From 7d07da64025cfbf8b0c5235ae717aef366ce0c57 Mon Sep 17 00:00:00 2001 From: hehaoyang Date: Sun, 12 Nov 2023 01:13:43 +0800 Subject: [PATCH] =?UTF-8?q?=E5=9B=BE=E7=89=87=E8=A7=86=E9=A2=91=E4=B8=8A?= =?UTF-8?q?=E4=BC=A0=E5=88=B0FTP,=20=E8=A7=86=E9=A2=91=E4=B8=8A=E4=BC=A0?= =?UTF-8?q?=E5=AE=8C=E6=AF=95=E5=90=8E.=20=E4=BC=9A=E4=BC=A0=E7=BB=99Rabbi?= =?UTF-8?q?tMQ=E6=95=B0=E6=8D=AE=E5=BA=93=E9=98=9F=E5=88=97;=20=E8=A7=A3?= =?UTF-8?q?=E5=86=B3:=20=E6=8A=A5=E8=AD=A6=E5=BD=95=E5=83=8F=E7=94=9F?= =?UTF-8?q?=E6=88=90BUG?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 1419 +++++++++++++++++++++++ .vscode/settings.json | 8 + app/HxDataBase.cpp | 193 ++- app/HxDataBase.h | 38 +- app/HxTaskDispatch.cpp | 557 +++++++-- app/HxTaskDispatch.h | 34 +- app/HxUtils.h | 149 ++- app/HxVideoDevice.cpp | 443 ++++--- app/HxVideoDevice.h | 36 +- app/app.pro | 19 +- app/external/libObjectEventDetect.a | Bin 2242484 -> 2477662 bytes app/external/qamqp/libqamqp.a | Bin 0 -> 674018 bytes app/external/qamqp/qamqp.dll | Bin 0 -> 216576 bytes app/external/qamqp/qamqpauthenticator.h | 55 + app/external/qamqp/qamqpchannel.h | 83 ++ app/external/qamqp/qamqpchannel_p.h | 84 ++ app/external/qamqp/qamqpchannelhash_p.h | 98 ++ app/external/qamqp/qamqpclient.h | 146 +++ app/external/qamqp/qamqpclient_p.h | 120 ++ app/external/qamqp/qamqpexchange.h | 123 ++ app/external/qamqp/qamqpexchange_p.h | 45 + app/external/qamqp/qamqpframe_p.h | 171 +++ app/external/qamqp/qamqpglobal.h | 134 +++ app/external/qamqp/qamqpmessage.h | 89 ++ app/external/qamqp/qamqpmessage_p.h | 26 + app/external/qamqp/qamqpqueue.h | 127 ++ app/external/qamqp/qamqpqueue_p.h | 64 + app/external/qamqp/qamqptable.h | 43 + app/main.cpp | 16 +- 29 files changed, 3909 insertions(+), 411 deletions(-) create mode 100644 .vscode/settings.json create mode 100644 app/external/qamqp/libqamqp.a create mode 100644 app/external/qamqp/qamqp.dll create mode 100644 app/external/qamqp/qamqpauthenticator.h create mode 100644 app/external/qamqp/qamqpchannel.h create mode 100644 app/external/qamqp/qamqpchannel_p.h create mode 100644 app/external/qamqp/qamqpchannelhash_p.h create mode 100644 app/external/qamqp/qamqpclient.h create mode 100644 app/external/qamqp/qamqpclient_p.h create mode 100644 app/external/qamqp/qamqpexchange.h create mode 100644 app/external/qamqp/qamqpexchange_p.h create mode 100644 app/external/qamqp/qamqpframe_p.h create mode 100644 app/external/qamqp/qamqpglobal.h create mode 100644 app/external/qamqp/qamqpmessage.h create mode 100644 app/external/qamqp/qamqpmessage_p.h create mode 100644 app/external/qamqp/qamqpqueue.h create mode 100644 app/external/qamqp/qamqpqueue_p.h create mode 100644 app/external/qamqp/qamqptable.h diff --git a/.gitignore b/.gitignore index 5c7810f..7803365 100644 --- a/.gitignore +++ b/.gitignore @@ -1737,3 +1737,1422 @@ DebugTool/DebugTool/obj/._DebugTool.csproj.nuget.g.props 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of file diff --git a/app/HxDataBase.cpp b/app/HxDataBase.cpp index c08bd19..acb0477 100644 --- a/app/HxDataBase.cpp +++ b/app/HxDataBase.cpp @@ -1,18 +1,21 @@ #include "HxDataBase.h" -QMutex DataBase::mutex; -QSqlDatabase DataBase::database; -QString DataBase::device_id; -QString DataBase::ftp_address; -QString DataBase::ftp_username; -QString DataBase::ftp_password; -int DataBase::algorithm_type; -QString DataBase::dsm_video_input_source; -QString DataBase::adas_video_input_source; -QStringList DataBase::bsd_video_input_source; -QStringList DataBase::bsd_warn_regions; +#include "HxUtils.h" -QSqlDatabase DataBase::open(QString filepath, QString connectionName) +QMutex HxDataBase::mutex; +QSqlDatabase HxDataBase::database; +QString HxDataBase::device_id; +QString HxDataBase::ftp_address, HxDataBase::ftp_username, HxDataBase::ftp_password; +QString HxDataBase::qamqp_address, HxDataBase::qamqp_username, HxDataBase::qamqp_password; +int HxDataBase::algorithm_type; +QString HxDataBase::dsm_video_input_source; +QString HxDataBase::adas_video_input_source; +QStringList HxDataBase::bsd_video_input_source; +QStringList HxDataBase::bsd_warn_regions; +EventWarnParamConfig HxDataBase::warm_param_config; +CameraCalibration HxDataBase::adas_camera_calibration; + +QSqlDatabase HxDataBase::open(QString filepath, QString connectionName) { QSqlDatabase db; if (QSqlDatabase::contains(connectionName)) @@ -40,14 +43,14 @@ QSqlDatabase DataBase::open(QString filepath, QString connectionName) * @brief 关闭数据库 * @param connectionName 连接名 */ -void DataBase::close(QString connectionName) { QSqlDatabase::removeDatabase(connectionName); } +void HxDataBase::close(QString connectionName) { QSqlDatabase::removeDatabase(connectionName); } /** * @brief 读取 Setting 表数据 * @param name name字段值 * @return 返回对应参数 */ -QVariant DataBase::read_setting(QString name) +QVariant HxDataBase::read_setting(QString name) { QVariant value; @@ -74,7 +77,7 @@ QVariant DataBase::read_setting(QString name) * @param defaultValue 默认值(int) * @return 返回对应参数(int) */ -int DataBase::read_setting(QString name, int defaultValue) +int HxDataBase::read_setting(QString name, int defaultValue) { auto value = read_setting(name); @@ -87,7 +90,7 @@ int DataBase::read_setting(QString name, int defaultValue) * @param defaultValue 默认值(bool) * @return 返回对应参数(bool) */ -bool DataBase::read_setting(QString name, bool defaultValue) +bool HxDataBase::read_setting(QString name, bool defaultValue) { auto value = read_setting(name); @@ -100,7 +103,7 @@ bool DataBase::read_setting(QString name, bool defaultValue) * @param defaultValue 默认值(string) * @return 返回对应参数(string) */ -QString DataBase::read_setting(QString name, QString defaultValue) +QString HxDataBase::read_setting(QString name, QString defaultValue) { auto value = read_setting(name); @@ -112,7 +115,7 @@ QString DataBase::read_setting(QString name, QString defaultValue) * @param name name字段值 * @param value 对应参数 */ -void DataBase::write_setting(QString name, QString value) +void HxDataBase::write_setting(QString name, QString value) { QMutexLocker lock(&mutex); @@ -128,7 +131,108 @@ void DataBase::write_setting(QString name, QString value) query.clear(); } -void DataBase::initialization() +void HxDataBase::read_warm_param_config(void) +{ + auto start_event_warn_kind = read_setting("start_event_warn_kind", QString("1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1;1")).split(";"); + auto abnormal_warn_frame_count = read_setting("abnormal_warn_frame_count", QString("0;0;0;0;0;0;0;50;75;25;50;75;50;50;50;25;75;50;50;50;50;50;75;50;50;100")).split(";"); + auto normal_frame_count = read_setting("normal_frame_count", QString("0;0;0;0;0;0;0;25;25;25;25;25;25;25;25;25;25;25;25;25;25;25;0;0;0;0")).split(";"); + auto abnormal_warn_interval_frame_count = read_setting("abnormal_warn_interval_frame_count", QString("0;0;125;0;125;0;0;0;0;0;0;0;0;125;0;0;0;0;0;0;0;0;0;0;0;0")).split(";"); + auto abnormal_warn_score_threshold = read_setting("abnormal_warn_score_threshold", QString("0;0;0;0;0;0;0;0.7;0.8;0.4;0.65;0.95;0.75;0.3;0.65;0.5;0.87;25;25;20;15;0.75;0.3;0.5;0.5;0.5")).split(";"); + auto normal_warn_score_threshold = read_setting("normal_warn_score_threshold", QString("0;0;0;0;0;0;0;0.35;0.35;0.7;0.7;0.7;0.55;0.8;0.4;0.55;0.13;20;20;15;10;0.55;0.3;0.3;0.5;0.5")).split(";"); + + for (int i = 0; i < EVENT_WARN_NUM; i++) + { + warm_param_config.bStartEventWarnKind[i] = QVariant(start_event_warn_kind.at(i)).toBool(); + warm_param_config.nAbnormalWarnFrameCount[i] = abnormal_warn_frame_count.at(i).toInt(); + warm_param_config.nNormalFrameCount[i] = normal_frame_count.at(i).toInt(); + warm_param_config.nAbnormalWarnIntervalFrameCount[i] = abnormal_warn_interval_frame_count.at(i).toInt(); + warm_param_config.fAbnormalWarnScoreThreshold[i] = abnormal_warn_score_threshold.at(i).toFloat(); + warm_param_config.fNormalWarnScoreThreshold[i] = normal_warn_score_threshold.at(i).toFloat(); + } + + warm_param_config.nHmwTime = read_setting("hmw_time", 1200); + warm_param_config.nPcwTime = read_setting("pcw_time", 2000); + warm_param_config.nFcwTime = read_setting("fcw_time", 2400); + warm_param_config.fHmwVel = read_setting("hmw_vel", 30); + warm_param_config.fFcwVel = read_setting("fcw_vel", 30); + warm_param_config.fLdwVel = read_setting("ldw_vel", 55); + warm_param_config.fPcwVel = read_setting("pcw_vel", 50); + warm_param_config.fBsdFirstVel = read_setting("bsd_first_vel", 30); + warm_param_config.fBsdSecondVel = read_setting("bsd_second_vel", 30); + warm_param_config.fBsdThirdVel = read_setting("bsd_third_vel", 30); + warm_param_config.nLdwDistance = read_setting("ldw_distance", -5); + warm_param_config.fDsmVel = read_setting("dsm_vel", 5); +} + +void HxDataBase::write_warm_param_config(void) +{ + QStringList start_event_warn_kind, abnormal_warn_frame_count, normal_frame_count, abnormal_warn_interval_frame_count, abnormal_warn_score_threshold, normal_warn_score_threshold; + + for (int i = 0; i < EVENT_WARN_NUM; i++) + { + start_event_warn_kind.append(QString::number(warm_param_config.bStartEventWarnKind[i])); + abnormal_warn_frame_count.append(QString::number(warm_param_config.nAbnormalWarnFrameCount[i])); + normal_frame_count.append(QString::number(warm_param_config.nNormalFrameCount[i])); + abnormal_warn_interval_frame_count.append(QString::number(warm_param_config.nAbnormalWarnIntervalFrameCount[i])); + abnormal_warn_score_threshold.append(QString::number(warm_param_config.fAbnormalWarnScoreThreshold[i])); + normal_warn_score_threshold.append(QString::number(warm_param_config.fNormalWarnScoreThreshold[i])); + } + + write_setting("start_event_warn_kind", start_event_warn_kind.join(";")); + write_setting("abnormal_warn_frame_count", abnormal_warn_frame_count.join(";")); + write_setting("normal_frame_count", normal_frame_count.join(";")); + write_setting("abnormal_warn_interval_frame_count", abnormal_warn_interval_frame_count.join(";")); + write_setting("abnormal_warn_score_threshold", abnormal_warn_score_threshold.join(";")); + write_setting("normal_warn_score_threshold", normal_warn_score_threshold.join(";")); + write_setting("hmw_time", QString::number(warm_param_config.nHmwTime)); + write_setting("pcw_time", QString::number(warm_param_config.nPcwTime)); + write_setting("fcw_time", QString::number(warm_param_config.nFcwTime)); + write_setting("hmw_vel", QString::number(warm_param_config.fHmwVel)); + write_setting("fcw_vel", QString::number(warm_param_config.fFcwVel)); + write_setting("ldw_vel", QString::number(warm_param_config.fLdwVel)); + write_setting("pcw_vel", QString::number(warm_param_config.fPcwVel)); + write_setting("bsd_first_vel", QString::number(warm_param_config.fBsdFirstVel)); + write_setting("bsd_second_vel", QString::number(warm_param_config.fBsdSecondVel)); + write_setting("bsd_third_vel", QString::number(warm_param_config.fBsdThirdVel)); + write_setting("ldw_distance", QString::number(warm_param_config.nLdwDistance)); + write_setting("dsm_vel", QString::number(warm_param_config.fDsmVel)); +} + +void HxDataBase::read_adas_camera_calibration(void) +{ + auto value = read_setting("adas_camera_calibration", QString("4527;1830;0;1695;0;1500;6.00;0.00;-0.32;0.00")).split(";"); + + adas_camera_calibration.fCarLen = value[0].toInt(); + adas_camera_calibration.fCarWidth = value[1].toInt(); + adas_camera_calibration.fRefCenter = value[2].toInt(); + adas_camera_calibration.fRefTop = value[3].toInt(); + adas_camera_calibration.fDisLen2Tyre = value[4].toInt(); + adas_camera_calibration.fCameraHeight = value[5].toInt(); + adas_camera_calibration.fCameraFocus = value[6].toFloat(); + adas_camera_calibration.fCameraDx = value[7].toFloat(); + adas_camera_calibration.fPitch = value[8].toFloat(); + adas_camera_calibration.fYaw = value[9].toFloat(); +} + +void HxDataBase::write_adas_camera_calibration(void) +{ + QStringList value; + + value.append(QString::number(adas_camera_calibration.fCarLen)); + value.append(QString::number(adas_camera_calibration.fCarWidth)); + value.append(QString::number(adas_camera_calibration.fRefCenter)); + value.append(QString::number(adas_camera_calibration.fRefTop)); + value.append(QString::number(adas_camera_calibration.fDisLen2Tyre)); + value.append(QString::number(adas_camera_calibration.fCameraHeight)); + value.append(QString::number(adas_camera_calibration.fCameraFocus, 'f', 2)); + value.append(QString::number(adas_camera_calibration.fCameraDx, 'f', 2)); + value.append(QString::number(adas_camera_calibration.fPitch, 'f', 2)); + value.append(QString::number(adas_camera_calibration.fYaw, 'f', 2)); + + write_setting("adas_camera_calibration", value.join(";")); +} + +void HxDataBase::initialization() { database = open("DataBase.db", "DataBase"); @@ -142,25 +246,26 @@ void DataBase::initialization() /* 创建 程序配置信息 表 */ if (!query.exec("CREATE TABLE IF NOT EXISTS [Setting] (" - " [name] TEXT NOT NULL PRIMARY KEY," - " [value] TEXT" - ");")) + " [name] TEXT NOT NULL PRIMARY KEY," + " [value] TEXT" + ");")) { - qDebug("配置表创建失败"); + HxLog::append("database", "setting read failed"); return; } - /* */ + /* 设备编号 */ device_id = read_setting("device_id", QString("TVIS")); - /* */ + /* FTP信息 */ ftp_address = read_setting("ftp_address", QString("192.168.10.10:7616")); - - /* */ ftp_username = read_setting("ftp_username", QString("nvruser")); + ftp_password = read_setting("ftp_password", QString("Sztvis_789.")); /* */ - ftp_password = read_setting("ftp_password", QString("Sztvis_789.")); + qamqp_address = read_setting("qamqp_address", QString("192.168.1.227:5672")); + qamqp_username = read_setting("qamqp_username", QString("root")); + qamqp_password = read_setting("qamqp_password", QString("Sztvis@789.")); /* 算法类型, 默认 BSD */ algorithm_type = read_setting("algorithm_type", 0x02); @@ -174,18 +279,25 @@ void DataBase::initialization() /* BSD 视频输入源 (string) */ bsd_video_input_source = read_setting("bsd_video_input_source", QString(";;;;;;")).split(";"); + /* BSD 报警区域 */ bsd_warn_regions = read_setting( - "bsd_warn_regions", - QString("0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0*" - "0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0*" - "0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0*" - "0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0*" - "0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0*" - "0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0")) - .split("*"); + "bsd_warn_regions", + QString("0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0*" + "0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0*" + "0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0*" + "0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0*" + "0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0*" + "0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0$0,0 0,0 0,0 0,0")) + .split("*"); + + /* 读取报警参数配置 */ + read_warm_param_config(); + + /* 读取 ADAS 相机内外参 */ + read_adas_camera_calibration(); } -bool DataBase::save_setting() +bool HxDataBase::save_setting() { database.transaction(); @@ -193,11 +305,16 @@ bool DataBase::save_setting() write_setting("ftp_address", ftp_address); write_setting("ftp_username", ftp_username); write_setting("ftp_password", ftp_password); + write_setting("qamqp_address", qamqp_address); + write_setting("qamqp_username", qamqp_username); + write_setting("qamqp_password", qamqp_password); write_setting("algorithm_type", QString::number(algorithm_type)); write_setting("dsm_video_input_source", dsm_video_input_source); write_setting("adas_video_input_source", adas_video_input_source); write_setting("bsd_video_input_source", bsd_video_input_source.join(";")); write_setting("bsd_warn_regions", bsd_warn_regions.join("*")); + write_warm_param_config(); + write_adas_camera_calibration(); return database.commit(); } @@ -207,7 +324,7 @@ bool DataBase::save_setting() * @param channel 通道号 * @return 返回 BsdWarnRegion 结构体 */ -BsdWarnRegion DataBase::get_bsd_warn_region(int channel) +BsdWarnRegion HxDataBase::get_bsd_warn_region(int channel) { BsdWarnRegion ret; diff --git a/app/HxDataBase.h b/app/HxDataBase.h index 873392d..b4c48fb 100644 --- a/app/HxDataBase.h +++ b/app/HxDataBase.h @@ -13,7 +13,7 @@ #define BSD_MAX_CHANNEL 6 -class DataBase +class HxDataBase { private: /** @@ -68,6 +68,14 @@ private: */ static void write_setting(QString name, QString value); + static void read_warm_param_config(void); + + static void write_warm_param_config(void); + + static void read_adas_camera_calibration(void); + + static void write_adas_camera_calibration(void); + public: /** * @brief 初始化 @@ -104,30 +112,28 @@ public: /* FTP密码 */ static QString ftp_password; - /** - * 算法类型 - */ + static QString qamqp_address, qamqp_username, qamqp_password; + + /* 算法类型 */ static int algorithm_type; - /** - * DSM 视频输入源 - */ + /* DSM 视频输入源 */ static QString dsm_video_input_source; - /** - * ADAS 视频输入源 - */ + /* ADAS 视频输入源 */ static QString adas_video_input_source; - /** - * BSD 视频输入源 - */ + /* BSD 视频输入源 */ static QStringList bsd_video_input_source; - /** - * BSD 报警区域 - */ + /* BSD 报警区域 */ static QStringList bsd_warn_regions; + + /* 报警参数配置 */ + static EventWarnParamConfig warm_param_config; + + /* ADAS 相机内外参 */ + static CameraCalibration adas_camera_calibration; }; #endif // HXDATABASE_H diff --git a/app/HxTaskDispatch.cpp b/app/HxTaskDispatch.cpp index 2ad3e25..422c720 100644 --- a/app/HxTaskDispatch.cpp +++ b/app/HxTaskDispatch.cpp @@ -6,115 +6,141 @@ #include /* 视频设备 */ -VideoDevice adas_video_device, bsd_video_device[6], dsm_video_device; +HxVideoDevice adas_video_device, bsd_video_device[6], dsm_video_device; -TaskDispatch *dispatcher = new TaskDispatch(); +HxTaskDispatch* dispatcher = new HxTaskDispatch(); + +QMutex upload_file_mutex; +QQueue upload_file_queue; + +#ifdef USE_RABBITMQ +HxRabbitMQUtils HxRabbitMQ; +#endif + +/* 倒车灯；1：亮；0：熄灭 */ +static int reversing_light = 0; /* 车辆状态: 1 直行; 2 左转弯; 3 右转弯; 4 倒车 */ static int vehicle_status = 0; static int detect_channel = 0; -void TaskDispatch::initialization(void) +void HxTaskDispatch::initialization(void) { + HxLog::append("initialization", QString("algorithm_type=%1").arg(HxDataBase::algorithm_type)); + HxLog::append("initialization", QString("ftp=%1,%2,%3").arg(HxDataBase::ftp_address, HxDataBase::ftp_username, HxDataBase::ftp_password)); + HxLog::append("initialization", QString("rabbitmq=%1,%2,%3").arg(HxDataBase::qamqp_address, HxDataBase::qamqp_username, HxDataBase::qamqp_password)); + /* 算法模块初始化 */ #if USE_ALGORITHM /* adas检测配置 */ - strcpy(dispatcher->event_detect_config.szAdasDetectConfigPathName, "/opt/algmode/adas_detect.bin"); + strcpy(dispatcher->event_detect_config.szAdasDetectConfigPathName, "./algmode/adas_detect.bin"); /* adas跟踪配置 */ - strcpy(dispatcher->event_detect_config.szAdasTrackConfigPathName, "/opt/algmode/adas_track.bin"); + strcpy(dispatcher->event_detect_config.szAdasTrackConfigPathName, "./algmode/adas_track.bin"); /* bsd检测配置 */ - strcpy(dispatcher->event_detect_config.szBsdDetectConfigPathName, "/opt/algmode/bsd_detect.bin"); - // strcpy(dispatcher->event_detect_config.szRightBsdFrontDetectConfigPathName, "/opt/algmode/bsd_detect.bin"); + strcpy(dispatcher->event_detect_config.szBsdDetectConfigPathName, "./algmode/bsd_detect.bin"); + // strcpy(dispatcher->event_detect_config.szRightBsdFrontDetectConfigPathName, "./algmode/bsd_detect.bin"); /* dsm人脸检测配置 */ - strcpy(dispatcher->event_detect_config.szDsmFaceDetectConfigPathName, "/opt/algmode/dsm_face_detect.bin"); + strcpy(dispatcher->event_detect_config.szDsmFaceDetectConfigPathName, "./algmode/dsm_face_detect.bin"); /* dsm人脸特征点检测配置 */ - strcpy(dispatcher->event_detect_config.szDsmFaceLandMarksDetectConfigPathName, "/opt/algmode/dsm_face_landmarks_detect.bin"); + strcpy(dispatcher->event_detect_config.szDsmFaceLandMarksDetectConfigPathName, "./algmode/dsm_face_landmarks_detect.bin"); /* dsm人脸认证检测配置 */ - strcpy(dispatcher->event_detect_config.szDsmFaceVerificationDetectConfigPathName, "/opt/algmode/dsm_face_verification_detect.bin"); + strcpy(dispatcher->event_detect_config.szDsmFaceVerificationDetectConfigPathName, "./algmode/dsm_face_verification_detect.bin"); /* dsm人眼认证检测配置 */ - strcpy(dispatcher->event_detect_config.szDsmEyeLandMarksDetectConfigPathName, "/opt/algmode/dsm_eye_landmarks_detect.bin"); + strcpy(dispatcher->event_detect_config.szDsmEyeLandMarksDetectConfigPathName, "./algmode/dsm_eye_landmarks_detect.bin"); /* dsm人脸认证检测配置 */ - strcpy(dispatcher->event_detect_config.szDsmSmokeConfPathName, "/opt/algmode/dsm_smoke_detect.bin"); - strcpy(dispatcher->event_detect_config.szDsmCallConfPathName, "/opt/algmode/dsm_call_detect.bin"); - strcpy(dispatcher->event_detect_config.szDsmFaceFeaturePathName, "/opt/algmode/dsm_face_feature.bin"); - strcpy(dispatcher->event_detect_config.szDsmHeadPoseConfPathName, "/opt/algmode/data_68kp"); + strcpy(dispatcher->event_detect_config.szDsmSmokeConfPathName, "./algmode/dsm_smoke_detect.bin"); + strcpy(dispatcher->event_detect_config.szDsmCallConfPathName, "./algmode/dsm_call_detect.bin"); + strcpy(dispatcher->event_detect_config.szDsmFaceFeaturePathName, "./algmode/dsm_face_feature.bin"); + strcpy(dispatcher->event_detect_config.szDsmHeadPoseConfPathName, "./algmode/data_68kp"); /* 输出调试信息 */ MvSetPrintf(false); /* 目标跟踪事件检测初始化 */ - auto result = MvObjectEventDetectInit(&dispatcher->event_detect_config, RIGHT_BSD_FRONT_DETECT_CHANNEL | - RIGHT_BSD_REAR_DETECT_CHANNEL | - LEFT_BSD_FRONT_DETECT_CHANNEL | - LEFT_BSD_REAR_DETECT_CHANNEL | - FRONT_BSD_DETECT_CHANNEL | - REAR_BSD_DETECT_CHANNEL | - DMS_DETECT_CHANNEL | - ADAS_DETECT_CHANNEL); - + auto result = MvObjectEventDetectInit(&dispatcher->event_detect_config, RIGHT_BSD_FRONT_DETECT_CHANNEL | RIGHT_BSD_REAR_DETECT_CHANNEL | LEFT_BSD_FRONT_DETECT_CHANNEL | LEFT_BSD_REAR_DETECT_CHANNEL | FRONT_BSD_DETECT_CHANNEL | REAR_BSD_DETECT_CHANNEL | DMS_DETECT_CHANNEL | ADAS_DETECT_CHANNEL); if (result != 0) + { + HxLog::append("initialization", "object event detect init failed!!"); + return; + } + + /* 设置报警参数 */ + result = MvSetEventWarnParamConfig(&HxDataBase::warm_param_config); + if (result != 0) + HxLog::append("initialization", "set event warn param config failed!!"); + + + /* 相机标定 */ + if(MvCameraCalibration(&HxDataBase::adas_camera_calibration) != 0) + HxLog::append("initialization", "camera calibration failed!!"); #endif /* ADAS 通道初始化 */ - if ((DataBase::algorithm_type & 0x1) == 1) - { - adas_video_device.set(0, DataBase::adas_video_input_source); - } + if ((HxDataBase::algorithm_type & 0x1) == 1) + adas_video_device.set(0, HxDataBase::adas_video_input_source); /* BSD 通道初始化 */ - if (((DataBase::algorithm_type >> 1) & 0x1) == 1) + if (((HxDataBase::algorithm_type >> 1) & 0x1) == 1) { /* BSD-前 */ - bsd_video_device[0].set(6, DataBase::bsd_video_input_source[0], DataBase::get_bsd_warn_region(0)); + bsd_video_device[0].set(6, HxDataBase::bsd_video_input_source[0], HxDataBase::get_bsd_warn_region(0)); /* BSD-后 */ - bsd_video_device[1].set(7, DataBase::bsd_video_input_source[1], DataBase::get_bsd_warn_region(1)); + bsd_video_device[1].set(7, HxDataBase::bsd_video_input_source[1], HxDataBase::get_bsd_warn_region(1)); /* BSD-左前 */ - bsd_video_device[2].set(4, DataBase::bsd_video_input_source[2], DataBase::get_bsd_warn_region(2)); + bsd_video_device[2].set(4, HxDataBase::bsd_video_input_source[2], HxDataBase::get_bsd_warn_region(2)); /* BSD-右前 */ - bsd_video_device[3].set(1, DataBase::bsd_video_input_source[3], DataBase::get_bsd_warn_region(3)); + bsd_video_device[3].set(1, HxDataBase::bsd_video_input_source[3], HxDataBase::get_bsd_warn_region(3)); /* BSD-左后 */ - bsd_video_device[4].set(5, DataBase::bsd_video_input_source[4], DataBase::get_bsd_warn_region(4)); + bsd_video_device[4].set(5, HxDataBase::bsd_video_input_source[4], HxDataBase::get_bsd_warn_region(4)); /* BSD-右后 */ - bsd_video_device[5].set(3, DataBase::bsd_video_input_source[5], DataBase::get_bsd_warn_region(5)); + bsd_video_device[5].set(3, HxDataBase::bsd_video_input_source[5], HxDataBase::get_bsd_warn_region(5)); } /* DSM 通道初始化 */ - if (((DataBase::algorithm_type >> 2) & 0x1) == 1) - { - dsm_video_device.set(2, DataBase::dsm_video_input_source); - } + if (((HxDataBase::algorithm_type >> 2) & 0x1) == 1) + dsm_video_device.set(2, HxDataBase::dsm_video_input_source); dispatcher->start(); + +#ifdef USE_RABBITMQ + HxRabbitMQ.set(HxDataBase::qamqp_address, HxDataBase::qamqp_username, HxDataBase::qamqp_password); + HxRabbitMQ.set_exchanger_name("vehicle.direct.exchange"); + HxRabbitMQ.set_queue_name("bsd_video_transcode_tag"); + HxRabbitMQ.set_routing_key("bsd_video_transcode_tag_1"); +#endif } -void TaskDispatch::listern(uint16_t port) +void HxTaskDispatch::listern(uint16_t port) { dispatcher->debug_tool = new HxSocketUtils(port); - connect(dispatcher->debug_tool, &HxSocketUtils::data_receive_event, dispatcher, &TaskDispatch::data_receive_event); - connect(dispatcher, &TaskDispatch::data_write_event, dispatcher->debug_tool, &HxSocketUtils::write); + connect(dispatcher->debug_tool, &HxSocketUtils::data_receive_event, dispatcher, &HxTaskDispatch::data_receive_event); + connect(dispatcher, &HxTaskDispatch::data_write_event, dispatcher->debug_tool, &HxSocketUtils::write); } -void TaskDispatch::connect_to_host(QString address, int port) +void HxTaskDispatch::connect_to_host(QString address, int port) { dispatcher->platform = new HxSocketUtils(address, port); - connect(dispatcher->platform, &HxSocketUtils::data_receive_event, dispatcher, &TaskDispatch::data_receive_event); - connect(dispatcher, &TaskDispatch::data_write_event, dispatcher->platform, &HxSocketUtils::write); + connect(dispatcher->platform, &HxSocketUtils::data_receive_event, dispatcher, &HxTaskDispatch::data_receive_event); + connect(dispatcher, &HxTaskDispatch::data_write_event, dispatcher->platform, &HxSocketUtils::write); } -void TaskDispatch::algorithm_alarm_event(int channel, int level, int event_type, int detect_type, int left, int top, int right, int bottom, int distance, int speed, QString base64_string, QString filepath) +void HxTaskDispatch::algorithm_alarm_event(QDateTime time, int channel, int level, int event_type, int detect_type, int left, int top, int right, int bottom, int distance, int speed, QString base64_string, QString filepath) { - QJsonObject root({{"type", 4}}); + Q_UNUSED(speed); - QJsonObject msgInfo({{"channel", channel}, + QJsonObject root({ {"type", 4} }); + + QJsonObject msgInfo({ {"time", time.toString("yyyy-MM-dd HH:mm:ss")}, + {"channel", channel}, {"level", level}, {"event_type", event_type}, {"detect_type", detect_type}, @@ -123,20 +149,22 @@ void TaskDispatch::algorithm_alarm_event(int channel, int level, int event_type, {"right", right}, {"bottom", bottom}, {"distance", distance}, - {"speed", speed}, + {"speed", dispatcher->car_info.fVelocity}, {"image", base64_string}, - {"filepath", filepath}}); + {"filepath", filepath} }); root.insert("msgInfo", msgInfo); emit dispatcher->data_write_event(QJsonDocument(root).toJson(QJsonDocument::Compact)); + HxLog::append("algorithm", QString("alarm type=0x%1, filepath=%2").arg(QString::number(event_type, 16), filepath)); + // dispatcher->send_can_data(channel, pObjectTrackEventResult->nDangerLevel, pObjectTrackEventResult->objInfo[i].nDetectType); } -CarInfoInput *TaskDispatch::get_car_info(void) { return &dispatcher->car_info; } +CarInfoInput* HxTaskDispatch::get_car_info(void) { return &dispatcher->car_info; } -QString TaskDispatch::get_video_frame_data(int type, int channel, int id) +QString HxTaskDispatch::get_video_frame_data(int type, int channel, int id) { Q_UNUSED(channel); @@ -153,7 +181,22 @@ QString TaskDispatch::get_video_frame_data(int type, int channel, int id) return ""; } -QString TaskDispatch::build_alarm_image(int type, int channel, int frame_id) +bool HxTaskDispatch::get_alarm_detection_timestamp(int type, int channel) +{ + switch (type) + { + case 0: + return adas_video_device.get_alarm_detection_timestamp(); + case 1: + return bsd_video_device[channel].get_alarm_detection_timestamp(); + case 2: + return dsm_video_device.get_alarm_detection_timestamp(); + } + + return false; +} + +QString HxTaskDispatch::build_alarm_image(int type, int channel, int frame_id) { switch (type) { @@ -168,7 +211,7 @@ QString TaskDispatch::build_alarm_image(int type, int channel, int frame_id) return ""; } -QString TaskDispatch::build_alarm_video(int type, int channel, int frame_id) +QString HxTaskDispatch::build_alarm_video(int type, int channel, int frame_id) { switch (type) { @@ -183,17 +226,24 @@ QString TaskDispatch::build_alarm_video(int type, int channel, int frame_id) return ""; } -void TaskDispatch::update_heartbeat() +void HxTaskDispatch::enqueue_upload_file(QString filename) +{ + upload_file_mutex.lock(); + upload_file_queue.enqueue(filename); + upload_file_mutex.unlock(); +} + +void HxTaskDispatch::update_heartbeat() { if (QDateTime::currentDateTime() > heartbeat_timestamp.addSecs(30)) { heartbeat_timestamp = QDateTime::currentDateTime(); - emit data_write_event(QJsonDocument(QJsonObject({{"type", 0}})).toJson(QJsonDocument::Compact)); + emit data_write_event(QJsonDocument(QJsonObject({ {"type", 0} })).toJson(QJsonDocument::Compact)); } } -void TaskDispatch::updata_vehiclue_status(QJsonObject object) +void HxTaskDispatch::updata_vehiclue_status(QJsonObject object) { vehicle_status_update_time = QDateTime::currentDateTime(); @@ -207,9 +257,11 @@ void TaskDispatch::updata_vehiclue_status(QJsonObject object) car_info.fSteeingWheelAngle = object.value("seeing_wheel_angle").toDouble(); reversing_light = object.value("reversing_light").toInt(); + + HxLog::append("vehiclue status", QString(QJsonDocument(object).toJson(QJsonDocument::Compact))); } -void TaskDispatch::parsing_vehiclue_status(void) +void HxTaskDispatch::parsing_vehiclue_status(void) { if (dispatcher->vehicle_status_update_time.secsTo(QDateTime::currentDateTime()) >= 10) car_info.fVelocity = 0; @@ -219,19 +271,19 @@ void TaskDispatch::parsing_vehiclue_status(void) auto _detect_channel = 0; /* ADAS 通道初始化 */ - if ((DataBase::algorithm_type & 0x1) == 1) + if ((HxDataBase::algorithm_type & 0x1) == 1) { _detect_channel |= ADAS_DETECT_CHANNEL; } /* DSM 通道初始化 */ - if (((DataBase::algorithm_type >> 2) & 0x1) == 1) + if (((HxDataBase::algorithm_type >> 2) & 0x1) == 1) { _detect_channel |= DMS_DETECT_CHANNEL; } /* BSD 类型 */ - else if (((DataBase::algorithm_type >> 1) & 0x1) == 1) + else if (((HxDataBase::algorithm_type >> 1) & 0x1) == 1) { auto status = 0; @@ -254,7 +306,7 @@ void TaskDispatch::parsing_vehiclue_status(void) /* 车辆状态发生改变 */ if (status != 0 && vehicle_status != status) { - qDebug() << "车辆状态发生改变 " << vehicle_status << " => " << status; + HxLog::append("vehicle status", QString("vehicle status change, %1=>%2").arg(vehicle_status).arg(status)); vehicle_status = status; @@ -275,7 +327,7 @@ void TaskDispatch::parsing_vehiclue_status(void) _detect_channel |= (FRONT_BSD_DETECT_CHANNEL | LEFT_BSD_FRONT_DETECT_CHANNEL | RIGHT_BSD_FRONT_DETECT_CHANNEL); break; - /* 左转弯, 检测通道: C D E */ + /* 左转弯, 检测通道: C D E */ case 2: /* 允许送帧 */ bsd_video_device[2].set(true); @@ -286,7 +338,7 @@ void TaskDispatch::parsing_vehiclue_status(void) _detect_channel |= (LEFT_BSD_FRONT_DETECT_CHANNEL | RIGHT_BSD_FRONT_DETECT_CHANNEL | LEFT_BSD_REAR_DETECT_CHANNEL); break; - /* 右转弯, 检测通道: C D F */ + /* 右转弯, 检测通道: C D F */ case 3: /* 允许送帧 */ bsd_video_device[2].set(true); @@ -297,7 +349,7 @@ void TaskDispatch::parsing_vehiclue_status(void) _detect_channel |= (LEFT_BSD_FRONT_DETECT_CHANNEL | RIGHT_BSD_FRONT_DETECT_CHANNEL | RIGHT_BSD_REAR_DETECT_CHANNEL); break; - /* 倒车, 检测通道: B C D */ + /* 倒车, 检测通道: B C D */ case 4: /* 允许送帧 */ bsd_video_device[1].set(true); @@ -318,13 +370,85 @@ void TaskDispatch::parsing_vehiclue_status(void) #if USE_ALGORITHM MvSetDetectChannel(detect_channel); -#endif +#endif + HxLog::append("algorithm", QString("starting detect channel=0x%1").arg(QString::number(detect_channel, 16))); } } } -void TaskDispatch::run() +void HxTaskDispatch::recording_upload_task(void) { + QString command; + + while(true) + { + if (!upload_file_queue.isEmpty()) + { + upload_file_mutex.lock(); + auto filename = upload_file_queue.dequeue(); + upload_file_mutex.unlock(); + + if(!QFile::exists(filename)) + { + HxLog::append("recording upload task", QString("file=%1 not exists, upload failed").arg(filename)); + + continue; + } + + QString path = QString("%1/%2/alarm").arg(QDateTime::currentDateTime().toString("yyyyMMdd"), HxDataBase::device_id); + + while (true) + { + /* FTP 上传 */ + HxProcess::execute(QString("curl -u %1:%2 ftp://%3/%4/ --ftp-create-dirs -T %5").arg(HxDataBase::ftp_username, HxDataBase::ftp_password, HxDataBase::ftp_address, path, filename)); + + command = QString("curl -u %1:%2 --ftp-ssl --head ftp://%3/%4/%5").arg(HxDataBase::ftp_username, HxDataBase::ftp_password, HxDataBase::ftp_address, path, filename); + + /* 判断FTP文件是否存在 */ + auto res = HxProcess::start(command); + + QRegExp rx("Content-Length:\\s\\d{1,9}"); + + if (rx.indexIn(res, 0) == -1) + continue; + + QFileInfo info(filename); + + auto size1 = info.size(); + auto size2 = rx.cap(0).replace("Content-Length:", "").toInt(); + + if (size1 == size2) + { + HxLog::append("recording upload task", QString("%1 upload finish").arg(filename)); + + qDebug() << info.suffix(); + if(info.suffix() == "mp4") + { +#ifdef USE_RABBITMQ + emit HxRabbitMQ.publish(QString("{\"ftproot\": \"%1\", \"complate\": true}").arg(("/"+path+"/"+filename))); +#endif + } + + break; + } + + msleep(100); + } + + QFile::remove(filename); + + HxLog::append("recording upload task", QString("%1 delete").arg(filename)); + } + + msleep(1000); + } +} + +void HxTaskDispatch::run() +{ + /* 启动 录像上传任务 */ + QtConcurrent::run(this, &HxTaskDispatch::recording_upload_task); + while (true) { QCoreApplication::processEvents(); @@ -335,11 +459,11 @@ void TaskDispatch::run() /* 分析车辆行驶状态 */ parsing_vehiclue_status(); - QThread::msleep(10); + QThread::msleep(1000); } } -void TaskDispatch::debug_tool_response_event(int type, std::initializer_list> args) +void HxTaskDispatch::debug_tool_response_event(int type, std::initializer_list> args) { QJsonObject root, msginfo; @@ -352,7 +476,137 @@ void TaskDispatch::debug_tool_response_event(int type, std::initializer_list= 17 && i <= 20) ? 1 : 100))); + normal_warn_score_threshold.append((int)(HxDataBase::warm_param_config.fNormalWarnScoreThreshold[i] * ((i >= 17 && i <= 20) ? 1 : 100))); + + qDebug() << "enable=" << HxDataBase::warm_param_config.bStartEventWarnKind[i] + << "nAbnormalWarnFrameCount=" << HxDataBase::warm_param_config.nAbnormalWarnFrameCount[i] + << "nNormalFrameCount=" << HxDataBase::warm_param_config.nNormalFrameCount[i] + << "nAbnormalWarnIntervalFrameCount" << HxDataBase::warm_param_config.nAbnormalWarnIntervalFrameCount[i] + << "fAbnormalWarnScoreThreshold=" << HxDataBase::warm_param_config.fAbnormalWarnScoreThreshold[i] + << "fNormalWarnScoreThreshold=" << HxDataBase::warm_param_config.fNormalWarnScoreThreshold[i]; + } + + debug_tool_response_event(type, { {"start_event_warn_kind", start_event_warn_kind}, + {"abnormal_warn_frame_count", abnormal_warn_frame_count}, + {"normal_frame_count", normal_frame_count}, + {"abnormal_warn_interval_frame_count", abnormal_warn_interval_frame_count}, + {"abnormal_warn_score_threshold", abnormal_warn_score_threshold}, + {"normal_warn_score_threshold", normal_warn_score_threshold}, + {"hmw_time", HxDataBase::warm_param_config.nHmwTime}, + {"pcw_time", HxDataBase::warm_param_config.nPcwTime}, + {"fcw_time", HxDataBase::warm_param_config.nFcwTime}, + {"hmw_vel", HxDataBase::warm_param_config.fHmwVel}, + {"fcw_vel", HxDataBase::warm_param_config.fFcwVel}, + {"ldw_vel", HxDataBase::warm_param_config.fLdwVel}, + {"pcw_vel", HxDataBase::warm_param_config.fPcwVel}, + {"bsd_first_vel", HxDataBase::warm_param_config.fBsdFirstVel}, + {"bsd_second_vel", HxDataBase::warm_param_config.fBsdSecondVel}, + {"bsd_third_vel", HxDataBase::warm_param_config.fBsdThirdVel}, + {"ldw_distance", HxDataBase::warm_param_config.nLdwDistance}, + {"dsm_vel", HxDataBase::warm_param_config.fDsmVel} }); +} + +void HxTaskDispatch::set_warn_param_config(int type, QJsonObject object) +{ + QJsonArray start_event_warn_kind = object.value("start_event_warn_kind").toArray(); + QJsonArray abnormal_warn_frame_count = object.value("abnormal_warn_frame_count").toArray(); + QJsonArray normal_frame_count = object.value("normal_frame_count").toArray(); + QJsonArray abnormal_warn_interval_frame_count = object.value("abnormal_warn_interval_frame_count").toArray(); + QJsonArray abnormal_warn_score_threshold = object.value("abnormal_warn_score_threshold").toArray(); + QJsonArray normal_warn_score_threshold = object.value("normal_warn_score_threshold").toArray(); + + for (int i = 0; i < EVENT_WARN_NUM; i++) + { + HxDataBase::warm_param_config.bStartEventWarnKind[i] = start_event_warn_kind.at(i).toBool(); + HxDataBase::warm_param_config.nAbnormalWarnFrameCount[i] = abnormal_warn_frame_count.at(i).toInt() * 25; + HxDataBase::warm_param_config.nNormalFrameCount[i] = normal_frame_count.at(i).toInt() * 25; + HxDataBase::warm_param_config.nAbnormalWarnIntervalFrameCount[i] = abnormal_warn_interval_frame_count.at(i).toInt() * 25; + HxDataBase::warm_param_config.fAbnormalWarnScoreThreshold[i] = abnormal_warn_score_threshold.at(i).toDouble() / ((i >= 17 && i <= 20) ? 1 : 100); + HxDataBase::warm_param_config.fNormalWarnScoreThreshold[i] = normal_warn_score_threshold.at(i).toDouble() / ((i >= 17 && i <= 20) ? 1 : 100); + } + + HxDataBase::warm_param_config.nHmwTime = object.value("hmw_time").toInt(); + HxDataBase::warm_param_config.nPcwTime = object.value("pcw_time").toInt(); + HxDataBase::warm_param_config.nFcwTime = object.value("fcw_time").toInt(); + HxDataBase::warm_param_config.fHmwVel = object.value("hmw_vel").toDouble(); + HxDataBase::warm_param_config.fFcwVel = object.value("fcw_vel").toDouble(); + HxDataBase::warm_param_config.fLdwVel = object.value("ldw_vel").toDouble(); + HxDataBase::warm_param_config.fPcwVel = object.value("pcw_vel").toDouble(); + HxDataBase::warm_param_config.fBsdFirstVel = object.value("bsd_first_vel").toDouble(); + HxDataBase::warm_param_config.fBsdSecondVel = object.value("bsd_second_vel").toDouble(); + HxDataBase::warm_param_config.fBsdThirdVel = object.value("bsd_third_vel").toDouble(); + HxDataBase::warm_param_config.nLdwDistance = object.value("ldw_distance").toInt(); + HxDataBase::warm_param_config.fDsmVel = object.value("dsm_vel").toDouble(); + +#if USE_ALGORITHM + if(MvSetEventWarnParamConfig(&HxDataBase::warm_param_config) != 0) + { + debug_tool_response_event(type, { {"status", false} }); + return; + } +#endif + + debug_tool_response_event(type, { {"status", HxDataBase::save_setting()} }); +} + +void HxTaskDispatch::get_adas_camera_calibration(int type) +{ +#if USE_ALGORITHM + if(MvGetCameraCalibrationInfo(&HxDataBase::adas_camera_calibration) != 0) + return; +#endif + + debug_tool_response_event(type, { {"car_len", HxDataBase::adas_camera_calibration.fCarLen}, + {"car_width", HxDataBase::adas_camera_calibration.fCarWidth}, + {"ref_center", HxDataBase::adas_camera_calibration.fRefCenter}, + {"ref_top", HxDataBase::adas_camera_calibration.fRefTop}, + {"dis_len_tyre", HxDataBase::adas_camera_calibration.fDisLen2Tyre}, + {"camera_height", HxDataBase::adas_camera_calibration.fCameraHeight}, + {"camera_focus", HxDataBase::adas_camera_calibration.fCameraFocus}, + {"camera_dx", HxDataBase::adas_camera_calibration.fCameraDx}, + {"pitch", HxDataBase::adas_camera_calibration.fPitch}, + {"yaw", HxDataBase::adas_camera_calibration.fYaw} }); +} +void HxTaskDispatch::set_adas_camera_calibration(int type, QJsonObject object) +{ + HxDataBase::adas_camera_calibration.fCarLen = object.value("car_len").toInt(); + HxDataBase::adas_camera_calibration.fCarWidth = object.value("car_width").toInt(); + HxDataBase::adas_camera_calibration.fRefCenter = object.value("ref_center").toInt(); + HxDataBase::adas_camera_calibration.fRefTop = object.value("ref_top").toDouble(); + HxDataBase::adas_camera_calibration.fDisLen2Tyre = object.value("dis_len_tyre").toDouble(); + HxDataBase::adas_camera_calibration.fCameraHeight = object.value("camera_height").toDouble(); + HxDataBase::adas_camera_calibration.fCameraFocus = object.value("camera_focus").toDouble(); + HxDataBase::adas_camera_calibration.fCameraDx = object.value("camera_dx").toDouble(); + HxDataBase::adas_camera_calibration.fPitch = object.value("pitch").toDouble(); + HxDataBase::adas_camera_calibration.fYaw = object.value("yaw").toDouble(); + +#if USE_ALGORITHM + if(MvCameraCalibration(&HxDataBase::adas_camera_calibration) != 0) + { + debug_tool_response_event(type, { {"status", false} }); + return; + } +#endif + + debug_tool_response_event(type, { {"status", HxDataBase::save_setting()} }); +} + +void HxTaskDispatch::data_receive_event(QByteArray data) { int type = -1; @@ -371,96 +625,143 @@ void TaskDispatch::data_receive_event(QByteArray data) case 0: break; - /* 车辆状态 */ + /* 车辆状态 */ case 3: updata_vehiclue_status(msginfo); break; - /* 获取算法类型 */ - case 0xF0: - debug_tool_response_event(type, {{"mode", DataBase::algorithm_type}}); + /* 校时 */ + case 5: + HxProcess::start(QString("date -s %1").arg(msginfo.value("date").toString())); + HxProcess::start(QString("date -s %1").arg(msginfo.value("time").toString())); + debug_tool_response_event(type, { {"status", true} }); + + HxLog::append("timing", QString(QJsonDocument(msginfo).toJson(QJsonDocument::Compact))); break; - /* 设置算法类型 */ - case 0xF1: - DataBase::algorithm_type = msginfo.value("mode").toInt(); - debug_tool_response_event(type, {{"status", DataBase::save_setting()}}); + /* 重启 */ + case 200: + debug_tool_response_event(type, { {"status", true} }); + HxProcess::start("systemctl restart app.service"); break; - /* 获取ADAS视频输入源 */ - case 0xF2: - debug_tool_response_event(type, {{"source", DataBase::adas_video_input_source}}); + /* 获取算法类型 */ + case 240: + debug_tool_response_event(type, { {"mode", HxDataBase::algorithm_type} }); break; - /* 设置ADAS视频输入源 */ - case 0xF3: - DataBase::adas_video_input_source = msginfo.value("source").toString(); - debug_tool_response_event(type, {{"status", DataBase::save_setting()}}); + /* 设置算法类型 */ + case 241: + HxDataBase::algorithm_type = msginfo.value("mode").toInt(); + debug_tool_response_event(type, { {"status", HxDataBase::save_setting()} }); break; - /* 抓拍 */ - case 0xF4: - debug_tool_response_event(type, {{"data", adas_video_device.snap()}}); + /* 获取ADAS视频输入源 */ + case 242: + debug_tool_response_event(type, { {"source", HxDataBase::adas_video_input_source} }); break; - /* 获取BSD视频输入源 */ - case 0xF5: - debug_tool_response_event(type, {{"source", DataBase::bsd_video_input_source[msginfo.value("channel").toInt()]}}); + /* 设置ADAS视频输入源 */ + case 243: + HxDataBase::adas_video_input_source = msginfo.value("source").toString(); + debug_tool_response_event(type, { {"status", HxDataBase::save_setting()} }); break; - /* 设置BSD视频输入源 */ - case 0xF6: - DataBase::bsd_video_input_source[msginfo.value("channel").toInt()] = msginfo.value("source").toString(); - debug_tool_response_event(type, {{"status", DataBase::save_setting()}}); + /* 抓拍 */ + case 244: + debug_tool_response_event(type, { {"data", adas_video_device.snap()} }); break; - /* 抓拍 */ - case 0xF7: - debug_tool_response_event(type, {{"data", bsd_video_device[msginfo.value("channel").toInt()].snap()}}); + /* 获取BSD视频输入源 */ + case 245: + debug_tool_response_event(type, { {"source", HxDataBase::bsd_video_input_source[msginfo.value("channel").toInt()]} }); break; - /* 获取Dsm视频输入源 */ - case 0xF8: - debug_tool_response_event(type, {{"source", DataBase::dsm_video_input_source}}); + /* 设置BSD视频输入源 */ + case 246: + HxDataBase::bsd_video_input_source[msginfo.value("channel").toInt()] = msginfo.value("source").toString(); + debug_tool_response_event(type, { {"status", HxDataBase::save_setting()} }); break; - /* 设置Dsm视频输入源 */ - case 0xF9: - DataBase::dsm_video_input_source = msginfo.value("source").toString(); - debug_tool_response_event(type, {{"status", DataBase::save_setting()}}); + /* 抓拍 */ + case 247: + debug_tool_response_event(type, { {"data", bsd_video_device[msginfo.value("channel").toInt()].snap()} }); break; - /* 抓拍 */ - case 0xFA: - debug_tool_response_event(type, {{"data", dsm_video_device.snap()}}); + /* 获取Dsm视频输入源 */ + case 248: + debug_tool_response_event(type, { {"source", HxDataBase::dsm_video_input_source} }); break; - /* 获取BSD报警区域 */ - case 0xFB: - debug_tool_response_event(type, {{"data", DataBase::bsd_warn_regions[msginfo.value("channel").toInt()]}}); + /* 设置Dsm视频输入源 */ + case 249: + HxDataBase::dsm_video_input_source = msginfo.value("source").toString(); + debug_tool_response_event(type, { {"status", HxDataBase::save_setting()} }); break; - /* 设置BSD报警区域 */ - case 0xFC: - DataBase::bsd_warn_regions[msginfo.value("channel").toInt()] = msginfo.value("data").toString(); - debug_tool_response_event(type, {{"status", DataBase::save_setting()}}); + /* 抓拍 */ + case 250: + debug_tool_response_event(type, { {"data", dsm_video_device.snap()} }); break; - /* 获取设备编号及FTP信息 */ - case 0xFD: - debug_tool_response_event(type, {{"device_id", DataBase::device_id}, - {"ftp_address", DataBase::ftp_address}, - {"ftp_username", DataBase::ftp_username}, - {"ftp_password", DataBase::ftp_password}}); + /* 获取BSD报警区域 */ + case 251: + debug_tool_response_event(type, { {"data", HxDataBase::bsd_warn_regions[msginfo.value("channel").toInt()]} }); break; - /* 设置设备编号及FTP信息 */ - case 0xFE: - DataBase::device_id = msginfo.value("device_id").toString(); - DataBase::ftp_address = msginfo.value("ftp_address").toString(); - DataBase::ftp_username = msginfo.value("ftp_username").toString(); - DataBase::ftp_password = msginfo.value("ftp_password").toString(); - debug_tool_response_event(type, {{"status", DataBase::save_setting()}}); + /* 设置BSD报警区域 */ + case 252: + HxDataBase::bsd_warn_regions[msginfo.value("channel").toInt()] = msginfo.value("data").toString(); + debug_tool_response_event(type, { {"status", HxDataBase::save_setting()} }); + break; + + /* 获取设备编号及FTP信息 */ + case 253: + debug_tool_response_event(type, { {"device_id", HxDataBase::device_id}, + {"ftp_address", HxDataBase::ftp_address}, + {"ftp_username", HxDataBase::ftp_username}, + {"ftp_password", HxDataBase::ftp_password}, }); + break; + + /* 设置设备编号及FTP信息 */ + case 254: + HxDataBase::device_id = msginfo.value("device_id").toString(); + HxDataBase::ftp_address = msginfo.value("ftp_address").toString(); + HxDataBase::ftp_username = msginfo.value("ftp_username").toString(); + HxDataBase::ftp_password = msginfo.value("ftp_password").toString(); + debug_tool_response_event(type, { {"status", HxDataBase::save_setting()} }); + break; + + + case 255: + get_warn_param_config(type); + break; + + case 256: + set_warn_param_config(type, msginfo); + break; + + case 257: + get_adas_camera_calibration(type); + break; + + case 258: + set_adas_camera_calibration(type, msginfo); + break; + + /* 获取 RabbitMQ 信息 */ + case 259: + debug_tool_response_event(type, { {"qamqp_address", HxDataBase::qamqp_address}, + {"qamqp_username", HxDataBase::qamqp_username}, + {"qamqp_password", HxDataBase::qamqp_password} }); + break; + + /* 设置 RabbitMQ 信息 */ + case 260: + HxDataBase::qamqp_address = msginfo.value("qamqp_address").toString(); + HxDataBase::qamqp_username = msginfo.value("qamqp_username").toString(); + HxDataBase::qamqp_password = msginfo.value("qamqp_password").toString(); + debug_tool_response_event(type, { {"status", HxDataBase::save_setting()} }); break; case 0xFFFF: diff --git a/app/HxTaskDispatch.h b/app/HxTaskDispatch.h index b00ce84..ae022ea 100644 --- a/app/HxTaskDispatch.h +++ b/app/HxTaskDispatch.h @@ -11,7 +11,7 @@ #define ALGORITHM_TYPE_BSD 1 #define ALGORITHM_TYPE_DSM 2 -class TaskDispatch : public QThread +class HxTaskDispatch : public QThread { Q_OBJECT public: @@ -32,20 +32,26 @@ public: */ static void connect_to_host(QString address, int port); - static void algorithm_alarm_event(int channel, int level, int event_type, int detect_type, int left, int top, int right, int bottom, int distance, int speed, QString base64_string, QString filepath); - - static DataBase database(void); + static void algorithm_alarm_event(QDateTime time, int channel, int level, int event_type, int detect_type, int left, int top, int right, int bottom, int distance, int speed, QString base64_string, QString filepath); static CarInfoInput* get_car_info(void); static QString get_video_frame_data(int type, int channel, int id); + /** + * @brief 获取报警检测时间 + * @param type + * @param channel + * @return + */ + static bool get_alarm_detection_timestamp(int type, int channel); + /** * @brief 生成报警图片 * @param type 报警类型 * @param channel 视频通道 * @param frame_id 视频帧编号 - * @return 返回 Base64 字符串 + * @return 返回 图片路径 */ static QString build_alarm_image(int type, int channel, int frame_id); @@ -54,17 +60,30 @@ public: * @param type 报警类型 * @param channel 视频通道 * @param frame_id 视频帧编号 + * @return 返回 视频路径 */ static QString build_alarm_video(int type, int channel, int frame_id); + /** + * @brief enqueue_upload_file + * @param filename + */ + static void enqueue_upload_file(QString filename); + protected: void run() override; private: - void update_heartbeat(); + void update_heartbeat(void); void updata_vehiclue_status(QJsonObject object); void parsing_vehiclue_status(void); + void recording_upload_task(void); + void upload_file_queue_check(void); void debug_tool_response_event(int type, std::initializer_list> args); + void get_warn_param_config(int type); + void set_warn_param_config(int type, QJsonObject object); + void get_adas_camera_calibration(int type); + void set_adas_camera_calibration(int type, QJsonObject object); signals: void data_write_event(QByteArray data); @@ -90,9 +109,6 @@ private: /* 车辆状态信息 */ CarInfoInput car_info; - - /* 倒车灯；1：亮；0：熄灭 */ - int reversing_light = 0; }; #endif // HXTASKDISPATCH_H diff --git a/app/HxUtils.h b/app/HxUtils.h index 988339b..f2c8fa6 100644 --- a/app/HxUtils.h +++ b/app/HxUtils.h @@ -8,6 +8,15 @@ #include #include #include +#include +#include +#include + +#ifdef USE_RABBITMQ +#include "qamqpclient.h" +#include "qamqpexchange.h" +#include "qamqpqueue.h" +#endif /** * @brief SocketUtils socket 工具类 @@ -80,14 +89,8 @@ public slots: void disconnected() { - qDebug("socket disconnect"); - if (is_reconnect) - { - qDebug("socket will be reconnected... "); - emit reconnection_event(); - } } /** @@ -97,29 +100,21 @@ public slots: { /* 取消已有的连接 */ if (socket != nullptr) - { socket->disconnectFromHost(); - qDebug("socket release"); - } - - qDebug("socket connecting......"); /* 连接服务器 */ socket->connectToHost(address, port); /* 等待连接 */ - if (socket->waitForConnected(500)) + if (!socket->waitForConnected(500)) { - qDebug("socket connect success"); - } - else - { - qDebug("socket connect failed"); - /* 使用 QThread::msleep 延时，会使 Socket 出现接收不到事件信息 (槽无法响应) */ auto time = QTime::currentTime().addMSecs(10000); while (QTime::currentTime() < time) + { QCoreApplication::processEvents(QEventLoop::AllEvents, 100); + QThread::msleep(100); + } emit reconnection_event(); } @@ -130,17 +125,56 @@ private: QString address; bool is_reconnect = false; QTcpServer server; - QTcpSocket* socket = nullptr; + QTcpSocket *socket = nullptr; }; -class HxProcessUtils +class HxDir +{ +public: + static bool mkdir(QString name) + { + QDir dir; + return dir.mkpath(name); + } +}; + +class HxLog +{ +public: + static void append(QString title, QString message) + { + static QMutex mutex; + + mutex.lock(); + + auto current_time = QDateTime::currentDateTime(); + + HxDir::mkdir(QString("log/%1").arg(current_time.toString("yyyyMMdd"))); + + QFile file(QString("log/%1/%1.txt").arg(current_time.toString("yyyyMMdd"))); + + if (file.open(QIODevice::WriteOnly | QIODevice::Append)) + { + auto data = QString("[%1] | [%2] | %3\r\n").arg(current_time.toString("yyyy-MM-dd HH:mm:ss"), title, message); + + file.write(data.toLocal8Bit()); + + file.close(); + + qDebug() << data; + } + + mutex.unlock(); + } +}; + +class HxProcess { public: - /** - * - */ static int execute(QString command) { + qDebug() << command; + auto array = command.split(" "); QString program = array.at(0); @@ -150,6 +184,75 @@ public: return QProcess::execute(program, arguments); } + + static QString start(QString command) + { + auto array = command.split(" "); + + QString program = array.at(0); + QStringList arguments; + for (int i = 1; i < array.count(); i++) + arguments << array.at(i); + + QProcess process; + process.setProcessChannelMode(QProcess::MergedChannels); + process.start(program, arguments); + process.waitForFinished(); + return QString(process.readAll()); + } }; +#ifdef USE_RABBITMQ +class HxRabbitMQUtils : public QObject +{ + Q_OBJECT +public: + void set(QString host, QString username, QString password) + { + auto hosts = host.split(":"); + + client.setHost(hosts.at(0)); + client.setPort(hosts.size() == 2 ? hosts.at(1).toInt() : 5672); + client.setUsername(username); + client.setPassword(password); + client.setVirtualHost("/"); + client.setAutoReconnect(true, 10); + + connect(&client, SIGNAL(connected()), this, SLOT(connected())); + connect(&client, SIGNAL(disconnected()), this, SLOT(disconnected())); + + connect(this, &HxRabbitMQUtils::publish, this, &HxRabbitMQUtils::send_message); + + client.connectToHost(); + } + + void set_exchanger_name(QString exchanger_name) { this->exchanger_name = exchanger_name; } + + void set_queue_name(QString queue_name) { this->queue_name = queue_name; } + + void set_routing_key(QString routing_key) { this->routing_key = routing_key; } + +private: + void send_message(QString message) + { + QAmqpExchange *exchange = client.createExchange(exchanger_name); + + exchange->publish(message, routing_key); + + HxLog::append("RabbitMQ", QString("Key:%1 message:%2").arg(routing_key, message)); + } + +signals: + void publish(QString message); + +public slots: + void connected() { HxLog::append("RabbitMQ", "connect success"); } + + void disconnected() { HxLog::append("RabbitMQ", "disconnect"); } + +private: + QAmqpClient client; + QString exchanger_name, queue_name, routing_key; +}; +#endif #endif // HXUTILS_H diff --git a/app/HxVideoDevice.cpp b/app/HxVideoDevice.cpp index 908b870..bd8dc5c 100644 --- a/app/HxVideoDevice.cpp +++ b/app/HxVideoDevice.cpp @@ -1,46 +1,55 @@ #include "HxVideoDevice.h" /* bsd算法结果处理函数 */ -void algorithm_alarm_callback(int nDataChannel, ObjectTrackEventResult* pObjectTrackEventResult, void* pPrivData) +void algorithm_alarm_callback(int nDataChannel, ObjectTrackEventResult *pObjectTrackEventResult, void *pPrivData) { Q_UNUSED(nDataChannel); Q_UNUSED(pPrivData); + QDateTime current_time = QDateTime::currentDateTime(); + if (pObjectTrackEventResult->nEventType == 0) return; if (nDataChannel == 0) /* ADAS */ { - printf("ProcessAdasAlgResult nDataChannel=%d,nFrameId=%d,nObjectNumber=%d,nEventType=%x\n", nDataChannel, pObjectTrackEventResult->nFrameId, pObjectTrackEventResult->nObjectNumber, pObjectTrackEventResult->nEventType); + if (!HxTaskDispatch::get_alarm_detection_timestamp(ALGORITHM_TYPE_ADAS, 0)) + return; + + qDebug() << current_time.toString("[yyyy-MM-dd HH:mm:ss] ") << " Adas FrameId=" << pObjectTrackEventResult->nFrameId << " nEventType=" << pObjectTrackEventResult->nEventType; + /* 生成报警图片 */ - auto base64_string = TaskDispatch::build_alarm_image(ALGORITHM_TYPE_ADAS, 0, pObjectTrackEventResult->nFrameId); + auto image_path = HxTaskDispatch::build_alarm_image(ALGORITHM_TYPE_ADAS, 0, pObjectTrackEventResult->nFrameId); /* 生成报警视频 */ - auto filename = TaskDispatch::build_alarm_video(ALGORITHM_TYPE_ADAS, 0, pObjectTrackEventResult->nFrameId); + auto record_path = HxTaskDispatch::build_alarm_video(ALGORITHM_TYPE_ADAS, 0, pObjectTrackEventResult->nFrameId); /* 上传 */ - TaskDispatch::algorithm_alarm_event(0, 0, pObjectTrackEventResult->nEventType, 0, 0, 0, 0, 0, 0, 0, base64_string, filename); + HxTaskDispatch::algorithm_alarm_event(current_time, 0, 0, pObjectTrackEventResult->nEventType, 0, 0, 0, 0, 0, 0, 0, image_path, record_path); } else if (nDataChannel == 2) /* DSM */ { - printf("ProcessDsmAlgResult nDataChannel=%d,nFrameId=%d,nObjectNumber=%d,nEventType=%x\n", nDataChannel, pObjectTrackEventResult->nFrameId, pObjectTrackEventResult->nObjectNumber, pObjectTrackEventResult->nEventType); + if (!HxTaskDispatch::get_alarm_detection_timestamp(ALGORITHM_TYPE_DSM, 0)) + return; + + qDebug() << current_time.toString("[yyyy-MM-dd HH:mm:ss] ") << " Dsm FrameId=" << pObjectTrackEventResult->nFrameId << " nEventType=" << pObjectTrackEventResult->nEventType; /* 生成报警图片 */ - auto base64_string = TaskDispatch::build_alarm_image(ALGORITHM_TYPE_DSM, 0, pObjectTrackEventResult->nFrameId); + auto image_path = HxTaskDispatch::build_alarm_image(ALGORITHM_TYPE_DSM, 0, pObjectTrackEventResult->nFrameId); /* 生成报警视频 */ - auto filename = TaskDispatch::build_alarm_video(ALGORITHM_TYPE_DSM, 0, pObjectTrackEventResult->nFrameId); + auto record_path = HxTaskDispatch::build_alarm_video(ALGORITHM_TYPE_DSM, 0, pObjectTrackEventResult->nFrameId); /* 上传 */ - TaskDispatch::algorithm_alarm_event(1, 0, pObjectTrackEventResult->nEventType, 0, 0, 0, 0, 0, 0, 0, base64_string, filename); + HxTaskDispatch::algorithm_alarm_event(current_time, 1, 0, pObjectTrackEventResult->nEventType, 0, 0, 0, 0, 0, 0, 0, image_path, record_path); } else if (nDataChannel == 1 || /* BSD-右前 */ - nDataChannel == 3 || /* BSD-右后 */ - nDataChannel == 4 || /* BSD-左前 */ - nDataChannel == 5 || /* BSD-左后 */ - nDataChannel == 6 || /* BSD-前 */ - nDataChannel == 7) /* BSD-后 */ + nDataChannel == 3 || /* BSD-右后 */ + nDataChannel == 4 || /* BSD-左前 */ + nDataChannel == 5 || /* BSD-左后 */ + nDataChannel == 6 || /* BSD-前 */ + nDataChannel == 7) /* BSD-后 */ { int channel = 0; @@ -66,6 +75,9 @@ void algorithm_alarm_callback(int nDataChannel, ObjectTrackEventResult* pObjectT break; } + if (!HxTaskDispatch::get_alarm_detection_timestamp(ALGORITHM_TYPE_BSD, channel)) + return; + qDebug("ProcessBsdAlgResult nDataChannel=%d,nFrameId=%d,nObjectNumber=%d,nEventType=%x,nDangerLevel=%d\n", nDataChannel, pObjectTrackEventResult->nFrameId, pObjectTrackEventResult->nObjectNumber, pObjectTrackEventResult->nEventType, pObjectTrackEventResult->nDangerLevel); for (int i = 0; i < pObjectTrackEventResult->nObjectNumber; i++) @@ -78,29 +90,46 @@ void algorithm_alarm_callback(int nDataChannel, ObjectTrackEventResult* pObjectT continue; /* 生成报警图片 */ - auto base64_string = TaskDispatch::build_alarm_image(ALGORITHM_TYPE_BSD, channel, pObjectTrackEventResult->nFrameId); + auto image_path = HxTaskDispatch::build_alarm_image(ALGORITHM_TYPE_BSD, channel, pObjectTrackEventResult->nFrameId); /* 生成报警视频 */ - auto filename = TaskDispatch::build_alarm_video(ALGORITHM_TYPE_BSD, channel, pObjectTrackEventResult->nFrameId); + auto record_path = HxTaskDispatch::build_alarm_video(ALGORITHM_TYPE_BSD, channel, pObjectTrackEventResult->nFrameId); /* 上传 */ - TaskDispatch::algorithm_alarm_event(channel, - pObjectTrackEventResult->nDangerLevel, - pObjectTrackEventResult->nEventType, - pObjectTrackEventResult->objInfo[i].nDetectType, - pObjectTrackEventResult->objInfo[i].nLeft, - pObjectTrackEventResult->objInfo[i].nTop, - pObjectTrackEventResult->objInfo[i].nRight, - pObjectTrackEventResult->objInfo[i].nBottom, - pObjectTrackEventResult->objInfo[i].fDist, - pObjectTrackEventResult->objInfo[i].fVelo, - base64_string, - filename); + HxTaskDispatch::algorithm_alarm_event(current_time, channel, + pObjectTrackEventResult->nDangerLevel, + pObjectTrackEventResult->nEventType, + pObjectTrackEventResult->objInfo[i].nDetectType, + pObjectTrackEventResult->objInfo[i].nLeft, + pObjectTrackEventResult->objInfo[i].nTop, + pObjectTrackEventResult->objInfo[i].nRight, + pObjectTrackEventResult->objInfo[i].nBottom, + pObjectTrackEventResult->objInfo[i].fDist, + pObjectTrackEventResult->objInfo[i].fVelo, + image_path, + record_path); } } } -VideoDevice::VideoDevice(void) +// adas算法车道线结果处理函数 +void algorithm_lane_line_callback(DrawPointInfo *pPointInfo, void *pPrivData) +{ + Q_UNUSED(pPrivData); + + for (int i = 0; i < 4; i++) + { + printf("ProcessAdasAlgLaneLineResult pPointInfo->nPointCounters[i]=%d\n", pPointInfo->nPointCounters[i]); + for (unsigned int j = 0; j < pPointInfo->nPointCounters[i]; j++) + { + printf("pSrcPointX=%d,pSrcPointY=%d\n", pPointInfo->pSrcPointX[i][j], pPointInfo->pSrcPointY[i][j]); + } + } + + return; +} + +HxVideoDevice::HxVideoDevice(void) { detect_frame_buffer.u32Width = 1280; detect_frame_buffer.u32Height = 720; @@ -111,7 +140,7 @@ VideoDevice::VideoDevice(void) MvGetFrameBlkInfo(&bgr_frame_buffer); } -void VideoDevice::set(int type, QString address) +void HxVideoDevice::set(int type, QString address) { this->type = type; this->address = address; @@ -119,12 +148,19 @@ void VideoDevice::set(int type, QString address) auto result = MvSetAlgResultFuncCallback(type, algorithm_alarm_callback, nullptr); if (result != 0) return; + + if (type == 1) + { + result = MvSetAlgLaneLineFuncCallback(algorithm_lane_line_callback, nullptr); + if (result != 0) + return; + } #endif start(); } -void VideoDevice::set(int type, QString address, BsdWarnRegion region) +void HxVideoDevice::set(int type, QString address, BsdWarnRegion region) { Q_UNUSED(region); @@ -143,97 +179,59 @@ void VideoDevice::set(int type, QString address, BsdWarnRegion region) start(); } -void VideoDevice::set(bool status) { detection_status = status; } +void HxVideoDevice::set(bool status) { detection_status = status; } -QString VideoDevice::snap() { return snap(video_frame); } +bool HxVideoDevice::get_alarm_detection_timestamp(void) { return alarm_detection_timestamp.secsTo(QDateTime::currentDateTime()) > 10; } -QString VideoDevice::build_image(int id) +QString HxVideoDevice::snap() { return snap(video_frame); } + +QString HxVideoDevice::build_image(int id) { - if (video_frames_string.contains(id)) - return snap(video_frames_string[id]); + auto start_id = id - video_fps * 5, end_id = id + video_fps * 5; - return ""; + alarm_detection_timestamp = QDateTime::currentDateTime(); + + QString filename = QString("%1_%2_%3.jpg").arg(start_id > 0 ? start_id : 0).arg(end_id).arg(QDateTime::currentDateTime().toString("yyyyMMddHHmmsszzz")); + + Mat frame; + record_frames_mutex.lock(); + if (record_frames.contains(id)) + frame = imdecode(record_frames[id], CV_LOAD_IMAGE_COLOR); + record_frames_mutex.unlock(); + +// return snap(record_frames[id]); + + imwrite(filename.toUtf8().data(), frame); + + HxTaskDispatch::enqueue_upload_file(filename); + + return QString("/%1/%2/alarm/%3").arg(QDateTime::currentDateTime().toString("yyyyMMdd"), HxDataBase::device_id, filename); } -QString VideoDevice::build_video(int id) +QString HxVideoDevice::build_video(int id) { - QString url = QString("ftp://%3/%4/%5/alarm/").arg(DataBase::ftp_address, QDateTime::currentDateTime().toString("yyyyMMdd"), DataBase::device_id); - QString filename = QString("%1.mp4").arg(QDateTime::currentDateTime().toString("yyyyMMddHHmmsszzz")); + auto start_id = id - video_fps * 5, end_id = id + video_fps * 5; - QtConcurrent::run([=]() { - if (video_frames_string.contains(id)) - { - frame_mutex.lock(); - auto first_key = video_frames_string.firstKey(); - frame_mutex.unlock(); + QString filename = QString("%1_%2_%3.mp4").arg(start_id > 0 ? start_id : 0).arg(end_id).arg(QDateTime::currentDateTime().toString("yyyyMMddHHmmsszzz")); - auto start_id = id - frame_fps * 10, end_id = id + frame_fps * 10; + record_queue_mutex.lock(); + record_queue.enqueue(filename); + record_queue_mutex.unlock(); - start_id = start_id < first_key ? first_key : start_id; - - qDebug() << "build video; start id = " << start_id << " end id = " << end_id; - - while (true) - { - frame_mutex.lock(); - auto last_key = video_frames_string.lastKey(); - frame_mutex.unlock(); - - // qDebug() << " end id = " << end_id << " last id = "<< last_key; - - /* 判断最新的视频帧是否超过设定的时间 */ - if (last_key >= end_id) - { - frame_mutex.lock(); - auto _video_frames_string = video_frames_string; - _video_frames_string.detach(); - frame_mutex.unlock(); - - VideoWriter writer(filename.toUtf8().data(), CV_FOURCC('m', 'p', '4', 'v'), frame_fps, Size(video_capture.get(CV_CAP_PROP_FRAME_WIDTH), video_capture.get(CV_CAP_PROP_FRAME_HEIGHT)), true); - - for (int i = start_id; i <= end_id; i++) - { - auto __frame = imdecode(_video_frames_string[i], CV_LOAD_IMAGE_COLOR); - - writer.write(__frame); - - msleep(frame_fps); - - qDebug() << " write " << filename << ". frame id = " << i; - } - - writer.release(); - - qDebug() << "video build finish"; - - HxProcessUtils::execute(QString("curl -u %1:%2 %3 --ftp-create-dirs -T %4") - .arg(DataBase::ftp_username, - DataBase::ftp_password, - url, - filename)); - - QFile::remove(filename); - - return; - } - msleep(100); - } - } }); - - return url + filename; + return QString("/%1/%2/alarm/%3").arg(QDateTime::currentDateTime().toString("yyyyMMdd"), HxDataBase::device_id, filename); } -void VideoDevice::test(void) +void HxVideoDevice::test(void) { - ObjectTrackEventResult pObjectTrackEventResult = { 0 }; - pObjectTrackEventResult.nFrameId = video_frames_string.lastKey(); + ObjectTrackEventResult pObjectTrackEventResult; + pObjectTrackEventResult.nFrameId = record_frames.lastKey(); pObjectTrackEventResult.nEventType = EVENT_PCW; pObjectTrackEventResult.nObjectNumber = 1; pObjectTrackEventResult.objInfo[0].nDetectType = PEDESTRIAN_TYPE; algorithm_alarm_callback(0, &pObjectTrackEventResult, nullptr); } -vector VideoDevice::compress(Mat frame, int quality) +vector HxVideoDevice::compress(Mat frame, int quality) { vector buffer; @@ -246,98 +244,193 @@ vector VideoDevice::compress(Mat frame, int quality) return buffer; } -QString VideoDevice::snap(Mat frame) +QString HxVideoDevice::snap(Mat frame) { return frame.data == nullptr ? "" : snap(compress(frame, 50)); } + +QString HxVideoDevice::snap(vector buffer) { return QString(QByteArray::fromRawData((const char *)buffer.data(), buffer.size()).toBase64()); } + +void HxVideoDevice::recording_creation_task(void) { - if (frame.data != nullptr) - return snap(compress(frame, 50)); - - return ""; -} - -QString VideoDevice::snap(vector buffer) -{ - QByteArray byteArray = QByteArray::fromRawData((const char*)buffer.data(), buffer.size()); - - return QString(byteArray.toBase64()); -} - -void VideoDevice::video_frame_queue_check() -{ - if (video_frames_string.count() > frame_fps * 30) + while (true) { - frame_mutex.lock(); - video_frames_string.remove(video_frames_string.firstKey()); - frame_mutex.unlock(); - } -} - -void VideoDevice::read_frame() -{ - if (address.isEmpty()) - return; - - if (!video_capture.isOpened()) - { - video_capture = VideoCapture(address.toUtf8().data()); - - frame_fps = video_capture.get(CV_CAP_PROP_FPS); - - qDebug() << address << " open"; - } - - if (!video_capture.read(video_frame)) - { - qDebug() << address << " close"; - - video_capture.release(); - - return; - } - - if (video_frame.data != nullptr) - { - frame_mutex.lock(); - video_frames_string.insert(frame_id, compress(video_frame, 80)); - frame_mutex.unlock(); - - if (detection_status) + if (record_queue.size() > 0) { - auto car = TaskDispatch::get_car_info(); + record_queue_mutex.lock(); + auto filename = record_queue.dequeue(); + record_queue_mutex.unlock(); - if (car->fVelocity >= 10) + HxLog::append("recording", QString("type=%1, count=%2, %3 creation task start").arg(type).arg(record_queue.size()).arg(filename)); + + auto data = filename.split("_"); + auto start_id = data[0].toInt(), end_id = data[1].toInt(); + + while (true) { -#if USE_ALGORITHM - bgr_frame_buffer.nFrameId = frame_id; // 帧号 - bgr_frame_buffer.u64PTS = QDateTime::currentMSecsSinceEpoch(); // 时间戳(毫秒) + record_frames_mutex.lock(); + auto first_key = record_frames.firstKey(); + auto last_key = record_frames.lastKey(); + record_frames_mutex.unlock(); - memcpy(bgr_frame_buffer.pu8VirAddr, video_frame.data, 1280 * 720 * 3); + if (last_key < first_key) + { + HxLog::append("recording", QString("%1 not found last id, creation failed").arg(filename)); - MvConvertImage(&bgr_frame_buffer, &detect_frame_buffer); // bgr->nv16 + break; + } - MvObjectEventDetect(this->type, &detect_frame_buffer, TaskDispatch::get_car_info()); -#endif + /* 判断最新的视频帧是否超过设定的时间 */ + if (last_key >= end_id) + { + record_frames_mutex.lock(); + auto _record_frames = record_frames; + _record_frames.detach(); + record_frames_mutex.unlock(); + + VideoWriter writer(filename.toUtf8().data(), CV_FOURCC('m', 'p', '4', 'v'), video_fps, Size(video_capture.get(CV_CAP_PROP_FRAME_WIDTH), video_capture.get(CV_CAP_PROP_FRAME_HEIGHT)), true); + + for (int i = start_id; i <= end_id; i++) + { + if (_record_frames.contains(i)) + { + auto __frame = imdecode(_record_frames[i], CV_LOAD_IMAGE_COLOR); + + writer.write(__frame); + + msleep(10); + + HxLog::append("recording", QString("%1 write frame id:%2").arg(filename).arg(i)); + } + } + + writer.release(); + + HxTaskDispatch::enqueue_upload_file(filename); + + HxLog::append("recording", QString("%1 creation success").arg(type).arg(filename)); + + break; + } + + msleep(100); } } - frame_id++; + msleep(500); } } -void VideoDevice::run() +void HxVideoDevice::video_frame_queue_check(void) { - frame_id = 0; + while (true) + { + /* 缓存队列超过30s, 删除掉头数据 */ + record_frames_mutex.lock(); + while (record_frames.count() > video_fps * 180) + { + record_frames.remove(record_frames.firstKey()); + msleep(1); + } + record_frames_mutex.unlock(); + + msleep(1000); + } +} + +void HxVideoDevice::frame_read_task(void) +{ + HxLog::append("videolivestream", QString("type=%1, address=%2, frame read task start").arg(type).arg(address)); while (true) { - video_frame_queue_check(); + if (address.isEmpty()) + return; - read_frame(); + if (!video_capture.isOpened()) + { + /* 打开 */ + video_capture = VideoCapture(address.toUtf8().data()); - msleep(1); + if(video_capture.isOpened()) + { + /* 获取视频帧率 */ + video_fps = video_capture.get(CV_CAP_PROP_FPS); + + HxLog::append("videolivestream", QString("type=%1, video open success, fps=%2").arg(video_fps)); + } + } + + if (!video_capture.read(video_frame)) + { + /* 关闭,释放 */ + video_capture.release(); + + HxLog::append("videolivestream", QString("type=%1, video close").arg(type)); + + msleep(1000); + + continue; + } + +// video_frames_mutex.lock(); +// video_frames.enqueue(video_frame); +// video_frames_mutex.unlock(); + + msleep(15); } } -int VideoDevice::MvGetFrameBlkInfo(VideoFrameDataInfo* pImageDataInfo) +void HxVideoDevice::run() +{ + /* 启动 录像创建任务 */ + QtConcurrent::run(this, &HxVideoDevice::recording_creation_task); + + /* 创建 缓存队列监控线程 */ + QtConcurrent::run(this, &HxVideoDevice::video_frame_queue_check); + + /* 创建 视频读取线程 */ + QtConcurrent::run(this, &HxVideoDevice::frame_read_task); + + while (true) + { +// Mat frame; +// video_frames_mutex.lock(); +// if (video_frames.size() > 0) +// frame = video_frames.dequeue(); +// video_frames_mutex.unlock(); + + if (video_frame.data != nullptr) + { + record_frames_mutex.lock(); + record_frames.insert(frame_id, compress(video_frame, 40)); + record_frames_mutex.unlock(); + + if (detection_status) + { + auto car_info = HxTaskDispatch::get_car_info(); + + if (car_info->fVelocity > 10) + { + bgr_frame_buffer.nFrameId = frame_id; // 帧号 + bgr_frame_buffer.u64PTS = QDateTime::currentMSecsSinceEpoch(); // 时间戳(毫秒) + + memcpy(bgr_frame_buffer.pu8VirAddr, video_frame.data, 1280 * 720 * 3); + + MvConvertImage(&bgr_frame_buffer, &detect_frame_buffer); // bgr->nv16 +#if USE_ALGORITHM + MvObjectEventDetect(this->type, &detect_frame_buffer, car_info); + + HxLog::append("algorithm", QString("type: %1, send %2 frame").arg(type).arg(frame_id)); +#endif + } + } + + frame_id++; + } + + msleep(5); + } +} + +int HxVideoDevice::MvGetFrameBlkInfo(VideoFrameDataInfo *pImageDataInfo) { Q_UNUSED(pImageDataInfo); @@ -345,14 +438,14 @@ int VideoDevice::MvGetFrameBlkInfo(VideoFrameDataInfo* pImageDataInfo) if (pImageDataInfo == NULL) return -1; - pImageDataInfo->pu8VirAddr = (unsigned char*)calloc(pImageDataInfo->u32Width * pImageDataInfo->u32Height * 3, sizeof(unsigned char)); + pImageDataInfo->pu8VirAddr = (unsigned char *)calloc(pImageDataInfo->u32Width * pImageDataInfo->u32Height * 3, sizeof(unsigned char)); if (pImageDataInfo->pu8VirAddr == NULL) return -1; #endif return 0; } -int VideoDevice::MvReleaseFrameBlkInfo(VideoFrameDataInfo* pImageDataInfo) +int HxVideoDevice::MvReleaseFrameBlkInfo(VideoFrameDataInfo *pImageDataInfo) { Q_UNUSED(pImageDataInfo); @@ -369,7 +462,7 @@ int VideoDevice::MvReleaseFrameBlkInfo(VideoFrameDataInfo* pImageDataInfo) return 0; } -int VideoDevice::MvConvertImage(VideoFrameDataInfo* pSrcImageDataInfo, VideoFrameDataInfo* pDstImageDataInfo) +int HxVideoDevice::MvConvertImage(VideoFrameDataInfo *pSrcImageDataInfo, VideoFrameDataInfo *pDstImageDataInfo) { Q_UNUSED(pSrcImageDataInfo); Q_UNUSED(pDstImageDataInfo); diff --git a/app/HxVideoDevice.h b/app/HxVideoDevice.h index b03d124..7c8bf67 100644 --- a/app/HxVideoDevice.h +++ b/app/HxVideoDevice.h @@ -19,14 +19,15 @@ using namespace std; #include "rkrga/im2d.hpp" #endif -class VideoDevice : public QThread +class HxVideoDevice : public QThread { Q_OBJECT public: - VideoDevice(void); + HxVideoDevice(void); void set(int type, QString address); void set(int type, QString address, BsdWarnRegion region); void set(bool status); + bool get_alarm_detection_timestamp(void); QString snap(void); QString build_image(int id); @@ -38,25 +39,34 @@ private: vector compress(Mat frame, int quality); QString snap(Mat frame); QString snap(vector data); - void video_frame_queue_check(); - void read_frame(); + void recording_creation_task(void); + void video_frame_queue_check(void); + void frame_read_task(void); protected: void run() override; private: - int MvGetFrameBlkInfo(VideoFrameDataInfo* pImageDataInfo); - int MvReleaseFrameBlkInfo(VideoFrameDataInfo* pImageDataInfo); - int MvConvertImage(VideoFrameDataInfo* pSrcImageDataInfo, VideoFrameDataInfo* pDstImageDataInfo); + int MvGetFrameBlkInfo(VideoFrameDataInfo *pImageDataInfo); + int MvReleaseFrameBlkInfo(VideoFrameDataInfo *pImageDataInfo); + int MvConvertImage(VideoFrameDataInfo *pSrcImageDataInfo, VideoFrameDataInfo *pDstImageDataInfo); private: int type; - int frame_id; - int frame_fps; - QString address; + int frame_id = 0; + int video_fps = 25; + QString address = ""; + QDateTime alarm_detection_timestamp = QDateTime::currentDateTime(); bool detection_status = true; - QMap> video_frames_string; - QMutex frame_mutex; + + QMutex record_queue_mutex; + QQueue record_queue; + + QMutex video_frames_mutex; + QQueue video_frames; + + QMutex record_frames_mutex; + QMap> record_frames; Mat video_frame; VideoCapture video_capture; @@ -65,4 +75,4 @@ private: VideoFrameDataInfo bgr_frame_buffer; }; -#endif // HXVIDEODEVICE_H +#endif diff --git a/app/app.pro b/app/app.pro index e9c5710..974c7ab 100644 --- a/app/app.pro +++ b/app/app.pro @@ -26,18 +26,27 @@ CONFIG += c++11 HEADERS += HxDataBase.h HxTaskDispatch.h HxUtils.h HxVideoDevice.h SOURCES += HxDataBase.cpp HxTaskDispatch.cpp HxVideoDevice.cpp main.cpp +# DEFINES += USE_RABBITMQ # DEFINES += USE_ALGORITHM INCLUDEPATH += $$PWD/external +contains(DEFINES, USE_RABBITMQ) { + INCLUDEPATH += $$PWD/external/qamqp + LIBS += -L$$PWD/external/qamqp/ -lqamqp + + unix { + PRE_TARGETDEPS += $$PWD/external/qamqp/libqamqp.a + } +} contains(DEFINES, USE_ALGORITHM) { -LIBS += -L$$PWD/external/ -lObjectEventDetect -PRE_TARGETDEPS += $$PWD/external/libObjectEventDetect.a + LIBS += -L$$PWD/external/ -lObjectEventDetect + PRE_TARGETDEPS += $$PWD/external/libObjectEventDetect.a } contains(DEFINES, USE_ALGORITHM) { -LIBS += -L$$PWD/external/npu/ -lrknn_api -INCLUDEPATH += $$PWD/external/npu + LIBS += -L$$PWD/external/npu/ -lrknn_api + INCLUDEPATH += $$PWD/external/npu } win32 { @@ -46,6 +55,6 @@ win32 { } unix { - LIBS += -L/usr/local/lib -lopencv_imgproc -lopencv_videoio -lopencv_imgcodecs -lopencv_highgui -lopencv_core + LIBS += -L/usr/local/lib -lopencv_highgui -lopencv_imgproc -lopencv_imgcodecs -lopencv_videoio -lopencv_core INCLUDEPATH += /usr/local/include } diff --git a/app/external/libObjectEventDetect.a b/app/external/libObjectEventDetect.a index 4f337876310063319459d203ab4d891820c0e3ae..b38d94bdd9bc0e61529f202962be433076e8f402 100644 GIT binary patch literal 2477662 zcmeFaYpg8Gbsjb(FDZqHgIMtcq-2qjECEphX?M?l8iBz5n0?Oh?8k6s&bhnQ|j3=lJB9GJffcjmAIyA2dGO|Jlvo^miJc-Sn-$)%fiG z`(rJG&;2hy-Y9<`{P5QswZ5PJ@x}+=?eF$y8z1~pe$f{iAEe*ow;LarzJK>O8z0pD z{`z+sAN=iK-~Rpf?>0X8KK(v_aNVf&UH{d_=j(ohyT<3!Z}xHH^Yp#@#qa+2pMuva z-{1VX#^>q#TNmc?2b;|uEd8{cVsVcYk6*NrdG z_kaDhjo%Ob@W0d0z90EZjUW1c{vLj&@k3RyegE*68(*sO{o$`SzO>`_`I+C3{_JsMr|;!IX#6OB{a^q7`u@+0#*bF~er))wjqHp5 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