GrabBag/AppUtils/AppCommon/Src/ConfigMonitor.cpp

#include "ConfigMonitor.h"
#include "VrLog.h"
#include "VrError.h"
#include <cstring>
#include <chrono>

ConfigMonitor::ConfigMonitor()
    : m_pShareMem(nullptr)
    , m_pCommandHandler(nullptr)
    , m_bMonitorRunning(false)
{
}

ConfigMonitor::~ConfigMonitor()
{
    Stop();
}

void ConfigMonitor::SetCommandHandler(IConfigCommandHandler* handler)
{
    m_pCommandHandler = handler;
}

bool ConfigMonitor::Start(const std::string& sharedMemName)
{
    if (m_bMonitorRunning) {
        LOG_WARNING("[ConfigMonitor] Monitor is already running\n");
        return true;
    }

    if (!m_pCommandHandler) {
        LOG_ERROR("[ConfigMonitor] Command handler not set\n");
        return false;
    }

    m_sharedMemName = sharedMemName;

    if (!InitializeSharedMemory(sharedMemName)) {
        LOG_ERROR("[ConfigMonitor] Failed to initialize shared memory\n");
        return false;
    }

    // 启动监控线程
    m_bMonitorRunning = true;
    m_monitorThread = std::thread(&ConfigMonitor::MonitorThreadFunc, this);

    LOG_INFO("[ConfigMonitor] Shared memory monitor started (name: %s)\n", sharedMemName.c_str());
    return true;
}

void ConfigMonitor::Stop()
{
    if (!m_bMonitorRunning) {
        return;
    }

    LOG_INFO("[ConfigMonitor] Stopping shared memory monitor...\n");

    m_bMonitorRunning = false;

    // 等待线程结束
    if (m_monitorThread.joinable()) {
        m_monitorThread.join();
    }

    // 清理共享内存
    CleanupSharedMemory();

    LOG_INFO("[ConfigMonitor] Shared memory monitor stopped\n");
}

void ConfigMonitor::MonitorThreadFunc()
{
    LOG_INFO("[ConfigMonitor] Monitor thread started\n");

    ConfigCmdSharedData lastData;
    memset(&lastData, 0, sizeof(ConfigCmdSharedData));

    while (m_bMonitorRunning) {
        try {
            // 锁定共享内存并读取数据
            int ret = m_pShareMem->Lock(1000); // 1秒超时
            if (ret != SUCCESS) {
                if (ret != SHAREMEM_ERR_TIMEOUT) {
                    LOG_ERROR("[ConfigMonitor] Failed to lock shared memory, error: %d\n", ret);
                }
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                continue;
            }

            ConfigCmdSharedData currentData;
            ret = m_pShareMem->ReadData(0, &currentData, sizeof(ConfigCmdSharedData));
            m_pShareMem->Unlock();

            if (ret < 0) {
                LOG_ERROR("[ConfigMonitor] Failed to read shared memory, error: %d\n", ret);
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                continue;
            }

            // 检查魔数和版本
            if (strcmp(currentData.header.magic, "VRCFG001") != 0 || currentData.header.version != 1) {
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                continue;
            }

            // 检查是否有新数据
            if (!currentData.header.hasNewData) {
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                continue;
            }

            // 验证校验和
            if (!currentData.ValidateChecksum()) {
                LOG_ERROR("[ConfigMonitor] Config command data checksum validation failed\n");
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                continue;
            }

            // 检查是否是新的命令（与上次不同）
            if (memcmp(&lastData.data, &currentData.data, sizeof(ConfigCmdData)) == 0) {
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                continue;
            }

            // 应用配置命令
            LOG_INFO("[ConfigMonitor] Received new config command, type: %d, timestamp: %s\n",
                     currentData.data.cmdType, currentData.data.timestamp);

            if (ApplyConfigCommand(currentData.data)) {
                LOG_INFO("[ConfigMonitor] Config command applied successfully\n");
            } else {
                LOG_ERROR("[ConfigMonitor] Failed to apply config command\n");
            }

            // 更新最后处理的数据
            lastData = currentData;

            // 标记数据已处理（清除新数据标志）
            ret = m_pShareMem->Lock(1000);
            if (ret == SUCCESS) {
                ConfigCmdSharedData clearData = currentData;
                clearData.header.hasNewData = false;
                m_pShareMem->WriteData(0, &clearData, sizeof(ConfigCmdSharedData));
                m_pShareMem->Unlock();
            }

        } catch (const std::exception& e) {
            LOG_ERROR("[ConfigMonitor] Exception in monitor thread: %s\n", e.what());
        }

        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }

    LOG_INFO("[ConfigMonitor] Monitor thread stopped\n");
}

bool ConfigMonitor::InitializeSharedMemory(const std::string& sharedMemName)
{
    if (m_pShareMem) {
        return true; // 已经初始化
    }

    m_pShareMem = CreateShareMemInstance();
    if (!m_pShareMem) {
        LOG_ERROR("[ConfigMonitor] Failed to create shared memory instance\n");
        return false;
    }

    // 尝试打开已存在的共享内存，如果不存在则创建
    int ret = m_pShareMem->CreateOrOpen(sharedMemName, CONFIG_CMD_SHARED_MEM_SIZE, false);
    if (ret != SUCCESS) {
        // 如果打开失败，尝试创建新的
        ret = m_pShareMem->CreateOrOpen(sharedMemName, CONFIG_CMD_SHARED_MEM_SIZE, true);
        if (ret != SUCCESS) {
            LOG_ERROR("[ConfigMonitor] Failed to create or open shared memory, error: %d\n", ret);
            CleanupSharedMemory();
            return false;
        }
    }

    // 映射内存
    void* mappedAddr = m_pShareMem->MapView();
    if (!mappedAddr) {
        LOG_ERROR("[ConfigMonitor] Failed to map shared memory view\n");
        CleanupSharedMemory();
        return false;
    }

    LOG_INFO("[ConfigMonitor] Shared memory initialized successfully (name: %s, size: %zu)\n",
             sharedMemName.c_str(), CONFIG_CMD_SHARED_MEM_SIZE);

    return true;
}

void ConfigMonitor::CleanupSharedMemory()
{
    if (m_pShareMem) {
        m_pShareMem->UnmapView();
        m_pShareMem->Close();
        DestroyShareMemInstance(m_pShareMem);
        m_pShareMem = nullptr;
    }
}

bool ConfigMonitor::ApplyConfigCommand(const ConfigCmdData& configData)
{
    if (!m_pCommandHandler) {
        LOG_ERROR("[ConfigMonitor] Command handler not set\n");
        return false;
    }

    switch (configData.cmdType) {
        case CONFIG_CMD_CAMERA_EXPOSE:
            return m_pCommandHandler->OnCameraExposeCommand(configData.cameraParam);

        case CONFIG_CMD_CAMERA_GAIN:
            return m_pCommandHandler->OnCameraGainCommand(configData.cameraParam);

        case CONFIG_CMD_CAMERA_FRAMERATE:
            return m_pCommandHandler->OnCameraFrameRateCommand(configData.cameraParam);

        case CONFIG_CMD_CAMERA_SWING:
            return m_pCommandHandler->OnCameraSwingCommand(configData.swingParam);

        case CONFIG_CMD_ALGO_PARAM:
            return m_pCommandHandler->OnAlgoParamCommand(configData.algoParam);

        case CONFIG_CMD_CALIB_PARAM:
            return m_pCommandHandler->OnCalibParamCommand(configData.calibParam);

        case CONFIG_CMD_FULL_CONFIG:
            return m_pCommandHandler->OnFullConfigCommand(configData.fullConfigParam);

        case CONFIG_CMD_SWITCH_WORKPOSITION:
            return m_pCommandHandler->OnSwitchWorkPositionCommand(configData.switchWorkPositionParam);

        case CONFIG_CMD_SWITCH_PACKAGETYPE:
            return m_pCommandHandler->OnSwitchPackageTypeCommand(configData.switchPackageTypeParam);

        default:
            LOG_ERROR("[ConfigMonitor] Unknown config command type: %d\n", configData.cmdType);
            return false;
    }
}