else {
|
||
LOG_WARNING("[BasePresenter] 相机%d 无扫描数据，跳过\n", cameraIndex);
|
||
continue;
|
||
}
|
||
}
|
||
|
||
m_currentCameraIndex = cameraIndex;
|
||
|
||
LOG_INFO("[BasePresenter] 处理相机 %d (%d/%d)\n",
|
||
cameraIndex, i - m_batchStartIndex + 1, m_batchSize);
|
||
|
||
int nRet = DetectTask();
|
||
if (nRet != SUCCESS) {
|
||
LOG_ERROR("[BasePresenter] 相机%d 检测失败: %d\n", cameraIndex, nRet);
|
||
}
|
||
}
|
||
|
||
// 推进到下一批
|
||
bool hasMore = false;
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||
|
||
m_batchStartIndex = batchEnd;
|
||
m_batchFinishedCount = 0;
|
||
|
||
int remaining = static_cast<int>(m_batchCameraList.size()) - m_batchStartIndex;
|
||
if (remaining > 0) {
|
||
if (m_scanConfig.simultaneousCount == 0) {
|
||
m_batchSize = remaining;
|
||
} else {
|
||
m_batchSize = std::min(m_scanConfig.simultaneousCount, remaining);
|
||
}
|
||
hasMore = true;
|
||
}
|
||
}
|
||
|
||
if (hasMore) {
|
||
LOG_INFO("[BasePresenter] 启动下一批扫描: start=%d, size=%d\n", m_batchStartIndex, m_batchSize);
|
||
// 在主线程中启动下一批扫描
|
||
QMetaObject::invokeMethod(this, [this]() {
|
||
StartBatchScan();
|
||
}, Qt::QueuedConnection);
|
||
} else {
|
||
LOG_INFO("[BasePresenter] 所有批次扫描完成，共 %d 个相机\n",
|
||
static_cast<int>(m_batchCameraList.size()));
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||
m_batchInProgress = false;
|
||
}
|
||
SetWorkStatus(WorkStatus::Completed);
|
||
}
|
||
}
|