155 lines
5.1 KiB
C++
155 lines
5.1 KiB
C++
#ifndef DRONESCREW_ZMQ_PROTOCOL_H
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#define DRONESCREW_ZMQ_PROTOCOL_H
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#include <QObject>
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#include <QString>
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#include <QByteArray>
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#include <QJsonObject>
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#include <atomic>
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#include <functional>
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#include <memory>
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#include <mutex>
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#include "IVrZeroMQServer.h"
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#include "IVrZeroMQPubSub.h"
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#include "Algo/IDroneScrewAlgo.h"
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#include "IMvsDevice.h"
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class QUdpSocket;
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/**
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* @brief 板一 ZMQ 协议层
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*
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* - REP socket：接收板二的同步控制指令（启停、单次检测、参数调整、获取信息）
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* - PUB socket：异步发布检测结果，板二订阅显示
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*
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* 协议消息使用 JSON 编码（可在后续替换为 Protobuf）。
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*
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* 控制指令格式：
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* { "cmd": "start" }
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* { "cmd": "stop" }
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* { "cmd": "single" }
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* { "cmd": "set_exposure", "value": 10000 }
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* { "cmd": "set_gain", "value": 1.0 }
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* { "cmd": "set_algo_params", "score": 0.5, "nms": 0.45, "width": 640, "height": 640 }
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* { "cmd": "swap_cameras" }
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* { "cmd": "get_info" }
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*
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* 应答统一格式：
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* { "ok": true, "code": 0, "msg": "", ... }
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*
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* 结果发布主题：
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* topic: "result"
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* payload: { "frameId": .., "ts": .., "boxes": [ {cls,score,x,y,w,h}, ... ] }
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*/
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class DroneScrewZmqProtocol : public QObject
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{
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Q_OBJECT
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public:
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explicit DroneScrewZmqProtocol(QObject* parent = nullptr);
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~DroneScrewZmqProtocol() override;
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/**
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* @brief 启动 ZMQ 协议层
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* @param controlPort REQ-REP 控制端口
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* @param resultPort PUB 检测结果端口 (topic="result")
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* @param rawImagePort PUB 原始图像端口 (topic="raw")，<=0 表示不启用
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*/
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bool startServer(int controlPort, int resultPort, int rawImagePort);
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void stopServer();
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void setRtspUrl(const QString& url) { m_rtspUrl = url; }
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void setSingleDetectionHandler(std::function<DroneScrewResult()> handler)
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{
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m_singleDetectionHandler = std::move(handler);
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}
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void setStartWorkHandler(std::function<int()> handler)
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{
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m_startWorkHandler = std::move(handler);
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}
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void setStopWorkHandler(std::function<int()> handler)
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{
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m_stopWorkHandler = std::move(handler);
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}
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void setFinalDetectionResultProvider(std::function<bool(DroneScrewResult&)> provider)
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{
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m_finalDetectionResultProvider = std::move(provider);
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}
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void setStartLiveStreamHandler(std::function<int()> handler)
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{
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m_startLiveStreamHandler = std::move(handler);
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}
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void setStopLiveStreamHandler(std::function<int()> handler)
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{
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m_stopLiveStreamHandler = std::move(handler);
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}
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void setSwapCameraRolesHandler(std::function<int()> handler)
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{
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m_swapCameraRolesHandler = std::move(handler);
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}
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void setServerInfoProvider(std::function<QJsonObject()> provider)
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{
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m_serverInfoProvider = std::move(provider);
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}
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void setCalibrationInfoProvider(std::function<QJsonObject()> provider)
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{
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m_calibrationInfoProvider = std::move(provider);
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}
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int controlPort() const { return m_controlPort; }
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int resultPort() const { return m_resultPort; }
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int rawImagePort() const { return m_rawImagePort; }
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signals:
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void rawImagePublishEnabledRequested(bool enabled);
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void detectModeRequested(const std::string& mode);
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void setExposureRequested(double exposureTime);
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void setGainRequested(double gain);
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void updateAlgoParamsRequested(const DroneScrewAlgoParams& params);
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public slots:
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/**
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* @brief 接收 presenter 信号，封装为 ZMQ 发布（topic="result"）
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*/
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void publishDetectionResult(const DroneScrewResult& result);
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/**
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* @brief 接收 presenter 采集到的双目原始相机帧并以 ZMQ PUB（topic="raw"）广播
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*
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* payload = WDRemoteBinocularRawImageHeader(88B) + left raw bytes + right raw bytes
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*/
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void publishRawImage(const MvsImageData& left, const MvsImageData& right);
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private:
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QByteArray handleControlMessage(const QByteArray& reqData);
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bool startDiscoveryServer();
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void stopDiscoveryServer();
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void handleDiscoveryDatagrams();
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private:
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IVrZeroMQServer* m_pZmqServer{nullptr};
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IVrZeroMQPublisher* m_pZmqPublisher{nullptr}; // topic="result"
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IVrZeroMQPublisher* m_pZmqRawPublisher{nullptr}; // topic="raw"
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QUdpSocket* m_pDiscoverySocket{nullptr}; // UDP broadcast discovery
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std::atomic<bool> m_bRunning{false};
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QString m_rtspUrl;
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int m_controlPort{0};
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int m_resultPort{0};
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int m_rawImagePort{0};
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std::mutex m_pubMutex;
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std::mutex m_rawMutex;
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std::mutex m_singleMutex;
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std::function<DroneScrewResult()> m_singleDetectionHandler;
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std::function<int()> m_startWorkHandler;
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std::function<int()> m_stopWorkHandler;
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std::function<bool(DroneScrewResult&)> m_finalDetectionResultProvider;
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std::function<int()> m_startLiveStreamHandler;
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std::function<int()> m_stopLiveStreamHandler;
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std::function<int()> m_swapCameraRolesHandler;
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std::function<QJsonObject()> m_serverInfoProvider;
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std::function<QJsonObject()> m_calibrationInfoProvider;
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};
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#endif // DRONESCREW_ZMQ_PROTOCOL_H
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