hehaoyang
ff66a2e0d6
1. 删除图片存储到本地的方式; 2. 取流方式由Opencv修改为FFmpeg方式; 3. 解码后的数据直接转为RK_FORMAT_YCbCr_422_SP格式发送给算法; 4. 视频裸流数据存储在内存中，保存30s; 5. 报警图片从报警录像视频中获取;
748 lines
31 KiB
C++
748 lines
31 KiB
C++
#include "HxTaskDispatch.h"
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#include "HxDataBase.h"
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#include "HxVideoDevice.h"
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#include <QJsonArray>
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#include <QJsonObject>
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#include <QJsonDocument>
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/* 视频设备 */
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HxVideoDevice adas_video_device, bsd_video_device[6], dsm_video_device;
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HxTaskDispatch *dispatcher = new HxTaskDispatch();
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QMutex upload_file_mutex;
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QQueue<QString> upload_file_queue;
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#ifdef USE_RABBITMQ
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HxRabbitMQ rabbit;
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#endif
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/* 倒车灯；1：亮；0：熄灭 */
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static int reversing_light = 0;
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/* 车辆状态: 1 直行; 2 左转弯; 3 右转弯; 4 倒车 */
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static int vehicle_status = 0;
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static int detect_channel = 0;
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void HxTaskDispatch::initialization(void)
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{
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HxLog::append("initialization", QString("algorithm_type=%1").arg(HxDataBase::algorithm_type));
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HxLog::append("initialization", QString("ftp=%1,%2,%3").arg(HxDataBase::ftp_address, HxDataBase::ftp_username, HxDataBase::ftp_password));
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HxLog::append("initialization", QString("rabbitmq=%1,%2,%3").arg(HxDataBase::qamqp_address, HxDataBase::qamqp_username, HxDataBase::qamqp_password));
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/* 算法模块初始化 */
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#if USE_ALGORITHM
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/* adas检测配置 */
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strcpy(dispatcher->event_detect_config.szAdasDetectConfigPathName, "./resources/algmode/adas_detect.bin");
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/* adas跟踪配置 */
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strcpy(dispatcher->event_detect_config.szAdasTrackConfigPathName, "./resources/algmode/adas_track.bin");
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/* bsd检测配置 */
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strcpy(dispatcher->event_detect_config.szBsdDetectConfigPathName, "./resources/algmode/bsd_detect.bin");
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// strcpy(dispatcher->event_detect_config.szRightBsdFrontDetectConfigPathName, "./resources/algmode/bsd_detect.bin");
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/* dsm人脸检测配置 */
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strcpy(dispatcher->event_detect_config.szDsmFaceDetectConfigPathName, "./resources/algmode/dsm_face_detect.bin");
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/* dsm人脸特征点检测配置 */
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strcpy(dispatcher->event_detect_config.szDsmFaceLandMarksDetectConfigPathName, "./resources/algmode/dsm_face_landmarks_detect.bin");
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/* dsm人脸认证检测配置 */
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strcpy(dispatcher->event_detect_config.szDsmFaceVerificationDetectConfigPathName, "./resources/algmode/dsm_face_verification_detect.bin");
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/* dsm人眼认证检测配置 */
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strcpy(dispatcher->event_detect_config.szDsmEyeLandMarksDetectConfigPathName, "./resources/algmode/dsm_eye_landmarks_detect.bin");
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/* dsm人脸认证检测配置 */
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strcpy(dispatcher->event_detect_config.szDsmSmokeConfPathName, "./resources/algmode/dsm_smoke_detect.bin");
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strcpy(dispatcher->event_detect_config.szDsmCallConfPathName, "./resources/algmode/dsm_call_detect.bin");
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strcpy(dispatcher->event_detect_config.szDsmFaceFeaturePathName, "./resources/algmode/dsm_face_feature.bin");
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strcpy(dispatcher->event_detect_config.szDsmHeadPoseConfPathName, "./resources/algmode/data_68kp");
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/* 输出调试信息 */
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MvSetPrintf(false);
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/* 目标跟踪事件检测初始化 */
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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);
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if (result != 0)
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{
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HxLog::append("initialization", "object event detect init failed!!");
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return;
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}
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/* 设置报警参数 */
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result = MvSetEventWarnParamConfig(&HxDataBase::warm_param_config);
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if (result != 0)
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HxLog::append("initialization", "set event warn param config failed!!");
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/* 相机标定 */
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if (MvCameraCalibration(&HxDataBase::adas_camera_calibration) != 0)
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HxLog::append("initialization", "camera calibration failed!!");
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#endif
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/* ADAS 通道初始化 */
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if ((HxDataBase::algorithm_type & 0x1) == 1)
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adas_video_device.set(0, HxDataBase::adas_video_input_source);
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/* BSD 通道初始化 */
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if (((HxDataBase::algorithm_type >> 1) & 0x1) == 1)
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{
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/* BSD-前 */
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bsd_video_device[0].set(6, HxDataBase::bsd_video_input_source[0], HxDataBase::get_bsd_warn_region(0));
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/* BSD-后 */
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bsd_video_device[1].set(7, HxDataBase::bsd_video_input_source[1], HxDataBase::get_bsd_warn_region(1));
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/* BSD-左前 */
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bsd_video_device[2].set(4, HxDataBase::bsd_video_input_source[2], HxDataBase::get_bsd_warn_region(2));
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/* BSD-右前 */
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bsd_video_device[3].set(1, HxDataBase::bsd_video_input_source[3], HxDataBase::get_bsd_warn_region(3));
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/* BSD-左后 */
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bsd_video_device[4].set(5, HxDataBase::bsd_video_input_source[4], HxDataBase::get_bsd_warn_region(4));
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/* BSD-右后 */
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bsd_video_device[5].set(3, HxDataBase::bsd_video_input_source[5], HxDataBase::get_bsd_warn_region(5));
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}
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/* DSM 通道初始化 */
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if (((HxDataBase::algorithm_type >> 2) & 0x1) == 1)
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dsm_video_device.set(2, HxDataBase::dsm_video_input_source);
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dispatcher->start();
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#ifdef USE_RABBITMQ
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rabbit.set(HxDataBase::qamqp_address, HxDataBase::qamqp_username, HxDataBase::qamqp_password);
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rabbit.set_exchanger_name("vehicle.direct.exchange");
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rabbit.set_queue_name("bsd_video_transcode_tag");
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rabbit.set_routing_key("bsd_video_transcode_tag_1");
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#endif
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}
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void HxTaskDispatch::listern(uint16_t port)
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{
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dispatcher->debug_tool = new HxSocket(port);
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connect(dispatcher->debug_tool, &HxSocket::data_receive_event, dispatcher, &HxTaskDispatch::data_receive_event);
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connect(dispatcher, &HxTaskDispatch::data_write_event, dispatcher->debug_tool, &HxSocket::write);
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}
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void HxTaskDispatch::connect_to_host(QString address, int port)
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{
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dispatcher->platform = new HxSocket(address, port);
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connect(dispatcher->platform, &HxSocket::data_receive_event, dispatcher, &HxTaskDispatch::data_receive_event);
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connect(dispatcher, &HxTaskDispatch::data_write_event, dispatcher->platform, &HxSocket::write);
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}
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void HxTaskDispatch::alarm_upload_event(int algorithm_type, QDateTime timestamp, int channel, int event_type, int danger_level, ObjectPara *object_info, int object_number, CalibrationPoint *face_land_marks, int face_land_marks_number, LaneType left_line_type, LaneType right_line_type)
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{
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HxVideoDevice *device = nullptr;
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switch (algorithm_type)
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{
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case ALGORITHM_TYPE_ADAS:
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device = &adas_video_device;
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break;
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case ALGORITHM_TYPE_BSD:
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device = &bsd_video_device[channel];
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break;
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case ALGORITHM_TYPE_DSM:
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device = &dsm_video_device;
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break;
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default:
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return;
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}
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/* 判断报警是否在保护时间内 */
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if (!device->determine_alarm_detection_timestamp(event_type))
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return;
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/* 生成报警图片+视频 */
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auto filename = QString("%1_%2_%3_%4_%5").arg(HxDataBase::device_id).arg(algorithm_type, 2, 10, QChar('0')).arg(channel, 2, 10, QChar('0')).arg(timestamp.toString("yyyyMMdd"), timestamp.toString("HHmmss"));
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device->create_alarm_data(event_type, filename);
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QJsonObject root({{"type", 4}});
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QJsonObject msg_info_json({{"time", timestamp.toString("yyyy-MM-dd HH:mm:ss")},
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{"channel", channel},
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{"level", danger_level},
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{"event_type", event_type},
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{"left_line_type", left_line_type},
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{"right_line_type", right_line_type},
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{"image_path", QString("/%1/%2/alarm/%3.jpg").arg(QDateTime::currentDateTime().toString("yyyyMMdd"), HxDataBase::device_id, filename)},
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{"record_path", QString("/%1/%2/alarm/%3.mp4").arg(QDateTime::currentDateTime().toString("yyyyMMdd"), HxDataBase::device_id, filename)}});
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QJsonArray object_info_json;
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for (int i = 0; i < object_number; i++)
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{
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object_info_json.append(QJsonObject({{"detect_type", object_info[i].nDetectType},
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{"left", object_info[i].nLeft},
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{"top", object_info[i].nTop},
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{"right", object_info[i].nRight},
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{"bottom", object_info[i].nBottom},
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{"distance", object_info[i].fDist},
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{"speed", object_info[i].fVelo},
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{"ttc", object_info[i].fTTC},
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{"target_post_x", object_info[i].nTargetPosX},
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{"target_post_y", object_info[i].nTargetPosY}}));
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}
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QJsonArray face_land_marks_json;
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for (int i = 0; i < face_land_marks_number; i++)
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face_land_marks_json.append(QJsonObject({{"x", face_land_marks[i].x}, {"y", face_land_marks[i].y}}));
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msg_info_json.insert("object_info", object_info_json);
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msg_info_json.insert("face_land_marks", face_land_marks_json);
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root.insert("msgInfo", msg_info_json);
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emit dispatcher->data_write_event(QJsonDocument(root).toJson(QJsonDocument::Compact));
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HxLog::append("algorithm", QString("alarm type=0x%1, filepath=%2").arg(QString::number(event_type, 16), filename));
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}
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CarInfoInput *HxTaskDispatch::get_car_info(void) { return &dispatcher->car_info; }
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void HxTaskDispatch::enqueue_upload_file(QString filename)
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{
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upload_file_mutex.lock();
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upload_file_queue.enqueue(filename);
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upload_file_mutex.unlock();
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}
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void HxTaskDispatch::update_heartbeat()
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{
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if (QDateTime::currentDateTime() > heartbeat_timestamp.addSecs(30))
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{
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heartbeat_timestamp = QDateTime::currentDateTime();
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emit data_write_event(QJsonDocument(QJsonObject({{"type", 0}})).toJson(QJsonDocument::Compact));
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}
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}
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void HxTaskDispatch::updata_vehiclue_status(QJsonObject object)
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{
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vehicle_status_update_time = QDateTime::currentDateTime();
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car_info.fVelocity = object.value("speed").toDouble();
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car_info.fAcceleration = object.value("acceleration").toDouble();
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car_info.fDeceleration = object.value("deceleration").toDouble();
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car_info.nBrake = object.value("brake").toInt();
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car_info.nLLight = object.value("left_light").toInt();
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car_info.nRLight = object.value("right_light").toInt();
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car_info.fAlpha = object.value("steering_angle").toDouble();
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car_info.fSteeingWheelAngle = object.value("seeing_wheel_angle").toDouble();
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reversing_light = object.value("reversing_light").toInt();
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HxLog::append("vehiclue status", QString(QJsonDocument(object).toJson(QJsonDocument::Compact)));
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}
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void HxTaskDispatch::parsing_vehiclue_status(void)
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{
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if (dispatcher->vehicle_status_update_time.secsTo(QDateTime::currentDateTime()) >= 10)
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car_info.fVelocity = 0;
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if (car_info.fVelocity > 0)
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{
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auto _detect_channel = 0;
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/* ADAS 通道初始化 */
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if ((HxDataBase::algorithm_type & 0x1) == 1)
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{
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_detect_channel |= ADAS_DETECT_CHANNEL;
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}
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/* DSM 通道初始化 */
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if (((HxDataBase::algorithm_type >> 2) & 0x1) == 1)
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{
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_detect_channel |= DMS_DETECT_CHANNEL;
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}
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/* BSD 类型 */
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else if (((HxDataBase::algorithm_type >> 1) & 0x1) == 1)
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{
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auto status = 0;
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/* 倒车 */
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if (reversing_light == 1)
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status = 4;
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/* 左转弯 */
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else if (car_info.nLLight == 1)
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status = 2;
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/* 右转弯 */
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else if (car_info.nRLight == 1)
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status = 3;
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/* 无左右转弯，车辆直行 */
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else
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status = 1;
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/* 车辆状态发生改变 */
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if (status != 0 && vehicle_status != status)
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{
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HxLog::append("vehicle status", QString("vehicle status change, %1=>%2").arg(vehicle_status).arg(status));
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vehicle_status = status;
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/* 禁止送帧 */
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for (int i = 0; i < BSD_MAX_CHANNEL; i++)
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bsd_video_device[i].set(false);
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switch (status)
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{
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/* 直线行驶, 检测通道: A C D */
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case 1:
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/* 允许送帧 */
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bsd_video_device[0].set(true);
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bsd_video_device[2].set(true);
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bsd_video_device[3].set(true);
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/* 前侧, 左前, 右前 */
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_detect_channel |= (FRONT_BSD_DETECT_CHANNEL | LEFT_BSD_FRONT_DETECT_CHANNEL | RIGHT_BSD_FRONT_DETECT_CHANNEL);
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break;
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/* 左转弯, 检测通道: C D E */
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case 2:
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/* 允许送帧 */
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bsd_video_device[2].set(true);
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bsd_video_device[3].set(true);
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bsd_video_device[4].set(true);
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/* 左前, 右前, 左后 */
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_detect_channel |= (LEFT_BSD_FRONT_DETECT_CHANNEL | RIGHT_BSD_FRONT_DETECT_CHANNEL | LEFT_BSD_REAR_DETECT_CHANNEL);
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break;
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/* 右转弯, 检测通道: C D F */
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case 3:
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/* 允许送帧 */
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bsd_video_device[2].set(true);
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bsd_video_device[3].set(true);
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bsd_video_device[5].set(true);
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/* 左前, 右前, 右后 */
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_detect_channel |= (LEFT_BSD_FRONT_DETECT_CHANNEL | RIGHT_BSD_FRONT_DETECT_CHANNEL | RIGHT_BSD_REAR_DETECT_CHANNEL);
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break;
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/* 倒车, 检测通道: B C D */
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case 4:
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/* 允许送帧 */
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bsd_video_device[1].set(true);
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bsd_video_device[2].set(true);
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bsd_video_device[3].set(true);
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/* 后侧, 左前, 左后 */
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_detect_channel |= (REAR_BSD_DETECT_CHANNEL | LEFT_BSD_FRONT_DETECT_CHANNEL | RIGHT_BSD_FRONT_DETECT_CHANNEL);
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break;
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}
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}
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}
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/* 确保状态改变后才调用该函数 */
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if (detect_channel != _detect_channel)
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{
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detect_channel = _detect_channel;
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#if USE_ALGORITHM
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MvSetDetectChannel(detect_channel);
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#endif
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HxLog::append("algorithm", QString("starting detect channel=0x%1").arg(QString::number(detect_channel, 16)));
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}
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}
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}
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void HxTaskDispatch::recording_upload_task(void)
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{
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while (true)
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{
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msleep(1000);
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if (!upload_file_queue.isEmpty())
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{
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upload_file_mutex.lock();
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auto filename = upload_file_queue.dequeue();
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upload_file_mutex.unlock();
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QString fullpath = QString("%1/%2").arg(TEMPORARY_RECORD_DIRECTORY, filename);
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if (!QFile::exists(fullpath))
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{
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HxLog::append("recording upload task", QString("file=%1 not exists, upload failed").arg(fullpath));
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continue;
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}
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QString path = QString("%1/%2/alarm").arg(QDateTime::currentDateTime().toString("yyyyMMdd"), HxDataBase::device_id);
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while (true)
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{
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msleep(100);
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/* 上传 */
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HxProcess::start(QString("curl -u %1:%2 ftp://%3/%4/ --ftp-create-dirs -T %5").arg(HxDataBase::ftp_username, HxDataBase::ftp_password, HxDataBase::ftp_address, path, fullpath));
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/* 判断文件是否存在 */
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auto res = HxProcess::start(QString("curl -u %1:%2 --ftp-ssl --head ftp://%3/%4/%5").arg(HxDataBase::ftp_username, HxDataBase::ftp_password, HxDataBase::ftp_address, path, filename));
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QRegExp rx("Content-Length:\\s\\d{1,9}");
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if (rx.indexIn(res, 0) == -1)
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continue;
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/* 比较大小 */
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QFileInfo info(fullpath);
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auto size1 = info.size();
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auto size2 = rx.cap(0).replace("Content-Length:", "").toInt();
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if (size1 == size2)
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{
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HxLog::append("recording upload task", QString("%1 upload finish").arg(filename));
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if (info.suffix() == "mp4")
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{
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#ifdef USE_RABBITMQ
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emit rabbit.publish(QString("{\"ftproot\": \"%1\", \"complate\": true}").arg(("/" + path + "/" + filename)));
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#endif
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}
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break;
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}
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}
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QFile::remove(fullpath);
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HxLog::append("recording upload task", QString("%1 delete").arg(filename));
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}
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}
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}
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void HxTaskDispatch::run()
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{
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/* 启动 录像上传任务 */
|
||
QtConcurrent::run(this, &HxTaskDispatch::recording_upload_task);
|
||
|
||
while (true)
|
||
{
|
||
/* 事件循环用于响应信号 */
|
||
QCoreApplication::processEvents();
|
||
|
||
/* 发送心跳数据 */
|
||
update_heartbeat();
|
||
|
||
/* 分析车辆行驶状态 */
|
||
parsing_vehiclue_status();
|
||
|
||
/* 延时1s */
|
||
QThread::msleep(1000);
|
||
}
|
||
}
|
||
|
||
void HxTaskDispatch::debug_tool_response_event(int type, std::initializer_list<QPair<QString, QJsonValue>> args)
|
||
{
|
||
QJsonObject root, msginfo;
|
||
|
||
for (std::initializer_list<QPair<QString, QJsonValue>>::const_iterator i = args.begin(); i != args.end(); ++i)
|
||
msginfo.insert(i->first, i->second);
|
||
|
||
root.insert("type", type);
|
||
root.insert("msgInfo", msginfo);
|
||
|
||
emit data_write_event(QJsonDocument(root).toJson(QJsonDocument::Compact));
|
||
}
|
||
|
||
void HxTaskDispatch::get_warn_param_config(int type)
|
||
{
|
||
#if USE_ALGORITHM
|
||
if (MvGetEventWarnParamConfig(&HxDataBase::warm_param_config) == -1)
|
||
return;
|
||
#endif
|
||
|
||
QJsonArray 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(HxDataBase::warm_param_config.bStartEventWarnKind[i]);
|
||
abnormal_warn_frame_count.append(HxDataBase::warm_param_config.nAbnormalWarnFrameCount[i] / 25);
|
||
normal_frame_count.append(HxDataBase::warm_param_config.nNormalFrameCount[i] / 25);
|
||
// abnormal_warn_interval_frame_count.append(HxDataBase::warm_param_config.nAbnormalWarnIntervalFrameCount[i] / 25);
|
||
abnormal_warn_interval_frame_count.append(HxDataBase::alarm_protect_timestamp.at(i).toInt());
|
||
abnormal_warn_score_threshold.append((int)(HxDataBase::warm_param_config.fAbnormalWarnScoreThreshold[i] * ((i >= 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);
|
||
|
||
/* 设置报警保护时长 */
|
||
HxDataBase::alarm_protect_timestamp[i] = QString::number(abnormal_warn_interval_frame_count.at(i).toInt());
|
||
}
|
||
|
||
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;
|
||
|
||
auto document = QJsonDocument::fromJson(data);
|
||
auto root = document.object();
|
||
if (root.contains("type"))
|
||
{
|
||
type = root.value("type").toInt();
|
||
}
|
||
|
||
auto msginfo = root.value("msgInfo").toObject();
|
||
|
||
switch (type)
|
||
{
|
||
/* heart */
|
||
case 0:
|
||
break;
|
||
|
||
/* 车辆状态 */
|
||
case 3:
|
||
updata_vehiclue_status(msginfo);
|
||
break;
|
||
|
||
/* 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;
|
||
|
||
/* 重启 */
|
||
case 200:
|
||
debug_tool_response_event(type, {{"status", true}});
|
||
HxProcess::start("systemctl restart app.service");
|
||
break;
|
||
|
||
/* 获取算法类型 */
|
||
case 240:
|
||
debug_tool_response_event(type, {{"mode", HxDataBase::algorithm_type}});
|
||
break;
|
||
|
||
/* 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;
|
||
|
||
/* 获取ADAS视频输入源 */
|
||
case 242:
|
||
debug_tool_response_event(type, {{"source", HxDataBase::adas_video_input_source}});
|
||
break;
|
||
|
||
/* 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;
|
||
|
||
/* 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;
|
||
|
||
/* 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;
|
||
|
||
/* 获取Dsm视频输入源 */
|
||
case 248:
|
||
debug_tool_response_event(type, {{"source", HxDataBase::dsm_video_input_source}});
|
||
break;
|
||
|
||
/* 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;
|
||
|
||
/* 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 261:
|
||
debug_tool_response_event(type, {{"recording_prepend_time", HxDataBase::recording_prepend_time}});
|
||
break;
|
||
case 262:
|
||
HxDataBase::recording_prepend_time = msginfo.value("recording_prepend_time").toInt();
|
||
debug_tool_response_event(type, {{"status", HxDataBase::save_setting()}});
|
||
break;
|
||
|
||
case 0xFFFF:
|
||
adas_video_device.test();
|
||
dsm_video_device.test();
|
||
break;
|
||
}
|
||
}
|