173 lines
8.1 KiB
C++
173 lines
8.1 KiB
C++
#include <QCoreApplication>
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#include <QTimer>
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#include <QThread>
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#include <iostream>
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#include "BinocularMarkPresenter.h"
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#include "BinocularMarkTcpProtocol.h"
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#include "PathManager.h"
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#include "Version.h"
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#include "VrLog.h"
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#include "IVrUtils.h"
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#include "binocularMarkCam_Export.h"
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int main(int argc, char *argv[])
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{
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QCoreApplication app(argc, argv);
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// 设置应用程序信息
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app.setApplicationName(BINOCULAR_MARK_PRODUCT_NAME);
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app.setApplicationVersion(BINOCULAR_MARK_VERSION_STRING);
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app.setOrganizationName(BINOCULAR_MARK_COMPANY_NAME);
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// 初始化日志
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VrLogUtils::InitLog();
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VrLogUtils::EnableTime(false);
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// 打印启动横幅
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LOG_DEBUG("===========================================\n");
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LOG_INFO(" %s\n", BINOCULAR_MARK_PRODUCT_NAME);
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LOG_INFO(" %s\n", BINOCULAR_MARK_VERSION_STRING);
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LOG_INFO(" %s\n", BINOCULAR_MARK_VERSION_BUILD);
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LOG_DEBUG("===========================================\n");
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// 打印算法版本
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const char* algoVersion = wd_charuco3DMarkVersion();
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LOG_INFO("Algorithm Version: %s\n", algoVersion);
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// 注册自定义类型用于信号槽
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qRegisterMetaType<std::vector<SWD_charuco3DMark>>("std::vector<SWD_charuco3DMark>");
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qRegisterMetaType<cv::Mat>("cv::Mat");
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// 创建Presenter和TCP协议处理对象
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BinocularMarkPresenter presenter;
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BinocularMarkTcpProtocol tcpProtocol;
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// 连接信号槽
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QObject::connect(&presenter, &BinocularMarkPresenter::detectionResult, &tcpProtocol, &BinocularMarkTcpProtocol::sendMarkResult);
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QObject::connect(&presenter, &BinocularMarkPresenter::singleDetectionResult, &tcpProtocol, &BinocularMarkTcpProtocol::sendSingleDetectionResult);
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QObject::connect(&presenter, &BinocularMarkPresenter::singleImageResult, &tcpProtocol, &BinocularMarkTcpProtocol::sendImageData);
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QObject::connect(&presenter, &BinocularMarkPresenter::cameraInfoResult, &tcpProtocol, &BinocularMarkTcpProtocol::sendCameraInfoResponse);
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QObject::connect(&presenter, &BinocularMarkPresenter::calibrationMatrixResult, &tcpProtocol, &BinocularMarkTcpProtocol::sendCalibrationMatrixResponse);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::singleDetectionRequested, &presenter, &BinocularMarkPresenter::handleSingleDetection);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::singleImageRequested, &presenter, &BinocularMarkPresenter::handleSingleImage);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::startWorkRequested, &presenter, &BinocularMarkPresenter::handleStartWork);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::stopWorkRequested, &presenter, &BinocularMarkPresenter::handleStopWork);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::startContinuousImageRequested, &presenter, &BinocularMarkPresenter::handleStartContinuousImage);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::stopContinuousImageRequested, &presenter, &BinocularMarkPresenter::handleStopContinuousImage);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::setExposureTimeRequested, &presenter, &BinocularMarkPresenter::handleSetExposureTime);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::setGainRequested, &presenter, &BinocularMarkPresenter::handleSetGain);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::setLeftExposureTimeRequested, &presenter, &BinocularMarkPresenter::handleSetLeftExposureTime);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::setRightExposureTimeRequested, &presenter, &BinocularMarkPresenter::handleSetRightExposureTime);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::setLeftGainRequested, &presenter, &BinocularMarkPresenter::handleSetLeftGain);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::setRightGainRequested, &presenter, &BinocularMarkPresenter::handleSetRightGain);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::getCameraInfoRequested, &presenter, &BinocularMarkPresenter::handleGetCameraInfo);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::getCalibrationRequested, &presenter, &BinocularMarkPresenter::handleGetCalibration);
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QObject::connect(&tcpProtocol, &BinocularMarkTcpProtocol::setCalibrationRequested, &presenter, &BinocularMarkPresenter::handleSetCalibration);
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// 获取配置文件路径（通过 PathManager 自动判断加密或明文）
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QString configFilePath = PathManager::GetInstance().GetConfigFilePath();
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// 加载配置文件
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if (!presenter.loadConfiguration(configFilePath))
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{
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LOG_WARN("Warning: Failed to load configuration file. Using default settings.\n");
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LOG_INFO("Config file location: %s\n", configFilePath.toStdString().c_str());
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}
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// 启动TCP服务器
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quint16 serverPort = presenter.getServerPort();
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if (serverPort == 0)
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{
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serverPort = 5901; // 默认端口
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}
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if (!tcpProtocol.startServer(serverPort))
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{
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LOG_ERROR("Failed to start TCP server on port %d\n", serverPort);
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return -1;
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}
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// 不需要向外的心跳，客户端会发送心跳
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// tcpProtocol.startHeartbeat(30);
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// 初始化双目相机（不启动采集线程，等待cmd_start_work命令）
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int cameraResult = presenter.initCameras();
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if (cameraResult != 0)
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{
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LOG_WARN("Failed to initialize cameras, will retry on client request\n");
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}
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// 设置版本信息文本：版本号 + 编译时间
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QString versionText = QString("%1_%2_%3")
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.arg(BINOCULAR_MARK_VERSION_STRING)
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.arg(BINOCULAR_MARK_VERSION_BUILD)
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.arg(BUILD_TIME.c_str());
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// 输出系统信息
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LOG_INFO("=== BinocularMark Server Started %s ===\n", versionText.toStdString().c_str());
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LOG_INFO("Server is running on port %d\n", serverPort);
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LOG_INFO("Press Ctrl+C to exit.\n");
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#if 0 // 将 0 改为 1 可启用模拟线程
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#ifdef _WIN32
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LOG_INFO("Simulation thread started - sending test data every 5 seconds\n");
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// 模拟线程：定期发送模拟的 Mark 检测结果
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std::thread testThread([&presenter]() {
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QThread::sleep(5); // 等待5秒，确保系统启动完成
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int frameCounter = 0;
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while (true)
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{
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// 生成模拟的 Mark 数据
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std::vector<SWD_charuco3DMark> simulatedMarks;
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// 模拟检测到 4 个 Mark
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for (int i = 0; i < 4; i++)
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{
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SWD_charuco3DMark mark;
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mark.mark3D.markID = i;
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// 模拟位置：在 (100, 200, 300) 附近随机分布
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mark.mark3D.x = 100.0 + (rand() % 100 - 50) / 10.0; // 95.0 ~ 105.0
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mark.mark3D.y = 200.0 + (rand() % 100 - 50) / 10.0; // 195.0 ~ 205.0
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mark.mark3D.z = 300.0 + (rand() % 100 - 50) / 10.0; // 295.0 ~ 305.0
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simulatedMarks.push_back(mark);
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}
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// 生成模拟图像（640x480 灰度图）
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cv::Mat simulatedLeftImage(480, 640, CV_8UC1, cv::Scalar(128));
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cv::Mat simulatedRightImage(480, 640, CV_8UC1, cv::Scalar(120));
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// 在图像上绘制一些标记
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for (size_t i = 0; i < simulatedMarks.size(); i++)
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{
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cv::Point center(100 + i * 150, 240);
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cv::circle(simulatedLeftImage, center, 20, cv::Scalar(255), 2);
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cv::putText(simulatedLeftImage, std::to_string(i),
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cv::Point(center.x - 10, center.y + 5),
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cv::FONT_HERSHEY_SIMPLEX, 0.8, cv::Scalar(255), 2);
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}
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// 发送模拟数据（通过信号）
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emit presenter.detectionResult(simulatedMarks, simulatedLeftImage, simulatedRightImage, SUCCESS);
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frameCounter++;
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LOG_DEBUG("Simulation: Sent frame #%d with %zu marks\n", frameCounter, simulatedMarks.size());
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// 等待5秒
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QThread::sleep(5);
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}
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});
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testThread.detach();
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#endif
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#endif
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return app.exec();
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}
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