154 lines
5.2 KiB
C++
154 lines
5.2 KiB
C++
#ifndef DRONESCREWCTRL_PRESENTER_H
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#define DRONESCREWCTRL_PRESENTER_H
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#include <QObject>
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#include <QImage>
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#include <QSize>
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#include <QString>
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#include <QTimer>
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#include <QMutex>
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#include <atomic>
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#include <map>
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#include "IVrConfig.h"
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#include "IYDroneScrewCtrlStatus.h"
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#include "IVrFFMediaPuller.h"
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#include "IWDRemoteReceiver.h"
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/**
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* @brief 板二 Presenter
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*
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* 远程访问已经收敛到 WDRemoteReceiver 动态库中：
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* - REQ-REP 控制
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* - PUB-SUB 检测结果
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* - PUB-SUB 原始图像（可选）
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*
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* Presenter 只关心：
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* - 通过 IVrFFMediaPuller 拉取板一 RTSP 视频流
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* - 通过 IWDRemoteReceiver 完成所有控制与订阅
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* - 把拉流帧 + 检测结果合并送给 IYDroneScrewCtrlStatus 显示
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*/
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class DroneScrewCtrlPresenter : public QObject
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{
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Q_OBJECT
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public:
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explicit DroneScrewCtrlPresenter(QObject* parent = nullptr);
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~DroneScrewCtrlPresenter() override;
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void SetStatusReceiver(IYDroneScrewCtrlStatus* receiver) { m_pReceiver = receiver; }
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void ApplyConfig(const DroneScrewCtrlConfigResult& cfg);
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void UpdateDisplayOptions(const DroneScrewDisplayOption& options);
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int InitApp();
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void DeinitApp();
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bool TriggerSingleDetection();
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bool StartLiveStream();
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bool StopLiveStream();
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bool StartDetection();
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bool StopDetection();
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bool StopAll(); // 同时停止实时推流与检测（主开关停止用）
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bool SetServerExposure(double exposureTime);
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bool SetServerGain(double gain);
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bool PushAlgoParams(const DroneScrewAlgoUiParams& params);
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QImage GetLastDisplayImage() const;
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signals:
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void displayFrameReady(const QImage& img,
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const QSize& sourceSize,
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qint64 frameId,
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bool rtspFrame,
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const CtrlDetectionFrame& result,
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bool hasResult);
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void detectionResultReady(const CtrlDetectionFrame& result);
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void serverConnectionChanged(bool connected);
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void statusMessage(const QString& msg);
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void serverInfoReceived(const WDRemoteServerInfo& info); // 服务器参数更新
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private slots:
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void onReconnectTimer();
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void onOverlayFrameReady(const QImage& img,
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const QSize& sourceSize,
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qint64 frameId,
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bool rtspFrame,
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const CtrlDetectionFrame& result,
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bool hasResult);
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void onResultReceived(const CtrlDetectionFrame& result);
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private:
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// RTSP 拉流回调
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void onRtspFrame(const VrFFPulledFrame& frame);
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bool initPuller(const QString& streamUrl, bool quiet = false);
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bool startPullerOnce(const QString& streamUrl, bool quiet = false);
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bool waitForRtspFirstFrame(int timeoutMs);
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bool startPullerWithRetry(const QString& streamUrl);
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void releasePuller();
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QString resolveStreamUrl(const QString& streamUrl) const;
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void updateStreamInfo(const WDRemoteServerInfo& info);
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// WDRemoteReceiver 回调
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void onRemoteDetection(const WDRemoteDetectionFrame& frame);
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void onRemoteRawImage (const WDRemoteBinocularRawImage& img); // 检测模式下的图像（ZMQ 原始图通道）
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void onRemoteEvent (WDRemoteEventType ev, const std::string& msg);
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void overlayDetectionBoxes(QImage& img, const CtrlDetectionFrame& frame, const QSize& sourceSize);
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void clearCachedDisplayState();
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void prunePendingMatchesLocked();
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static CtrlDetectionFrame toCtrlFrame(const WDRemoteDetectionFrame& f);
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private:
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struct DisplayFrame
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{
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QImage image;
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QSize sourceSize;
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};
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struct PendingRawFrame
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{
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DisplayFrame frame;
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qint64 receivedAtMs{0};
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};
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struct PendingDetectionResult
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{
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CtrlDetectionFrame result;
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qint64 receivedAtMs{0};
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};
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DroneScrewCtrlConfigResult m_cfg;
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IVrFFMediaPuller* m_pPuller{nullptr};
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IWDRemoteReceiver* m_pRemote{nullptr};
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QString m_streamUrl;
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IYDroneScrewCtrlStatus* m_pReceiver{nullptr};
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std::atomic<bool> m_bConnected{false};
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std::atomic<bool> m_bRunning{false};
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std::atomic<bool> m_liveStreamMode{false};
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std::atomic<bool> m_rtspReceiving{false};
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std::atomic<bool> m_rtspFirstFrameReported{false};
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QTimer* m_pReconnectTimer{nullptr};
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// 最近检测结果（用于叠加显示）
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mutable QMutex m_lastResultMutex;
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CtrlDetectionFrame m_lastResult;
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bool m_bHasResult{false};
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// 最近显示帧
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mutable QMutex m_lastImgMutex;
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QImage m_lastSourceImage;
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qint64 m_lastSourceFrameId{-1};
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bool m_lastSourceIsRtsp{false};
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QImage m_lastDisplay;
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std::map<qint64, PendingRawFrame> m_pendingRawFrames;
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std::map<qint64, PendingDetectionResult> m_pendingDetectionResults;
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};
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#endif // DRONESCREWCTRL_PRESENTER_H
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