360 lines
9.9 KiB
C++
Executable File
360 lines
9.9 KiB
C++
Executable File
#include <string>
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#include <iostream>
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#include <vector>
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#include <opencv2/opencv.hpp>
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#include "LibapiProcessThread.h"
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#include "LibapiQueue.h"
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#include "LibapiQueues.h"
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#include "Libapi.h"
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#include "IniHelper.h"
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#include "Yolov5For928.h"
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#include "PlguinConfig.h"
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#include "MsgBase.h"
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#include "Libapi2D3D.h"
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#include "Log.h"
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#include "CameraHelper.h"
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// 标式系统是否已经启动
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static bool bSysIsInit = false;
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_init_plugin(int idx, void* pthread)
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{
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return 0;
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}
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// for test
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static void init1()
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{
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int idx = 0;
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//PlguinEnhance* _plguinEnhance = new PlguinEnhance();
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//LibapiProcessThread* _thread_plguinEnhance =
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// new LibapiProcessThread(idx, "_plguinEnhance", (BaseRunnable*)_plguinEnhance);
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//idx++;
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//PlguinRoi* _plguinRoi = new PlguinRoi();
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//LibapiProcessThread* _thread_plguinRoi =
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// new LibapiProcessThread(idx, "_plguinRoi", (BaseRunnable*)_plguinRoi);
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//idx++;
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//PlguinMotionDetection* _plguinMotionDetection = new PlguinMotionDetection();
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//LibapiProcessThread* _thread_plguinMotionDetection =
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// new LibapiProcessThread(idx, "_plguinMotionDetection", (BaseRunnable*)_plguinMotionDetection);
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//idx++;
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//PlguinTrack* _plguinTrack = new PlguinTrack();
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//LibapiProcessThread* _thread_plguinTrack =
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// new LibapiProcessThread(idx, "_plguinTrack", (BaseRunnable*)_plguinTrack);
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//idx++;
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//PlguinClassification* _plguinClassification = new PlguinClassification();
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//LibapiProcessThread* _thread_plguinClassification =
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// new LibapiProcessThread(idx, "_plguinClassification", (BaseRunnable*)_plguinClassification);
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//idx++;
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//PlguinPostgressing* _plguinPostgressing = new PlguinPostgressing();
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//LibapiProcessThread* _thread_plguinPostgressing =
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// new LibapiProcessThread(idx, "_plguinPostgressing", (BaseRunnable*)_plguinPostgressing);
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//idx++;
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//_thread_plguinEnhance->set_next_thread(_thread_plguinRoi);
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//_thread_plguinRoi->set_next_thread(_thread_plguinMotionDetection);
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//_thread_plguinMotionDetection->add_sub_thread(_thread_plguinTrack);
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//_thread_plguinMotionDetection->add_sub_thread(_thread_plguinClassification);
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//_thread_plguinMotionDetection->set_next_thread(_thread_plguinPostgressing);
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//_thread_plguinEnhance->start();
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//_thread_plguinRoi->start();
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//_thread_plguinMotionDetection->start();
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//_thread_plguinTrack->start();
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//_thread_plguinClassification->start();
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//_thread_plguinPostgressing->start();
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////_thread_plguinEnhance->join();
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////_thread_plguinRoi->join();
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////_thread_plguinMotionDetection->join();
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////_thread_plguinTrack->join();
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////_thread_plguinClassification->join();
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////_thread_plguinPostgressing->join();
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////pthread = _thread_plguinEnhance;
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_init_plugin_config(void* config, void* pthread)
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{
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return PlguinConfig::getInstance()->plguin_init_plugin_config(config, pthread);
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_create_MsgBase(char* msg_type, void** pMsg)
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{
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if ((*pMsg) != NULL)
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{
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std::cout << "pMsg is not null" << std::endl;
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assert(0);
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}
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MsgBase* _pMsg = new MsgBase();
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//memcpy_s(_pMsg->version, sizeof(msg_type), msg_type, sizeof(msg_type));
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memcpy(_pMsg->version, msg_type, sizeof(msg_type));
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(*pMsg) = _pMsg;
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return 0;
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_delete_MsgBase(void* pMsg)
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{
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MsgBase::delete_msg((MsgBase*)pMsg);
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return 0;
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_copy_image_to_msg(
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void* pMsg, int pos, int param_type, void* image_data, int width, int height, int flag)
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{
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return MsgBase::copy_image_to_msg(
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pMsg, pos, param_type, image_data, width, height, flag);
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_copy(void* tar, void* src, int len)
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{
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//memcpy_s(tar, len, src, len);
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memcpy(tar, src, len);
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return 0;
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_bind_queue(int id, char* queue_name, int src_type)
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{
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std::string qname(queue_name);
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LibapiQueue<void*>* queue = Queues::create_queue(id, qname);
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if (queue == NULL) return -1;
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return 0;
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_ubbind_queue(char* queue_name)
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{
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std::string qname(queue_name);
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LibapiQueue<void*>* queue = Queues::find_queue(qname);
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if (queue == NULL) return -1;
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Queues::delete_queue(queue);
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return 0;
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_push_to_queue(char* queue_name, void* msg)
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{
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((MsgBase*)msg)->add_ref();
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int ret = Queues::push_to_queue(queue_name, msg);
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if (ret != 0)
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{
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int ref = ((MsgBase*)msg)->sub_ref();
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if (ref == 0)
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((MsgBase*)msg)->delete_msg();
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}
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return ret;
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_pop_from_queue(char* queue_name, void** msg)
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{
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std::string qname(queue_name);
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LibapiQueue<void*>* queue = Queues::find_queue(qname);
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if (queue == NULL) return -1;
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queue->pop(*msg);
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return 0;
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}
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// 初始化
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiInit(const long id, const char* info, void (*callback)(void*))
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{
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int ret = SYS_OK;
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// init config
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GINIT();
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// init yolo for 928 待优化
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ret = CYolov5For928::Get()->Init();
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if (ret != SYS_OK)
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return SYS_NPU_IS_NOT_INIT;
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//ret = CCameraHelper::Get()->Init();
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//if (ret != SYS_OK)
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//{
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// return SYS_CAMERA_IS_NOT_INIT;
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//}
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// 初始化CMeasureInfo
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CMeasureInfo::Init(id, info);
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// 初始化回调函数
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MsgBase::SetCallBack(callback);
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// init task
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PlguinConfig::getInstance()->LibapiInitCameraProcessing(nullptr);
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PlguinConfig::getInstance()->LibapiInitLidarProcessing(nullptr);
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PlguinConfig::getInstance()->LibapiInitRoiProcessing(nullptr);
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LibapiThread::delay_second(2);
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// 标识系统已经启动
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bSysIsInit = true;
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return ret;
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}
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// 启动定位角点
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiStartDetection()
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{
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int ret = SYS_OK;
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if (!bSysIsInit)
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return SYS_IS_NOT_INIT;
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MsgBase* pMsgCamera = nullptr;
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MsgBase* pMsgLidar = nullptr;
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char msg_type[32] = "v1.0";
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libapi_create_MsgBase(msg_type, (void**)&pMsgCamera);
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libapi_create_MsgBase(msg_type, (void**)&pMsgLidar);
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pMsgCamera->mMsgType = "StartDetection";
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pMsgLidar->mMsgType = "StartDetection";
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ret = libapi_push_to_queue((char*)"_t_PluginCameraPro", pMsgCamera);
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ret = libapi_push_to_queue((char*)"_t_PlguinLidarPro", pMsgLidar);
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// 待优化
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LibapiThread::delay_second(1);
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return ret;
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiContinuetDetection()
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{
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int ret = SYS_OK;
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if (!bSysIsInit)
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return SYS_IS_NOT_INIT;
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MsgBase::SetWaitInt(MsgBase::iClinetMsg, CLIENT_MSG_CONTINUE);
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return ret;
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}
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// 重新定位角点
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapRestartConnerDetection()
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{
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int ret = SYS_OK;
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if (!bSysIsInit)
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return SYS_IS_NOT_INIT;
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MsgBase::SetWaitInt(MsgBase::iClinetMsg, CLIENT_MSG_RESTART_DETECTION);
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return ret;
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}
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// 终止定位角点
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapStopDetection()
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{
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int ret = SYS_OK;
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if (!bSysIsInit)
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return SYS_IS_NOT_INIT;
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MsgBase::SetWaitInt(MsgBase::iClinetMsg, CLIENT_MSG_STOP_DETECTION);
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return ret;
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}
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// 获取结果
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapGetRecord(void* p)
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{
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int ret = SYS_OK;
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CallbackInfo* cbInfo = (CallbackInfo*)p;
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CMeasureInfo* measureInfo = CMeasureInfo::Get();
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if (cbInfo == nullptr || measureInfo == nullptr)
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assert(0);
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cbInfo->code = 0;
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//cbInfo->errorInfo = "";
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cbInfo->bGetData = true;
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std::vector<std::shared_ptr<CSubRoi>> rois = measureInfo->GetSubRois();
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cbInfo->roi_size = rois.size();
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for (int i = 0; i < rois.size(); ++i)
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{
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std::shared_ptr<CSubRoi> roi = rois[i];
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SubRoiData* cb_roi = &cbInfo->subRois[i];
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for (int n = 0; n < (roi.get()->H).total(); ++n)
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cb_roi->H[n] = (roi.get()->H).at<float>(0, n);
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for (int n = 0; n < roi.get()->mRoiPoints.size(); ++n)
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{
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cv::Point2f p2f = roi.get()->mRoiPoints[n];
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cb_roi->mRoiPoints[n * 2] = p2f.x;
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cb_roi->mRoiPoints[n * 2 + 1] = p2f.y;
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}
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for (int n = 0; n < roi.get()->mInnerConners.size(); ++n)
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{
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cv::Point2f p2f = roi.get()->mInnerConners[n];
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cb_roi->mInnerConners[n * 2] = p2f.x;
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cb_roi->mInnerConners[n * 2 + 1] = p2f.y;
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}
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for (int n = 0; n < roi.get()->mInnerConners3D.size(); ++n)
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{
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cv::Point3f p3f = roi.get()->mInnerConners3D[n];
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cb_roi->mInnerConners3D[n * 3] = p3f.x;
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cb_roi->mInnerConners3D[n * 3 + 1] = p3f.y;
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cb_roi->mInnerConners3D[n * 3 + 2] = p3f.z;
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}
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//for (int n = 0; n < roi.get()->mInnerConners3D.size(); ++n)
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//{
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//}
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}
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return ret;
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiCameraSendMsgWithImage(
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void* image_data, int width, int height, int flag, char* type, char* queue_name)
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{
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int ret = SYS_OK;
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MsgBase* _pMsg = new MsgBase();
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_pMsg->mMsgType = type;
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ret = MsgBase::copy_image_to_msg(_pMsg, PARAM_POS_SRC_IMAGE, 0, image_data, width, height, flag);
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if (ret != SYS_OK)
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return ret;
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return libapi_push_to_queue(queue_name, _pMsg);
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}
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extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiGetHQImage(
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void* image_data, int width, int height, int flag, char* type)
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{
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int ret = SYS_OK;
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std::shared_ptr<cv::Mat> ptr = CMeasureInfo::Get()->GetIm();
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if (ptr != nullptr)
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{
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cv::Mat* imPtr = ptr.get();
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if (imPtr != nullptr && width == imPtr->cols && height == imPtr->rows)
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{
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memcpy(image_data, imPtr->data, imPtr->total() * 3);
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std::cout << "像素数量 ： " << imPtr->total() * 3 << std::endl;
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}
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else
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{
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std::cout << "cv::Mat* imPtr is None" << std::endl;
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std::cout << imPtr << std::endl;
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std::cout << width << " : " << imPtr->cols << std::endl;
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std::cout << height << " : " << imPtr->rows << std::endl;
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return SYS_ERROR;
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}
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}
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else
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{
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std::cout << "ptr is None width" << std::endl;
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return SYS_ERROR;
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}
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return ret;
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}
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