RCiRoot
e3f7733316
完成框架目录和模块重构；新增核心、单例、工具、加密及框架 SDK；统一任务、相机和 RPC 接口，并增加离线检测、相机标定、备份恢复、版本管理、崩溃守护和心跳监控功能。
244 lines
9.2 KiB
C++
244 lines
9.2 KiB
C++
#pragma once
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#pragma execution_character_set("utf-8")
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#include <iostream>
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#include <map>
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#include <string>
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#include <vector>
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#include <eui_tools/json/generalJsonParsing.h>
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#include <nlohmannJson.hpp>
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struct viewerStruct {
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std::string name;
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int xPos, yPos, width, height;
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std::vector<std::string>viewers;
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};
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struct cameraPixelPrecision {
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double x_precision_mm_Pix; ///< 水平像素精度，单位：毫米/像素
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double y_precision_mm_Pix; ///< 垂直像素精度，单位：毫米/像素
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double z_precision_mm_Pix; ///< Z方向像素精度，单位：毫米/像素
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};
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struct SubUiWidgetConfig {
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SubUiWidgetConfig() = default;
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SubUiWidgetConfig(const SubUiWidgetConfig&) = default;
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SubUiWidgetConfig& operator=(const SubUiWidgetConfig&) = default;
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SubUiWidgetConfig(SubUiWidgetConfig&&) = default;
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SubUiWidgetConfig& operator=(SubUiWidgetConfig&&) = default;
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int height = 0;
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std::string key;
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double limitHigh = 0.0;
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double limitLow = 0.0;
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int maxPoints = 100;
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std::string widgetType;
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int width = 0;
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int x = 0;
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int y = 0;
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nlohmann::ordered_json extra = nlohmann::ordered_json::object();
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};
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using SubUiPageConfig = std::map<std::string, std::vector<SubUiWidgetConfig>>;
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class MissionConfig {
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public:
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MissionConfig() = default;
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explicit MissionConfig(const std::string& jsonPath) { loadFromFile(jsonPath); }
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MissionConfig(const MissionConfig&) = delete;
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MissionConfig& operator=(const MissionConfig&) = delete;
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MissionConfig(MissionConfig&&) = default;
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MissionConfig& operator=(MissionConfig&&) = default;
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void loadFromFile(const std::string& jsonPath) {
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_jsonPath = jsonPath;
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parseFromJson(readOrderedJsonFromPath(jsonPath));
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}
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void parseFromJson(const nlohmann::ordered_json& json) {
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_lastSavedJson = nlohmann::ordered_json::object();
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_lastSavedJsonPath.clear();
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_hasLastSavedJson = false;
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_rawJson = json.is_object() ? json : nlohmann::ordered_json::object();
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if (!json.is_object()) {
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softwareTile.clear();
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backend = nlohmann::ordered_json::object();
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imageViews.clear();
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sublUiSetting.clear();
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return;
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}
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softwareTile = json.value("softwareTile", "");
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if (softwareTile.empty()) {
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std::cout << "[Warning] softwareTile is empty" << std::endl;
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}
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backend = json.value("backend", nlohmann::ordered_json::object());
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if (!json.contains("backend")) {
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std::cout << "[Warning] 'backend' node missing from mission config" << std::endl;
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}
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imageViews.clear();
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if (!json.contains("ImageView")) {
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std::cout << "[Warning] 'ImageView' node missing" << std::endl;
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} else if (json["ImageView"].empty()) {
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std::cout << "[Warning] 'ImageView' node is empty" << std::endl;
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} else {
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for (auto it = json["ImageView"].begin(); it != json["ImageView"].end(); ++it) {
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viewerStruct v{};
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v.name = it.key();
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auto& val = it.value();
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if (!val.contains("xPos")) {
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std::cout << "[Warning] ImageView[" << v.name
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<< "] missing 'xPos'" << std::endl;
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}
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if (!val.contains("yPos")) {
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std::cout << "[Warning] ImageView[" << v.name
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<< "] missing 'yPos'" << std::endl;
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}
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if (!val.contains("viewer")) {
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std::cout << "[Warning] ImageView[" << v.name
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<< "] missing 'viewer' array" << std::endl;
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}
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v.xPos = val.value("xPos", 0);
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v.yPos = val.value("yPos", 0);
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v.width = val.value("width", 0);
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v.height = val.value("height", 0);
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if (val.contains("viewer")) {
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v.viewers.assign(val["viewer"].begin(), val["viewer"].end());
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}
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imageViews.push_back(std::move(v));
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}
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}
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sublUiSetting.clear();
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if (!json.contains("sublUiSetting")) {
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std::cout << "[Warning] 'sublUiSetting' node missing" << std::endl;
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} else {
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for (auto it = json["sublUiSetting"].begin(); it != json["sublUiSetting"].end(); ++it) {
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std::string pageName = it.key();
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std::vector<SubUiWidgetConfig> widgets;
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for (auto& w : it.value()) {
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SubUiWidgetConfig cfg;
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if (w.is_object()) {
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cfg.extra = w;
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}
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cfg.height = w.value("height", 0);
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cfg.key = w.value("key", "");
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cfg.limitHigh = w.value("limitHigh", 0.0);
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cfg.limitLow = w.value("limitLow", 0.0);
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cfg.maxPoints = w.value("maxPoints", 100);
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cfg.widgetType = w.value("widgetType", "");
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cfg.width = w.value("width", 0);
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cfg.x = w.value("x", 0);
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cfg.y = w.value("y", 0);
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if (cfg.key.empty()) {
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std::cout << "[Warning] sublUiSetting[" << pageName
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<< "] entry missing 'key'" << std::endl;
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}
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if (cfg.widgetType.empty()) {
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std::cout << "[Warning] sublUiSetting[" << pageName
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<< "][" << cfg.key << "] missing 'widgetType'"
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<< std::endl;
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}
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widgets.push_back(std::move(cfg));
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}
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sublUiSetting.emplace(pageName, std::move(widgets));
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}
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}
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}
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nlohmann::ordered_json toJson() const {
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nlohmann::ordered_json json = _rawJson.is_object()
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? _rawJson
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: nlohmann::ordered_json::object();
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json["softwareTile"] = softwareTile;
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json["backend"] = backend;
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auto rawImageView = json.value("ImageView", nlohmann::ordered_json::object());
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auto& iv = json["ImageView"] = nlohmann::ordered_json::object();
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for (const auto& v : imageViews) {
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nlohmann::ordered_json item =
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rawImageView.contains(v.name) && rawImageView[v.name].is_object()
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? rawImageView[v.name]
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: nlohmann::ordered_json::object();
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item["xPos"] = v.xPos;
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item["yPos"] = v.yPos;
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item["width"] = v.width;
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item["height"] = v.height;
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item["viewer"] = nlohmann::ordered_json::array();
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for (const auto& viewer : v.viewers) {
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item["viewer"].push_back(viewer);
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}
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iv[v.name] = std::move(item);
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}
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auto rawSublUiSetting = json.value("sublUiSetting", nlohmann::ordered_json::object());
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auto& subl = json["sublUiSetting"] = nlohmann::ordered_json::object();
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for (const auto& page : sublUiSetting) {
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auto rawPage =
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rawSublUiSetting.contains(page.first) && rawSublUiSetting[page.first].is_array()
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? rawSublUiSetting[page.first]
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: nlohmann::ordered_json::array();
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auto& pageArr = subl[page.first] = nlohmann::ordered_json::array();
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for (size_t idx = 0; idx < page.second.size(); ++idx) {
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const auto& w = page.second[idx];
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nlohmann::ordered_json item =
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idx < rawPage.size() && rawPage[idx].is_object()
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? rawPage[idx]
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: (w.extra.is_object() ? w.extra : nlohmann::ordered_json::object());
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item["height"] = w.height;
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item["key"] = w.key;
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item["limitHigh"] = w.limitHigh;
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item["limitLow"] = w.limitLow;
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item["maxPoints"] = w.maxPoints;
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item["widgetType"] = w.widgetType;
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item["width"] = w.width;
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item["x"] = w.x;
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item["y"] = w.y;
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pageArr.push_back(std::move(item));
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}
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}
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return json;
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}
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void saveAsJson(const std::string& jsonPath = "", bool forceSave = true) const {
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auto path = jsonPath.empty() ? _jsonPath : jsonPath;
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if (path.empty()) {
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return;
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}
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const auto currentJson = toJson();
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if (!forceSave && _hasLastSavedJson && path == _lastSavedJsonPath
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&& currentJson == _lastSavedJson) {
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return;
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}
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if (!saveOrderedJsonFromPath(path, currentJson)) {
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return;
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}
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_lastSavedJson = currentJson;
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_lastSavedJsonPath = path;
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_hasLastSavedJson = true;
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}
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std::vector<viewerStruct> imageViews;
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std::string softwareTile;
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nlohmann::ordered_json backend = nlohmann::ordered_json::object();
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SubUiPageConfig sublUiSetting;
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private:
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std::string _jsonPath;
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nlohmann::ordered_json _rawJson = nlohmann::ordered_json::object();
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mutable nlohmann::ordered_json _lastSavedJson = nlohmann::ordered_json::object();
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mutable std::string _lastSavedJsonPath;
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mutable bool _hasLastSavedJson = false;
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};
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