123 lines
4.2 KiB
C++
123 lines
4.2 KiB
C++
#include <qthread.h>
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#include <serviceManager.h>
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#include <sql/qSqlBase.h>
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#include <missionLoader.h>
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#include <CLIManager.h>
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#include <service/missionResultHandle.h>
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#include <jsonRpcServer.h>
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#include "interface.h"
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#include <iostream>
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#include <generalJsonParsing.hpp>
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#include <opencv2/core/utils/logger.hpp>
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#include <paramSyncManager.h>
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class Backend : public IBackend {
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public:
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CsvWriter* _csvWriter = nullptr;
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missionResultHandle* _missionResultHandle = nullptr;
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ServiceManager _serviceManager;
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paramSyncManager* _paramSyncManager = nullptr;
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CLIManager* _cliManager; // 命令行接口管理器
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rpc::JsonRpcServer _rpcServer;
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~Backend();
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//重新初始化时禁止调用此函数
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void init(SQLiteDB* db, nlohmann::ordered_json& json) override;
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// 重新初始化
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void restartInit();
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void run();
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void cleanup() override {
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}
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// 对普通指针的安全删除
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template<typename T>
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void safeDelete(T*& ptr) {
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if (ptr) { delete ptr; ptr = nullptr; }
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}
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// 尝试对基于 QThread 的 serviceModule 进行关停，然后删除
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void safeShutdownDelete(serviceModule* ptr) {
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if (!ptr) return;
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// 如果对象正在运行，尝试停止
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if (ptr->isRunning()) {
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// 如果存在 stop 槽，则尝试调用
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QMetaObject::invokeMethod(ptr, "stop", Qt::DirectConnection);
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// 作为后备，尝试退出事件循环
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QMetaObject::invokeMethod(ptr, "quit", Qt::DirectConnection);
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// 等待其退出，给予一定时间
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if (!ptr->wait(2000)) {
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// 仍在运行时，作为最后手段强制终止
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ptr->terminate();
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ptr->wait(1000);
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}
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}
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delete ptr; ptr = nullptr;
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}
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bool waitrForInitResult(serviceModule* ptr, int overtimeS = 999999);
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// 初始化RPC服务器
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void initJsonRpc();
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nlohmann::ordered_json getBackendJson() {
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backendJson["missionSettings"] = _paramSyncManager->toJson();
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return backendJson;
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}
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public slots:
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void editParam(QString name, QVariant value) {
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_paramSyncManager->edit(name, value);
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qDebug() << name << "更改为" << value;
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}
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void getAllParams(std::vector<std::pair<QString, QVariant>>* params) {
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auto allParams = _paramSyncManager->getAllParams();
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params->swap(allParams);
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}
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void triggerAndCaptureImage(std::string cameraName, std::vector<cv::Mat>* mats) {
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if (cameraInitResult == false) {
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qCritical() << "[Error]调用triggerAndCaptureImage时相机未初始化!";
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return;
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}
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std::shared_ptr<detData> dataPtr = std::make_shared<detData>();
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auto camera = _serviceManager._cameraManager->getCamera(cameraName);
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if (camera == nullptr) {
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qCritical() << "[Error]调用triggerAndCaptureImage时未找到相机:"
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<< QString::fromStdString(cameraName);
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return;
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}
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camera->captureImage(dataPtr);
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int cnt = 0;
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while (dataPtr->oriImgs.size() == 0 && cnt < 20) {
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QThread::msleep(10);
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cnt++;
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}
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if (dataPtr->oriImgs.size() == 0) {
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cv::Mat mat(1000, 1000, CV_8UC1, 255);
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cv::putText(mat, "Capture Image Timeout", cv::Point(50, 500),
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cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0, 0, 255), 3);
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mats->push_back(mat);
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return;
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}
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mats->swap(dataPtr->oriImgs);
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return;
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}
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bool excuteCliCommand(const QString& command) {
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return _cliManager->cliCommand(command);
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}
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bool excuteCliCommandPreset(const QString& uuid) {
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return _cliManager->excutePreset(uuid);
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}
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void getCameraNames(std::vector<std::string>* cameraNames) {
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for (auto camera : _serviceManager._cameraManager->cameras) {
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cameraNames->push_back(camera.first);
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}
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return;
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}
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private:
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bool initOnce = false;
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nlohmann::ordered_json backendJson;
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SQLiteDB* sqlDatabase;
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MissionLoader _missionLoader; // 任务加载器，用于加载任务配置
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bool cameraInitResult = false,
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triggerInitResult = false;
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};
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#pragma once
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