363 lines
16 KiB
C++
363 lines
16 KiB
C++
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#include "VrConfig.h"
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#include <iostream>
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#include <vector>
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#include <string>
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#include "VrLog.h"
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using namespace tinyxml2;
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CVrConfig::CVrConfig() : m_pNotify(nullptr)
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{
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// 构造函数
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}
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CVrConfig::~CVrConfig()
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{
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// 析构函数
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}
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int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResult)
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{
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// 使用tinyxml2库加载XML文件
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XMLDocument doc;
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XMLError err = doc.LoadFile(filePath.c_str());
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if (err != XML_SUCCESS)
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{
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LOG_ERR("open config file failed: %s\n", filePath.c_str());
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return LOAD_CONFIG_FILE_NOT_FOUND;
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}
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// 获取根元素
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XMLElement* root = doc.RootElement();
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if (!root || std::string(root->Name()) != "TunnelChannelConfig")
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{
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std::cerr << "config file format error: root element is not TunnelChannelConfig" << std::endl;
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return LOAD_CONFIG_INVALID_FORMAT;
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}
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// 解析3D摄像头列表
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XMLElement* camerasElement = root->FirstChildElement("Cameras3D");
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if (camerasElement)
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{
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XMLElement* cameraElement = camerasElement->FirstChildElement("Camera");
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while (cameraElement)
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{
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DeviceInfo camera;
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if (cameraElement->Attribute("name"))
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camera.name = cameraElement->Attribute("name");
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if (cameraElement->Attribute("ip"))
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camera.ip = cameraElement->Attribute("ip");
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configResult.cameraList.push_back(camera);
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cameraElement = cameraElement->NextSiblingElement("Camera");
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}
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}
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// 解析海康摄像头列表
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XMLElement* hikCamerasElement = root->FirstChildElement("HikCameras");
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if (hikCamerasElement)
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{
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XMLElement* hikCameraElement = hikCamerasElement->FirstChildElement("HikCamera");
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while (hikCameraElement)
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{
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HikCameraConfig hikCamera;
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if (hikCameraElement->Attribute("ip"))
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hikCamera.ip = hikCameraElement->Attribute("ip");
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if (hikCameraElement->Attribute("port"))
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hikCamera.port = hikCameraElement->IntAttribute("port");
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if (hikCameraElement->Attribute("username"))
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hikCamera.username = hikCameraElement->Attribute("username");
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if (hikCameraElement->Attribute("password"))
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hikCamera.password = hikCameraElement->Attribute("password");
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if (hikCameraElement->Attribute("channelNo"))
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hikCamera.channelNo = hikCameraElement->IntAttribute("channelNo");
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if (hikCameraElement->Attribute("streamType"))
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hikCamera.streamType = hikCameraElement->IntAttribute("streamType");
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if (hikCameraElement->Attribute("enabled"))
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hikCamera.enabled = hikCameraElement->BoolAttribute("enabled");
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configResult.hikCameraList.push_back(hikCamera);
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hikCameraElement = hikCameraElement->NextSiblingElement("HikCamera");
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}
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}
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// 解析设备列表
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XMLElement* devicesElement = root->FirstChildElement("Devices");
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if (devicesElement)
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{
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XMLElement* deviceElement = devicesElement->FirstChildElement("Device");
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while (deviceElement)
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{
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DeviceInfo device;
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if (deviceElement->Attribute("name"))
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device.name = deviceElement->Attribute("name");
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if (deviceElement->Attribute("ip"))
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device.ip = deviceElement->Attribute("ip");
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configResult.deviceList.push_back(device);
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deviceElement = deviceElement->NextSiblingElement("Device");
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}
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}
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// 解析算法参数
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XMLElement* algoParamsElement = root->FirstChildElement("AlgorithmParams");
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if (algoParamsElement)
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{
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// 解析隧道检测参数
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XMLElement* tunnelParamElement = algoParamsElement->FirstChildElement("TunnelParam");
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if (tunnelParamElement)
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{
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if (tunnelParamElement->Attribute("threshold"))
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configResult.algorithmParams.tunnelParam.threshold = tunnelParamElement->DoubleAttribute("threshold");
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if (tunnelParamElement->Attribute("minArea"))
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configResult.algorithmParams.tunnelParam.minArea = tunnelParamElement->DoubleAttribute("minArea");
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if (tunnelParamElement->Attribute("maxArea"))
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configResult.algorithmParams.tunnelParam.maxArea = tunnelParamElement->DoubleAttribute("maxArea");
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if (tunnelParamElement->Attribute("enableAlarm"))
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configResult.algorithmParams.tunnelParam.enableAlarm = tunnelParamElement->BoolAttribute("enableAlarm");
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}
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// 解析多相机平面校准参数
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XMLElement* planeCalibParamsElement = algoParamsElement->FirstChildElement("PlaneCalibParams");
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if (planeCalibParamsElement)
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{
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XMLElement* cameraCalibParamElement = planeCalibParamsElement->FirstChildElement("CameraCalibParam");
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while (cameraCalibParamElement)
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{
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VrCameraPlaneCalibParam cameraParam;
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// 读取相机基础信息
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if (cameraCalibParamElement->Attribute("cameraIndex"))
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cameraParam.cameraIndex = cameraCalibParamElement->IntAttribute("cameraIndex");
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if (cameraCalibParamElement->Attribute("cameraName"))
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cameraParam.cameraName = cameraCalibParamElement->Attribute("cameraName");
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if (cameraCalibParamElement->Attribute("isCalibrated"))
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cameraParam.isCalibrated = cameraCalibParamElement->BoolAttribute("isCalibrated");
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if (cameraCalibParamElement->Attribute("planeHeight"))
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cameraParam.planeHeight = cameraCalibParamElement->DoubleAttribute("planeHeight");
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// 读取旋转矩阵planeCalib[9] (3x3矩阵)
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 3; j++) {
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char attrName[32];
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sprintf(attrName, "planeCalib_%d%d", i, j);
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if (cameraCalibParamElement->Attribute(attrName))
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cameraParam.planeCalib[i * 3 + j] = cameraCalibParamElement->DoubleAttribute(attrName);
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}
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}
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// 读取逆旋转矩阵invRMatrix[9] (3x3矩阵)
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 3; j++) {
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char attrName[32];
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sprintf(attrName, "invRMatrix_%d%d", i, j);
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if (cameraCalibParamElement->Attribute(attrName))
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cameraParam.invRMatrix[i * 3 + j] = cameraCalibParamElement->DoubleAttribute(attrName);
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}
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}
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// 添加到结果中
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configResult.algorithmParams.planeCalibParam.cameraCalibParams.push_back(cameraParam);
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// 移动到下一个相机配置
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cameraCalibParamElement = cameraCalibParamElement->NextSiblingElement("CameraCalibParam");
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}
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}
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}
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// 解析调试参数
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XMLElement* debugParamElement = root->FirstChildElement("DebugParam");
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if (debugParamElement)
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{
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if (debugParamElement->Attribute("enableDebug"))
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configResult.debugParam.enableDebug = debugParamElement->BoolAttribute("enableDebug");
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if (debugParamElement->Attribute("savePointCloud"))
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configResult.debugParam.savePointCloud = debugParamElement->BoolAttribute("savePointCloud");
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if (debugParamElement->Attribute("saveDebugImage"))
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configResult.debugParam.saveDebugImage = debugParamElement->BoolAttribute("saveDebugImage");
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if (debugParamElement->Attribute("printDetailLog"))
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configResult.debugParam.printDetailLog = debugParamElement->BoolAttribute("printDetailLog");
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if (debugParamElement->Attribute("debugOutputPath"))
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configResult.debugParam.debugOutputPath = debugParamElement->Attribute("debugOutputPath");
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}
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// 解析串口配置
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XMLElement* serialConfigElement = root->FirstChildElement("SerialConfig");
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if (serialConfigElement)
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{
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if (serialConfigElement->Attribute("portName"))
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configResult.serialConfig.portName = serialConfigElement->Attribute("portName");
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if (serialConfigElement->Attribute("baudRate"))
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configResult.serialConfig.baudRate = serialConfigElement->IntAttribute("baudRate");
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if (serialConfigElement->Attribute("dataBits"))
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configResult.serialConfig.dataBits = serialConfigElement->IntAttribute("dataBits");
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if (serialConfigElement->Attribute("stopBits"))
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configResult.serialConfig.stopBits = serialConfigElement->IntAttribute("stopBits");
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if (serialConfigElement->Attribute("parity"))
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configResult.serialConfig.parity = serialConfigElement->IntAttribute("parity");
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if (serialConfigElement->Attribute("flowControl"))
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configResult.serialConfig.flowControl = serialConfigElement->IntAttribute("flowControl");
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if (serialConfigElement->Attribute("enabled"))
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configResult.serialConfig.enabled = serialConfigElement->BoolAttribute("enabled");
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}
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return LOAD_CONFIG_SUCCESS;
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}
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bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResult)
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{
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// 创建XML文档
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XMLDocument doc;
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// 添加声明
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XMLDeclaration* declaration = doc.NewDeclaration("xml version=\"1.0\" encoding=\"UTF-8\"");
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doc.InsertFirstChild(declaration);
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// 创建根元素
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XMLElement* root = doc.NewElement("TunnelChannelConfig");
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doc.InsertEndChild(root);
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// 添加3D摄像头列表
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XMLElement* camerasElement = doc.NewElement("Cameras3D");
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root->InsertEndChild(camerasElement);
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for (const auto& camera : configResult.cameraList)
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{
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XMLElement* cameraElement = doc.NewElement("Camera");
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cameraElement->SetAttribute("name", camera.name.c_str());
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cameraElement->SetAttribute("ip", camera.ip.c_str());
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camerasElement->InsertEndChild(cameraElement);
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}
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// 添加海康摄像头列表
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XMLElement* hikCamerasElement = doc.NewElement("HikCameras");
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root->InsertEndChild(hikCamerasElement);
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for (const auto& hikCamera : configResult.hikCameraList)
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{
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XMLElement* hikCameraElement = doc.NewElement("HikCamera");
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hikCameraElement->SetAttribute("ip", hikCamera.ip.c_str());
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hikCameraElement->SetAttribute("port", hikCamera.port);
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hikCameraElement->SetAttribute("username", hikCamera.username.c_str());
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hikCameraElement->SetAttribute("password", hikCamera.password.c_str());
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hikCameraElement->SetAttribute("channelNo", hikCamera.channelNo);
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hikCameraElement->SetAttribute("streamType", hikCamera.streamType);
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hikCameraElement->SetAttribute("enabled", hikCamera.enabled);
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hikCamerasElement->InsertEndChild(hikCameraElement);
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}
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// 添加设备列表
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XMLElement* devicesElement = doc.NewElement("Devices");
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root->InsertEndChild(devicesElement);
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for (const auto& device : configResult.deviceList)
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{
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XMLElement* deviceElement = doc.NewElement("Device");
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deviceElement->SetAttribute("name", device.name.c_str());
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deviceElement->SetAttribute("ip", device.ip.c_str());
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devicesElement->InsertEndChild(deviceElement);
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}
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// 添加算法参数
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XMLElement* algoParamsElement = doc.NewElement("AlgorithmParams");
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root->InsertEndChild(algoParamsElement);
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// 添加隧道检测参数
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XMLElement* tunnelParamElement = doc.NewElement("TunnelParam");
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tunnelParamElement->SetAttribute("threshold", configResult.algorithmParams.tunnelParam.threshold);
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tunnelParamElement->SetAttribute("minArea", configResult.algorithmParams.tunnelParam.minArea);
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tunnelParamElement->SetAttribute("maxArea", configResult.algorithmParams.tunnelParam.maxArea);
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tunnelParamElement->SetAttribute("enableAlarm", configResult.algorithmParams.tunnelParam.enableAlarm);
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algoParamsElement->InsertEndChild(tunnelParamElement);
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// 添加多相机平面校准参数
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XMLElement* planeCalibParamsElement = doc.NewElement("PlaneCalibParams");
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for (const auto& cameraParam : configResult.algorithmParams.planeCalibParam.cameraCalibParams)
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{
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XMLElement* cameraCalibParamElement = doc.NewElement("CameraCalibParam");
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cameraCalibParamElement->SetAttribute("cameraIndex", cameraParam.cameraIndex);
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cameraCalibParamElement->SetAttribute("cameraName", cameraParam.cameraName.c_str());
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cameraCalibParamElement->SetAttribute("isCalibrated", cameraParam.isCalibrated);
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cameraCalibParamElement->SetAttribute("planeHeight", cameraParam.planeHeight);
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// 保存旋转矩阵
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 3; j++) {
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char attrName[32];
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sprintf(attrName, "planeCalib_%d%d", i, j);
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cameraCalibParamElement->SetAttribute(attrName, cameraParam.planeCalib[i * 3 + j]);
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}
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}
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// 保存逆旋转矩阵
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 3; j++) {
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char attrName[32];
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sprintf(attrName, "invRMatrix_%d%d", i, j);
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cameraCalibParamElement->SetAttribute(attrName, cameraParam.invRMatrix[i * 3 + j]);
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}
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}
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planeCalibParamsElement->InsertEndChild(cameraCalibParamElement);
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}
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algoParamsElement->InsertEndChild(planeCalibParamsElement);
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// 添加调试参数
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XMLElement* debugParamElement = doc.NewElement("DebugParam");
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debugParamElement->SetAttribute("enableDebug", configResult.debugParam.enableDebug);
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debugParamElement->SetAttribute("savePointCloud", configResult.debugParam.savePointCloud);
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debugParamElement->SetAttribute("saveDebugImage", configResult.debugParam.saveDebugImage);
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debugParamElement->SetAttribute("printDetailLog", configResult.debugParam.printDetailLog);
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debugParamElement->SetAttribute("debugOutputPath", configResult.debugParam.debugOutputPath.c_str());
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root->InsertEndChild(debugParamElement);
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// 添加串口配置
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XMLElement* serialConfigElement = doc.NewElement("SerialConfig");
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serialConfigElement->SetAttribute("portName", configResult.serialConfig.portName.c_str());
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serialConfigElement->SetAttribute("baudRate", configResult.serialConfig.baudRate);
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serialConfigElement->SetAttribute("dataBits", configResult.serialConfig.dataBits);
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serialConfigElement->SetAttribute("stopBits", configResult.serialConfig.stopBits);
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serialConfigElement->SetAttribute("parity", configResult.serialConfig.parity);
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serialConfigElement->SetAttribute("flowControl", configResult.serialConfig.flowControl);
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serialConfigElement->SetAttribute("enabled", configResult.serialConfig.enabled);
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root->InsertEndChild(serialConfigElement);
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// 保存到文件
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XMLError err = doc.SaveFile(filePath.c_str());
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if (err != XML_SUCCESS)
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{
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std::cerr << "无法保存配置文件: " << filePath << std::endl;
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return false;
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}
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||
|
|
|
||
|
|
// 触发配置改变通知
|
||
|
|
if (m_pNotify)
|
||
|
|
{
|
||
|
|
m_pNotify->OnConfigChanged(configResult);
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
// 设置配置改变通知回调
|
||
|
|
void CVrConfig::SetConfigChangeNotify(IVrConfigChangeNotify* notify)
|
||
|
|
{
|
||
|
|
m_pNotify = notify;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief 创建实例
|
||
|
|
* @return 实例
|
||
|
|
*/
|
||
|
|
bool IVrConfig::CreateInstance(IVrConfig** ppVrConfig)
|
||
|
|
{
|
||
|
|
*ppVrConfig = new CVrConfig();
|
||
|
|
return *ppVrConfig != nullptr;
|
||
|
|
}
|