126 lines
3.5 KiB
C++
126 lines
3.5 KiB
C++
#include "ImageProcessingWorker.h"
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#include "PointCloudImageUtils.h"
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#include "VrLog.h"
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#include <chrono>
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#include "VrTimeUtils.h"
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ImageProcessingWorker::ImageProcessingWorker(QObject *parent)
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: QObject(parent)
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, m_stopped(false)
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, m_processing(false)
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, m_hasNewTask(false)
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{
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// 启动工作线程
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m_workerThread = std::thread(&ImageProcessingWorker::workerThreadFunction, this);
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LOG_DEBUG("ImageProcessingWorker created with std::thread\n");
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}
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ImageProcessingWorker::~ImageProcessingWorker()
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{
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stop();
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// 等待线程结束
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if (m_workerThread.joinable()) {
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m_workerThread.join();
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}
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LOG_DEBUG("ImageProcessingWorker destroyed\n");
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}
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void ImageProcessingWorker::requestImageGeneration(const std::vector<std::vector<SVzNL3DPosition>>& scanLines)
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{
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if (m_stopped.load() || scanLines.empty()) {
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return;
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}
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// 如果正在处理，直接拒绝新请求
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if (m_processing.load()) {
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LOG_DEBUG("Image processing busy, ignoring new request\n");
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return;
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}
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// 设置新任务
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{
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std::lock_guard<std::mutex> lock(m_dataMutex);
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m_currentTask = scanLines;
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m_hasNewTask = true;
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}
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// 唤醒工作线程
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m_condition.notify_one();
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}
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void ImageProcessingWorker::stop()
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{
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m_stopped.store(true);
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// 唤醒可能在等待的线程
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m_condition.notify_all();
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LOG_DEBUG("ImageProcessingWorker stop requested\n");
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}
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bool ImageProcessingWorker::isProcessing() const
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{
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return m_processing.load();
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}
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void ImageProcessingWorker::workerThreadFunction()
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{
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LOG_INFO("ImageProcessingWorker thread started\n");
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while (!m_stopped.load()) {
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std::vector<std::vector<SVzNL3DPosition>> scanLines;
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bool hasTask = false;
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// 等待任务或停止信号
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{
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std::unique_lock<std::mutex> lock(m_dataMutex);
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// 等待新任务或停止信号
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m_condition.wait_for(lock, std::chrono::milliseconds(100), [this] {
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return m_hasNewTask || m_stopped.load();
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});
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if (m_hasNewTask) {
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scanLines = std::move(m_currentTask);
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m_hasNewTask = false;
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hasTask = true;
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}
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}
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// 处理任务
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if (hasTask && !m_stopped.load()) {
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processImageGeneration(scanLines);
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}
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}
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LOG_INFO("ImageProcessingWorker thread finished\n");
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}
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void ImageProcessingWorker::processImageGeneration(const std::vector<std::vector<SVzNL3DPosition>>& scanLines)
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{
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m_processing.store(true);
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try {
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CVrTimeUtils oTime;
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std::vector<std::vector<SVzNL3DPoint>> emptyResults; // 空的检测结果
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QImage image = PointCloudImageUtils::GeneratePointCloudImage(scanLines, emptyResults, 800, 600);
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if (!image.isNull()) {
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LOG_DEBUG("ImageProcessingWorker processImageGeneration, image size: %dx%d time: %.fms\n",
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image.width(), image.height(), oTime.GetElapsedTimeInMilliSec());
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emit imageGenerated(image);
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} else {
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LOG_WARNING("Failed to generate image in worker thread\n");
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}
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} catch (const std::exception& e) {
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LOG_ERROR("Error in worker thread image processing: %s\n", e.what());
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} catch (...) {
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LOG_ERROR("Unknown error in worker thread image processing\n");
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}
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m_processing.store(false);
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}
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