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AI_Charging_Station/main.cpp

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2025-03-17 20:18:09 +08:00
#include "main.h"
//4 13 22 31
#include <opencv2/opencv.hpp>
#include <stdio.h>
#include <sys/time.h>
#include"yolov5_detect.h"
#include <iostream>
#include <chrono>
#include <thread>
#include <fstream>
#include <cstdio>
#include <iostream>
#include <fstream>
#include <cstring>
#include <vector>
#include <iomanip>
#include <filesystem>
#include <algorithm>
#include <stdlib.h>
#include <string.h>
#include <dlfcn.h>
#include <vector>
#include <string>
#include <stdbool.h>
#include <iostream>
#include <sys/stat.h>
#include <curl/curl.h>
#include <openssl/rsa.h>
#include <openssl/pem.h>
#include <openssl/err.h>
#include <nlohmann/json.hpp>
#include <jvbase/jlog.h>
#include <jvbase/jvtypes.h>
#include <jvbase/jstring.h>
#include <jbus.h>
#include <jes/jes_mss.h>
#include <jes/jes_isp.h>
#include <jlinux/jlinux_mem.h>
#include <termios.h>
#include <cmath>
#include <nlohmann/json.hpp>
#include <mutex>
#define MSS_TEST_BUS_NAME "yolov5test"
static jbus_hdl_t g_jbus;
static jmss_hdl_t g_jmss;
static jisp_hdl_t g_jisp;
static bool g_running;
jmss_stm_t *g_stm[5];
//配置文件路径
#define modelpath_fire "/demo/bin/fire2025_pre.rknn"
#define DOWNLOAD_VERSION_PATH "/tmp/version"
#define ID_FILE_PWD "/etc/DeviceID"
std::string DeviceID;
std::string response_controllerId = "NULL";
static char labels_fire[2][20] = {"fire", "any"};
static char labels_smog[2][20] = {"smog", "any"};
#define SERIAL_PORT_INFRARED_SENSOR "/dev/ttyS4"
#define SERIAL_PORT_SOLENOID "/dev/ttyS5"
#define BAUD_RATE B115200
static int serialPortInfraredSensor;
static int serialPortSolenoid;
float temperature_img[24][32];
unsigned char buffer[1544];
std::mutex mtx;
using namespace cv;
using namespace std;
using json = nlohmann::json; //使用nlohmann JSON 库
// 定义GPIO控制引脚（假设GPIO2_B0已经设置好）
#define RELAY_GPIO_PIN 72 // 使用GPIO 72控制继电器
// 控制继电器复位的函数
void reset_relay() {
// 导出GPIO引脚
system("echo 72 > /sys/class/gpio/export");
// 设置GPIO引脚为输出
system("echo out > /sys/class/gpio/gpio72/direction");
// 复位继电器
system("echo 1 > /sys/class/gpio/gpio72/value"); // 设置高电平
usleep(1000000); // 等待1秒
system("echo 0 > /sys/class/gpio/gpio72/value"); // 设置低电平
std::cout << "Relay reset!" << std::endl;
}
constexpr auto CONFIG_FILE = "/demo/bin/jh.json";
constexpr auto ID_FILE_PATH = "/etc/DeviceID";
constexpr auto LICENSE_FILE = "/demo/bin/activation.lic";
constexpr auto ENCRYPT_KEY = "YourSecretKey1234567890ABCDEF"; // 24字节密钥
// RSA公钥（PEM格式）
const string PUBLIC_KEY = R"(
-----BEGIN PUBLIC KEY-----
MFwwDQYJKoZIhvcNAQEBBQADSwAwSAJBAK+UGGqE+K12kd5F5AH3GQNMSKZjq0l+IBTzF28YWTz+CWtRQ78eKOp3/fXZ8UBRQc2/nRT9Us24l9kPGJ2qUYECAwEAAQ==
-----END PUBLIC KEY-----
)";
// 全局变量
mutex activation_mutex;
class Config {
public:
static string getActivationUrl() { // 静态成员函数，用于获取激活 URL
try {
ifstream file(CONFIG_FILE);
if (!file) {
throw runtime_error("Config file not found");
}
json config = json::parse(file); // 使用 nlohmann JSON 库解析配置文件
if (config.contains("activation_url")) {
string url = config["activation_url"];
cout << "[INFO] Using activation URL from JSON config: " << url << endl;
return url;
}
throw runtime_error("activation_url not found in config");
} catch (const exception& e) {
cerr << "[WARN] " << e.what() << " - Using default URL" << endl; //捕获异常
return "http://183.238.1.242:8889/api/label/security";
}
}
};
class CryptoUtil {
public:
// 异或加密（保留原有逻辑）
static string xorEncrypt(const string& plaintext) {
string encrypted = xorCipher(plaintext, ENCRYPT_KEY);
return base64Encode(encrypted);
}
static string xorDecrypt(const string& ciphertext) {
string decoded = base64Decode(ciphertext);
return xorCipher(decoded, ENCRYPT_KEY);
}
// URL编码
static string urlEncode(const string& value) {
ostringstream escaped;
escaped.fill('0');
escaped << hex;
for (char c : value) {
if (isalnum(c) || c == '-' || c == '_' || c == '.' || c == '~') {
escaped << c;
} else {
escaped << '%' << setw(2) << int((unsigned char)c);
}
}
return escaped.str();
}
// 新增RSA加密
static string rsaEncrypt(const string& plaintext) {
RSA* rsa = nullptr;
BIO* bio = nullptr;
string result;
try {
bio = BIO_new_mem_buf(PUBLIC_KEY.c_str(), -1);
// rsa = PEM_read_bio_RSA_PUBKEY(bio, nullptr, nullptr, nullptr);
rsa = PEM_read_bio_RSA_PUBKEY(bio, nullptr, nullptr, nullptr);
if (!rsa) throw runtime_error("PEM_read_bio_RSA_PUBKEY failed");
int keySize = RSA_size(rsa);
vector<unsigned char> encrypted(keySize);
int len = RSA_public_encrypt(
plaintext.size(),
reinterpret_cast<const unsigned char*>(plaintext.c_str()),
encrypted.data(),
rsa,
RSA_PKCS1_PADDING
);
if (len == -1) throw runtime_error("RSA encryption failed");
result = base64Encode(encrypted.data(), len);
} catch (const exception& e) {
cerr << "[ERROR] RSA encryption failed: " << e.what() << endl;
ERR_print_errors_fp(stderr);
result.clear();
}
if (rsa) RSA_free(rsa);
if (bio) BIO_free_all(bio);
return result;
}
private:
static string xorCipher(const string& data, const string& key) {
string result;
for (size_t i = 0; i < data.size(); ++i) {
result += data[i] ^ key[i % key.size()];
}
return result;
}
static string base64Encode(const string& data) {
BIO *bio, *b64;
BUF_MEM *bufferPtr;
b64 = BIO_new(BIO_f_base64());
bio = BIO_new(BIO_s_mem());
bio = BIO_push(b64, bio);
BIO_set_flags(bio, BIO_FLAGS_BASE64_NO_NL);
BIO_write(bio, data.c_str(), data.size());
BIO_flush(bio);
BIO_get_mem_ptr(bio, &bufferPtr);
BIO_set_close(bio, BIO_NOCLOSE);
BIO_free_all(bio);
return string(bufferPtr->data, bufferPtr->length);
}
static string base64Encode(const unsigned char* data, size_t len) {
BIO* b64 = BIO_new(BIO_f_base64());
BIO* mem = BIO_new(BIO_s_mem());
BIO_push(b64, mem);
BIO_set_flags(b64, BIO_FLAGS_BASE64_NO_NL);
BIO_write(b64, data, len);
BIO_flush(b64);
char* ptr;
long size = BIO_get_mem_data(mem, &ptr);
string result(ptr, size);
BIO_free_all(b64);
return result;
}
static string base64Decode(const string& encoded) {
BIO *bio, *b64;
char* buffer = (char*)malloc(encoded.size());
memset(buffer, 0, encoded.size());
bio = BIO_new_mem_buf(encoded.c_str(), -1);
b64 = BIO_new(BIO_f_base64());
bio = BIO_push(b64, bio);
BIO_set_flags(bio, BIO_FLAGS_BASE64_NO_NL);
int len = BIO_read(bio, buffer, encoded.size());
BIO_free_all(bio);
string result(buffer, len);
free(buffer);
return result;
}
};
class NetworkUtil {
public:
static int postRequest(const string& url, const string& postData, string& response) {
CURL* curl = curl_easy_init();
if (!curl) return CURLE_FAILED_INIT;
// 使用RSA加密数据
string encryptedData = CryptoUtil::rsaEncrypt(postData);
string urlEncodedData = CryptoUtil::urlEncode(encryptedData);
struct curl_slist* headers = nullptr;
headers = curl_slist_append(headers, "Accept: application/json"); // 修改Content-Type
const string full_url = url + "?id=" + urlEncodedData;
// cout << "[DEBUG] full_url: " << full_url << endl;
curl_easy_setopt(curl, CURLOPT_URL, full_url.c_str());
curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writeCallback);
curl_easy_setopt(curl, CURLOPT_WRITEDATA, &response);
curl_easy_setopt(curl, CURLOPT_TIMEOUT, 10L);
curl_easy_setopt(curl, CURLOPT_SSL_VERIFYPEER, 1L);
curl_easy_setopt(curl, CURLOPT_SSL_VERIFYHOST, 2L);
CURLcode res = curl_easy_perform(curl);
curl_easy_cleanup(curl);
curl_slist_free_all(headers);
return res;
}
private:
static size_t writeCallback(void* contents, size_t size, size_t nmemb, string* output) {
output->append(static_cast<char*>(contents), size * nmemb);
return size * nmemb;
}
};
class ActivationManager {
public:
explicit ActivationManager(string device_id, string mac)
: device_id_(move(device_id)), mac_(move(mac)) {}
bool checkActivation() {
lock_guard<mutex> lock(activation_mutex);
if (checkLocalLicense()) {
cout << "[INFO] Device already activated" << endl;
return true;
}
return processOnlineActivation();
}
// 内部函数实现：checkLocalLicense, validateLicense, processOnlineActivation, generateLicenseFile
private:
string device_id_;
string mac_;
bool checkLocalLicense() {
ifstream file(LICENSE_FILE, ios::binary);
if (!file) return false;
string encrypted((istreambuf_iterator<char>(file)), istreambuf_iterator<char>());
return validateLicense(encrypted);
}
bool validateLicense(const string& encrypted) {
// 修改为使用xorDecrypt
string decrypted = CryptoUtil::xorDecrypt(encrypted);
auto pos = decrypted.find('|');
if (pos == string::npos) return false;
string storedId = decrypted.substr(0, pos);
string storedMac = decrypted.substr(pos + 1);
return (storedId == device_id_ && storedMac == mac_);
}
bool processOnlineActivation(int retry_count = 3) {
string activation_url = Config::getActivationUrl();
const string post_data = device_id_ + "|" + mac_;
cout << "[DEBUG] Original POST data: " << post_data << endl;
for (int i = 0; i < retry_count; ++i) {
string response;
int curl_code = NetworkUtil::postRequest(activation_url, post_data, response);
if (curl_code != CURLE_OK) {
cerr << "[ERROR] Network error: " << curl_easy_strerror((CURLcode)curl_code) << endl;
continue;
}
try {
auto json_resp = json::parse(response);
int code = json_resp["code"].get<int>();
if (code == 0) {
generateLicenseFile(device_id_ + "|" + mac_);
return true;
}
if (code == 60001 || code == 60002) {
cerr << "[FATAL] Activation failed: " << json_resp["msg"].get<string>() << endl;
return false;
}
if (code == 60003 && i < retry_count - 1) {
cout << "[WARN] Retrying... (" << i+1 << "/" << retry_count << ")" << endl;
this_thread::sleep_for(chrono::seconds(1));
continue;
}
return false;
} catch (const json::exception& e) {
cerr << "[ERROR] JSON parse error: " << e.what() << endl;
}
}
return false;
}
void generateLicenseFile(const string& data) {
ofstream file(LICENSE_FILE, ios::binary);
// 修改为使用xorEncrypt
string encrypted = CryptoUtil::xorEncrypt(data);
file.write(encrypted.data(), encrypted.size());
cout << "[INFO] License file created successfully" << endl;
}
};
string getDeviceID() {
ifstream file(ID_FILE_PATH);
string id;
if (!getline(file, id)) throw runtime_error("Failed to read device ID");
return id;
}
string getMACAddress() {
const vector<string> interfaces = {"eth0", "eth1", "enp0s3", "wlan0"};
for (const auto& iface : interfaces) {
ifstream file("/sys/class/net/" + iface + "/address");
if (file) {
string mac;
getline(file, mac);
mac.erase(remove(mac.begin(), mac.end(), '\n'), mac.end());
if (mac.length() == 17 && count(mac.begin(), mac.end(), ':') == 5) {
return mac;
}
}
}
throw runtime_error("No valid MAC address found");
}
int ALARM_TEMPERATURE;
int WARN_TEMPERATURE;
int MOVE_THRESHOLD;
int IGNORE_TEMPERATURE;
double Confidence_Threshold;
vector<vector<int>> last_result;
auto last_result_time = std::chrono::high_resolution_clock::now();// 时间
vector<vector<int>> now_result;
int width = 1920, height = 1080;
JMediaRawFrameType_e type = JMEDIA_RAWFRAMETYPE_NV12;
//查看是否重合
bool check_whether_in_last_result(vector<vector<int>> &last_result, vector<int> &now, std::ofstream& temperature_log){
if(last_result.empty()) return true;
//查找now的框坐标是否有出现在上一帧
for(auto i : last_result){
//范围5像素以内都视为不变
if(abs(i[0] - now[0]) <= MOVE_THRESHOLD && abs(i[1] - now[1]) <= MOVE_THRESHOLD && abs(i[2] - now[2]) <= MOVE_THRESHOLD && abs(i[3] - now[3]) <= MOVE_THRESHOLD){
temperature_log << "有重复 此帧结果：(" << now[0] << " " << now[1] << ") (" << now[2] << " " << now[3] << ")"
<< " 上帧结果：(" << i[0] << " " << i[1] << ") (" << i[2] << " " << i[3] << ")"<< endl;
cout << "上帧结果：(" << i[0] << " " << i[1] << ") (" << i[2] << " " << i[3] << ")" << endl;
cout << "此帧结果：(" << now[0] << " " << now[1] << ") (" << now[2] << " " << now[3] << ")" << endl;
return true;
}
}
cout << "无重复 此帧结果：(" << now[0] << " " << now[1] << ") (" << now[2] << " " << now[3] << ")" << endl;
temperature_log << "无重复 此帧结果：(" << now[0] << " " << now[1] << ") (" << now[2] << " " << now[3] << ")" << endl;
return false;
}
//获取当前系统时间
string Get_Time(int input){
// 获取当前系统时间
std::time_t alarmTime_std = std::time(nullptr);
// 将时间转换为本地时间
std::tm* localTime = std::localtime(&alarmTime_std);
// 从本地时间结构中获取时间信息
int year = localTime->tm_year + 1900;
int month = localTime->tm_mon + 1;
int day = localTime->tm_mday;
int hour = localTime->tm_hour;
int minute = localTime->tm_min;
int second = localTime->tm_sec;
// 拼接成字符串
std::ostringstream oss_alarmTime;
if(input == 1){
oss_alarmTime << std::setfill('0')
<< std::setw(4) << year << "-"
<< std::setw(2) << month << "-"
<< std::setw(2) << day << " "
<< std::setw(2) << hour << ":"
<< std::setw(2) << minute << ":"
<< std::setw(2) << second;
}else{
oss_alarmTime << std::setfill('0')
<< std::setw(2) << month << "_"
<< std::setw(2) << day << "_"
<< std::setw(2) << hour << "_"
<< std::setw(2) << minute << "_"
<< std::setw(2) << second;
}
// 获取拼接后的字符串
std::string formattedTime = oss_alarmTime.str();
return formattedTime;
}
double calibration(double x){
double p1 = -9.052e-08;
double p2 = 8.313e-05;
double p3 = -0.02813;
double p4 = 4.16;
double p5 = -219.7;
double res = p1*pow(x, 4) + p2*pow(x, 3) + p3*pow(x, 2) + p4*x + p5;
return res;
}
size_t WriteCallback(void* contents, size_t size, size_t nmemb, std::string* response){
size_t totalSize = size * nmemb;
response->append(static_cast<char*>(contents), totalSize);
return totalSize;
}
bool _geturlFromfile(const char * filepath,char *url, int maxLength) {
if (filepath == NULL) {
printf("getrulVersion is error, url == null.\n");
return false;
}
FILE *fp = fopen(filepath, "r");
if (fp == NULL) {
printf("open %s failed, error is %s.\n", filepath, strerror(errno));
return false;
}
int iffind=0;
char *line = NULL;
size_t len = 0;
size_t read;
while ((read = getline(&line, &len, fp)) != -1) {
if (read == 0 || line[0] == '#') {
continue;
}
char *pline = strstr(line, "upload_url");
if (pline != NULL && (pline = strstr(pline, "=")) != NULL) {
pline++; //过滤掉等于号
//过滤掉空格
while (*pline == ' ') {
pline++;
}
int pline_len = strlen(pline) - 1;
int version_len = (pline_len > maxLength ? maxLength:pline_len);
memcpy(url, pline, version_len);
printf("upload_url = %s\n", url);
iffind=1;
break;
}
}
if (iffind == 0 ){
printf("Can not find upload_url\n");
return false;
}
free(line);
fclose(fp);
return true;
}
// 函数用于读取文件并将其内容保存在全局字符串变量中
void readFileAndStoreInGlobal(const std::string& filename) {
std::ifstream file(filename);
if (file.is_open()) {
std::getline(file, DeviceID); // 读取一行并存储在全局字符串中
file.close();
} else {
std::cerr << "无法打开文件: " << filename << std::endl;
}
}
std::string generateIndices(char result[4],Alarm* Alarm) {
std::string indices;
for (int i = 0; i < 4; ++i) {
if (result[i] == '1') {
// 将索引值加入到生成的字符串中
indices += std::to_string(i + 1);
Alarm->ifalarm = 1;
}
}
return indices;
}
void checkCoverage(int x1, int x2, int width, char result[4]) {
// 初始化为 '1'，表示覆盖
// std::string resultString1(result, 4);
// std::cout << "result in: " << resultString1 << std::endl;
char result_now[4]={'1','1','1','1'};
int line1 = width*7/32;
int line2 = width/2;
int line3 = width*25/32;
if(x1>line1){
result_now[3] = '0';
}
if(x1>line2){
result_now[3] = '0';
result_now[2] = '0';
}
if(x1>line3){
result_now[3] = '0';
result_now[2] = '0';
result_now[1] = '0';
}
if(x2<line3){
result_now[0] = '0';
}
if(x2<line2){
result_now[0] = '0';
result_now[1] = '0';
}
if(x2<line1){
result_now[0] = '0';
result_now[1] = '0';
result_now[2] = '0';
}
result[0] = result[0] | result_now[0];
result[1] = result[1] | result_now[1];
result[2] = result[2] | result_now[2];
result[3] = result[3] | result_now[3];
}
//用于resul_warn和result_fire的与操作。
void and_result(char result1[4],char result2[4]){
result1[0] = result1[0] & result2[0];
result1[1] = result1[1] & result2[1];
result1[2] = result1[2] & result2[2];
result1[3] = result1[3] & result2[3];
std::string resultString(result1, 4);
// 打印结果字符串
std::cout << "与后结果: " << resultString << std::endl;
}
//用于resul_warn和result_fire的与操作。
void or_result(char result1[4],char result2[4]){
result1[0] = result1[0] | result2[0];
result1[1] = result1[1] | result2[1];
result1[2] = result1[2] | result2[2];
result1[3] = result1[3] | result2[3];
std::string resultString(result1, 4);
// 打印结果字符串
std::cout << "或后结果: " << resultString << std::endl;
}
void getLabels(const char* path, char labels[2][20]) {
if (strcmp(path, modelpath_fire) == 0) {
std::cout << "Labels for fire model" << std::endl;
strcpy(labels[0], labels_fire[0]);
strcpy(labels[1], labels_fire[1]);
}
else {
std::cout << "Null labels" << std::endl;
strcpy(labels[0], "null");
strcpy(labels[1], "null");
}
}
static Scalar colorArray[10]={
Scalar(255, 0, 0, 255),
Scalar(0, 255, 0, 255),
Scalar(0,0,139,255),
Scalar(0,100,0,255),
Scalar(139,139,0,255),
Scalar(209,206,0,255),
Scalar(0,127,255,255),
Scalar(139,61,72,255),
Scalar(0,255,0,255),
Scalar(255,0,0,255),
};
int plot_one_box(Mat src, int x1, int x2, int y1, int y2, char *label, char colour)
{
int tl = round(0.002 * (src.rows + src.cols) / 2) + 1;
rectangle(src, cv::Point(x1, y1), cv::Point(x2, y2), colorArray[colour], 3);
int tf = max(tl -1, 1);
int base_line = 0;
cv::Size t_size = getTextSize(label, FONT_HERSHEY_SIMPLEX, (float)tl/3, tf, &base_line);
int x3 = x1 + t_size.width;
int y3 = y1 - t_size.height - 3;
rectangle(src, cv::Point(x1, y1), cv::Point(x3, y3), colorArray[colour], -1);
putText(src, label, cv::Point(x1, y1 - 2), FONT_HERSHEY_SIMPLEX, (float)tl/3, cv::Scalar(255, 255, 255, 255), tf, 8);
return 0;
}
bool directoryExists(const std::string &path) {
struct stat info;
if (stat(path.c_str(), &info) != 0) {
return false; // 文件夹不存在
} else if (info.st_mode & S_IFDIR) {
return true; // 文件夹存在
}
return false; // 存在但不是文件夹
}
bool createDirectory(const std::string &path) {
if (!directoryExists(path)) {
if (mkdir(path.c_str(), 0755) == 0) {
std::cout << "文件夹创建成功: " << path << std::endl;
return true;
} else {
std::cerr << "文件夹创建失败: " << strerror(errno) << std::endl;
return false;
}
} else {
std::cout << "文件夹已存在: " << path << std::endl;
return true;
}
}
//计算校验和
uint8_t calculateChecksum(const std::vector<uint8_t>& data) {
uint16_t sum = 0;
for (size_t i = 0; i < data.size()-1; ++i) {
sum += data[i];
}
return static_cast<uint8_t>(sum & 0xFF);
}
void printVector(const std::vector<uint8_t>& vec) {
std::cout << "Vector contents: ";
for (const auto& byte : vec) {
std::cout << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(byte) << " ";
}
std::cout << std::dec << std::endl; // 切换回十进制
}
int main(int argc, char **argv)
{
std::string folderPath = "/demo/pic"; //保存图片的文件夹路径
if(!createDirectory(folderPath)){
return 0;
}
// 打开 JSON 文件
cout << "解析JSON文件" << endl;
std::ifstream file("/demo/bin/config.json");
// 检查文件是否成功打开
if (!file.is_open()) {
std::cerr << "Failed to open json file" << std::endl;
return 1;
}
try {
// 解析 JSON 文件
json Config_jsonData;
file >> Config_jsonData;
// 关闭文件
// 赋值给全局常量
WARN_TEMPERATURE = Config_jsonData["WARN_TEMPERATURE"];
ALARM_TEMPERATURE = Config_jsonData["ALARM_TEMPERATURE"];
MOVE_THRESHOLD = Config_jsonData["MOVE_THRESHOLD"];
IGNORE_TEMPERATURE = Config_jsonData["IGNORE_TEMPERATURE"];
Confidence_Threshold = Config_jsonData["Confidence_Threshold"];
}
catch (const json::parse_error& e)
{
std::cerr << "JSON parsing error: " << e.what() << std::endl;
return 0;
}
file.close();
cout << "配置 WARN_TEMPERATURE :" << WARN_TEMPERATURE << endl;
cout << "配置 ALARM_TEMPERATURE :" << ALARM_TEMPERATURE << endl;
cout << "配置 MOVE_THRESHOLD :" << MOVE_THRESHOLD << endl;
cout << "配置 IGNORE_TEMPERATURE :" << IGNORE_TEMPERATURE << endl;
cout << "配置 Confidence_Threshold :" << Confidence_Threshold << endl;
cout << SERIAL_PORT_INFRARED_SENSOR <<endl;
cout << SERIAL_PORT_SOLENOID <<endl;
try {
const string device_id = getDeviceID();
const string mac = getMACAddress();
cout << "Device ID: " << device_id << "\nMAC: " << mac << endl;
// 验证RSA加密
// cout << "\n--- RSA Encryption Test ---" << endl;
// string test_data = device_id + "|" + mac;
// cout << "[TEST] Original data: " << test_data << endl;
// string encrypted = CryptoUtil::rsaEncrypt(test_data);
// cout << "[TEST] Encrypted data (Base64): " << encrypted << endl;
// cout << "[TEST] URL Encoded data: " << CryptoUtil::urlEncode(encrypted) << endl;
// 执行激活流程
cout << "\n--- Activation Process ---" << endl;
ActivationManager activator(device_id, mac);
if (!activator.checkActivation()) {
cerr << "[FATAL] Activation failed" << endl;
return EXIT_FAILURE;
}
cout << "\nStarting algorithm..." << endl;
// 主程序逻辑
g_jbus = jbus_init(MSS_TEST_BUS_NAME);
printf("jbus_init success\n");
g_jmss = JES_MSS_Init(g_jbus);
printf("JES_MSS_Init success\n");
g_jisp = JES_ISP_Init(g_jbus);
printf("JES_ISP_Init success\n");
char ispver[128] = {};
JES_ISP_GetVersion(g_jisp, 0, ispver, sizeof(ispver));
printf("ispver: %s\n",ispver);
sleep(1);
JMediaRawFrameType_e type = argc>=2?(JMediaRawFrameType_e)atoi(argv[1]):JMEDIA_RAWFRAMETYPE_NV12;
int width = 1920, height = 1080;
jmss_raw_t *rawchn = JES_MSS_RawOpen(g_jmss, 0, width, height, type);
if(rawchn == NULL){
printf("==============>>>: %s:%d open rawchn failed\n", strrchr(__FILE__,'/'),__LINE__);
return -1;
}
int ret;
readFileAndStoreInGlobal((char *)ID_FILE_PWD);
// 打印全局字符串变量
std::cout << "ID内容：" << DeviceID <<std::endl;
char model_fire[] = modelpath_fire;
pthread_t rtsp_tidp;
pthread_t fire_rknn_tidp;
pthread_t smog_rknn_tidp;
pthread_t heart_beat_tidp;
pthread_create(&fire_rknn_tidp, NULL, rkmedia_rknn_thread, model_fire);
// pthread_create(&heart_beat_tidp, NULL, heart_beat, NULL);
//串口读数据线程
pthread_t read_serial;
pthread_create(&read_serial, NULL, read_serial_thread, NULL);
printf("%s initial finish\n", __func__);
while (!quit)
{
usleep(500000);
}
JES_MSS_Deinit(g_jmss);
JES_ISP_Deinit(g_jisp);
jbus_cleanup(g_jbus);
} catch (const exception& e) {
cerr << "[FATAL] " << e.what() << endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
//初始化串口
void *rkmedia_rknn_thread(void *args)
{
pthread_detach(pthread_self());
//打开协议串口
serialPortSolenoid = open(SERIAL_PORT_SOLENOID, O_RDWR | O_NOCTTY | O_NDELAY);
if (serialPortSolenoid == -1) {
printf("Failed to open serial port: %s\n", SERIAL_PORT_SOLENOID);
return 0;
}
struct termios tty;
memset(&tty, 0, sizeof(tty));
if (tcgetattr(serialPortSolenoid, &tty) != 0) {
printf("Failed to get serial port attributes\n");
close(serialPortSolenoid);
return 0;
}
cfsetospeed(&tty, BAUD_RATE);
cfsetispeed(&tty, BAUD_RATE);
tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8;
tty.c_cflag &= ~(PARENB | PARODD);
tty.c_cflag &= ~CSTOPB;
tty.c_cflag |= CREAD | CLOCAL;
tty.c_iflag = IGNPAR;
tty.c_oflag = 0;
tty.c_lflag = 0;
if (tcsetattr(serialPortSolenoid, TCSANOW, &tty) != 0) {
printf("Failed to set serial port attributes\n");
close(serialPortSolenoid);
return 0;
}
//初始化协议信息
std::vector<uint8_t> ControlInstructions(20,0x00);
ControlInstructions[0] = 0xCA; //协议头
ControlInstructions[1] = 0x14; //总长度
ControlInstructions[2] = 0x01; //操作指令
//打开JES的通道
jmss_raw_t *rawchn = JES_MSS_RawOpen(g_jmss, 0, width, height, type);
if(rawchn == NULL){
printf("==============>>>: %s:%d open rawchn failed\n", strrchr(__FILE__,'/'),__LINE__);
}
//日志相关内容
std::string filename = "/demo/bin/temperature_log.txt";
std::ofstream temperature_log(filename, std::ios::out | std::ios::trunc);
temperature_log << "配置 WARN_TEMPERATURE :" << WARN_TEMPERATURE << endl;
temperature_log << "配置 ALARM_TEMPERATURE :" << ALARM_TEMPERATURE << endl;
temperature_log << "配置 MOVE_THRESHOLD :" << MOVE_THRESHOLD << endl;
temperature_log << "配置 IGNORE_TEMPERATURE :" << IGNORE_TEMPERATURE << endl;
temperature_log << "配置 Confidence_Threshold :" << Confidence_Threshold << endl;
//环境温度
double temp_env = 0;
auto last_time = std::chrono::high_resolution_clock::now();// 记录开始时间
// 创建一个 Alarm 结构体对象
Alarm Alarm;
// 调用初始化函数来初始化结构体成员
initializeAlarm(&Alarm);
//用于从全局buffer中复制数据
unsigned char copyBuffer[1544];
/* 参数初始化 */
int output_nboxes_left =0;
yolov5_detect_result_group_t detect_result_group;
/* 算法模型初始化 */
char *path = reinterpret_cast<char*>(args);
printf("loading model %s\n",path);
rknn_context ctx;
yolov5_detect_init(&ctx, path);
// yolov5_detect_init(&ctx, "./fire_rv1126.rknn");
//配置label
char labels[2][20];
getLabels(path, labels);
// 设置压缩质量
std::vector<int> compression_params;
compression_params.push_back(cv::IMWRITE_JPEG_QUALITY);
compression_params.push_back(30); // 设置压缩质量，范围为 0-100
int overtem_cnt = 0;
std::vector<int> over_tmp_deque(10, 0);
/* 算法运行 */
while(!quit){
int time2run = 1;
// auto current_time = std::chrono::high_resolution_clock::now();
// auto elapsed_time = std::chrono::duration_cast<std::chrono::milliseconds>(current_time - last_time);// 计算距离开始时间的时间差
// if (elapsed_time.count() - 1000 > 0) {
// last_time = current_time;
// time2run = 1;
// }
sleep(2);
//获取摄像头buffer
JVMediaFrame_t frm;
if(JES_MSS_RawGetFrame(rawchn,&frm) < 0){
sleep(1);
continue;
}
int overtmp_falg = 0;
Alarm.ifalarm = 0;
Alarm.ifwarn = 0;
Mat src;
NV12ToRGB(width, height, frm.buffer, src);
//裁剪
cv::Rect roi(220, 130, 1480, 570);
src = src(roi);
//固定时间间隔去处理红外参数
char result[4]={'0','0','0','0'};
char result_warn[4]={'0','0','0','0'};
char result_fire_rknn[4]={'0','0','0','0'};
//初始化ControlInstructions
ControlInstructions[3]=0x00;
ControlInstructions[4]=0x00;
ControlInstructions[5]=0x00;
ControlInstructions[6]=0x00;
if(time2run){
cout << "run ." << endl;
mtx.lock();
memcpy(copyBuffer, buffer, sizeof(buffer));
mtx.unlock();
//计算温度
double temperature;
int Col,Row;
int j = 0;
double max_temperature = 0;
for (int i = 4; i < 1540; i += 2) {
// temperature = calibration((buffer[i+1]*256+buffer[i])/100.0);
temperature = (buffer[i+1]*256+buffer[i])/100.0 + 6;
// cout << (buffer[i+1]*256+buffer[i])/100.0 << " " << temperature << endl;
//按视觉顺序存入数组
Col = 31-(j)%32;
Row = (j)/32;
temperature_img[Row][Col] = temperature;
j++;
}
temp_env = (buffer[1541]*256+buffer[1540])/100.0;
WARN_TEMPERATURE = (temp_env*2)>WARN_TEMPERATURE? (temp_env*2):WARN_TEMPERATURE;
// ALARM_TEMPERATURE = WARN_TEMPERATURE + 20;
//截去上下5行数据
for(int i=5; i<19; i++){
for(j=0; j<32; j++){
if(temperature_img[i][j] > IGNORE_TEMPERATURE) continue;
if(temperature_img[i][j] > max_temperature) max_temperature = temperature_img[i][j];
if(temperature_img[i][j] > ALARM_TEMPERATURE){
overtmp_falg = 1;
if (0 <= j && j <= 6)
result[0] = '1';
else if (6 < j && j <= 15)
result[1] = '1';
else if (15 < j && j <= 24)
result[2] = '1';
else if (24 < j && j <= 31)
result[3] = '1';
}
if(temperature_img[i][j] > WARN_TEMPERATURE){
Alarm.ifwarn = 1;
if (0 < j && j <= 6)
result_warn[0] = '1';
else if (6 < j && j <= 15)
result_warn[1] = '1';
else if (13 < j && j <= 24)
result_warn[2] = '1';
else if (24 < j && j <= 31)
result_warn[3] = '1';
}
}
}
int overtem_cnt_for_log;
if(overtmp_falg){
over_tmp_deque.push_back(1);
if (over_tmp_deque.size() > 10) {
over_tmp_deque.erase(over_tmp_deque.begin());
}
overtem_cnt = 0;
for (int i = 0; i < over_tmp_deque.size(); ++i) {
if (over_tmp_deque[i] == 1) {
overtem_cnt++;
}
}
overtem_cnt_for_log = overtem_cnt;
if(overtem_cnt >= 3){
Alarm.ifalarm = 1;
over_tmp_deque.assign(9, 0);
over_tmp_deque.push_back(1);
}else{
memset(result, '0', 4*sizeof(char));
}
}else{
over_tmp_deque.push_back(0);
// 保持队列长度为10，如果超过长度则移除最前面的元素
if (over_tmp_deque.size() > 10) {
over_tmp_deque.erase(over_tmp_deque.begin());
}
}
// temp_env = (buffer[1541]*256+buffer[1540])/100.0;
cout << "最大温度: " << max_temperature << endl;
cout << "环境温度" << temp_env << endl;
cout << "预警温度: " << WARN_TEMPERATURE << endl;
cout << "直接喷水温度: " << ALARM_TEMPERATURE << endl;
if(max_temperature>WARN_TEMPERATURE){
temperature_log << endl << "---------------------------------------------------" << endl;
temperature_log << Get_Time(1) << endl;
temperature_log << "最大温度: " << max_temperature << endl;
temperature_log << "环境温度: " << temp_env << endl;
temperature_log << "预警温度: " << WARN_TEMPERATURE << endl;
temperature_log << "直接喷水温度: " << ALARM_TEMPERATURE << endl;
temperature_log << "超温队列：";
for (int i = 0; i < over_tmp_deque.size(); ++i) {
temperature_log << over_tmp_deque[i] << " ";
}
temperature_log << endl;
}
if(Alarm.ifalarm){
printf("temprature > %d°C !\n", ALARM_TEMPERATURE);
// 将字符数组拼接成字符串
std::string resultString(result, 4);
std::cout << ALARM_TEMPERATURE <<"度结果: " << resultString << std::endl;
temperature_log << ALARM_TEMPERATURE <<"度结果: " << resultString << std::endl;
std::string resultString_warn(result_warn, 4);
std::cout << WARN_TEMPERATURE << "度结果: " << resultString_warn << std::endl;
temperature_log << WARN_TEMPERATURE <<"度结果: " << resultString_warn << std::endl;
}else if(Alarm.ifwarn){
printf("temprature > %d°C !\n", WARN_TEMPERATURE);
std::string resultString_warn(result_warn, 4);
std::cout << WARN_TEMPERATURE << "结果: " << resultString_warn << std::endl;
temperature_log << WARN_TEMPERATURE << "结果: " << resultString_warn << std::endl;
}
}
if(Alarm.ifwarn){
struct timeval start;
struct timeval end;
now_result.clear();
temperature_log << "上帧总的结果：" << endl;
for(auto i : last_result){
temperature_log << "(" << i[0] << " " << i[1] << ") (" << i[2] << " " << i[3] << ")" << endl;
}
printf("%s_rknn_run\n",labels[0]);
yolov5_detect_run(ctx, src, &detect_result_group);
}
//计算时间差
if( detect_result_group.count > 0 ){
auto current_time_now = std::chrono::high_resolution_clock::now();// 时间
auto value_time = std::chrono::duration_cast<std::chrono::milliseconds>(current_time_now - last_result_time);// 计算距离开始时间的时间差
if (value_time.count() - 10000 > 0) { //如果上下帧大于十秒，则清除上一帧
last_result.clear();
}
}
/* 算法结果在图像中画出并保存 */
int name_int = 0;
// char result[4]={'0','0','0','0'};
for (int i = 0; i < detect_result_group.count; i++)
{
yolov5_detect_result_t *det_result = &(detect_result_group.results[i]);
if( det_result->prop < Confidence_Threshold )
{
continue;
}
cout << "Detected object: " << det_result->name << endl;
//报警打印
if(Alarm.ifwarn){
printf("%s @ (%d %d %d %d) %f\n",
det_result->name,
det_result->box.left, det_result->box.top, det_result->box.right, det_result->box.bottom,
det_result->prop);
vector<int> now;
now.push_back(det_result->box.left);
now.push_back(det_result->box.top);
now.push_back(det_result->box.right);
now.push_back(det_result->box.bottom);
now_result.push_back(now);
if(check_whether_in_last_result(last_result,now,temperature_log)){
continue;
}
}
int x1 = det_result->box.left;
int y1 = det_result->box.top;
int x2 = det_result->box.right;
int y2 = det_result->box.bottom;
//检测区域
if(Alarm.ifwarn){
checkCoverage(x1, x2, 1480, result_fire_rknn);
}
char label_text[50];
memset(label_text, 0 , sizeof(label_text));
sprintf(label_text, "%s %0.2f",det_result->name, det_result->prop);
plot_one_box(src, x1, x2, y1, y2, label_text, i%10);
}
if(Alarm.ifwarn){
// if(!now_result.empty()){
// last_result.clear();
// last_result = now_result;
// }
//若上帧结果为空，依然清理结果队列 --2024.11.4
last_result.clear();
last_result = now_result;
last_result_time = std::chrono::high_resolution_clock::now();// 时间
std::string resultString_fire(result_fire_rknn, 4);
std::cout << "rknn检测结果: " << resultString_fire << std::endl;
temperature_log << "rknn检测结果: " << resultString_fire << std::endl;
//对45度区域和火焰检测区域做出 与操作
and_result(result_warn,result_fire_rknn);
//对火与45度结果 与 60 度结果 做或操作
or_result(result,result_warn);
temperature_log << "报警输入：" << string(result, 4) <<endl;
//处理ControlInstructions数据
if(result[0] == '1') ControlInstructions[3]=0x01;
if(result[1] == '1') ControlInstructions[4]=0x01;
if(result[2] == '1') ControlInstructions[5]=0x01;
if(result[3] == '1') ControlInstructions[6]=0x01;
std::string indices = generateIndices(result,&Alarm);
Alarm.alarmCoverage = indices;
}
if(time2run && Alarm.ifalarm){
printf("******************************\n");
// 创建第一个子进程：控制继电器
pid_t relay_pid = fork();
if (relay_pid == 0) {
printf("kongzhi jidianqi\n");
reset_relay();
exit(0); // 子进程完成继电器控制后退出
}
//计算校验位并发送
ControlInstructions[19] = calculateChecksum(ControlInstructions);
write(serialPortSolenoid, ControlInstructions.data(), ControlInstructions.size());
//打印串口协议
cout << "串口发送信息:";
printVector(ControlInstructions);
cv::Mat rgb_img;
cv::cvtColor(src, rgb_img, COLOR_BGR2RGB);
// std::string filename = "result" + std::string(labels[name_int]) + ".jpg";
std::string filename = "/demo/pic/" + Get_Time(2) + ".jpg";
cv::imwrite(filename, rgb_img, compression_params);
std::ifstream file(filename, std::ios::in | std::ios::binary);
std::ostringstream oss;
oss << file.rdbuf();
std::string orig_data = oss.str();
// 编码图片数据为base64格式
std::string encoded_data = base64_encode(reinterpret_cast<const unsigned char*>(orig_data.c_str()), orig_data.length());
Alarm.alarmBase64 = encoded_data;
Alarm.alarmMsg = std::string(labels[0]);
Alarm.alarmMsg = std::string(labels[name_int]);
pthread_t upload_message_tidp;
pthread_create(&upload_message_tidp, NULL, upload_message, static_cast<void*>(&Alarm));
pthread_t upload_message_controller_tidp;
int ret =pthread_create(&upload_message_controller_tidp, NULL, upload_message_controller, static_cast<void*>(&Alarm));
if (ret != 0) {
std::cerr << "Error creating controller thread: " << strerror(ret) << std::endl;
} else {
std::cerr << "success creating controller thread" << std::endl;
}
}
}
/* 算法模型空间释放 */
yolov5_detect_release(ctx);
//文件关闭
temperature_log.close();
return 0;
}
void *upload_message(void *args)
{
pthread_detach(pthread_self());
// 获取上报url
char upload_url[200] = {0};
if(!_geturlFromfile(DOWNLOAD_VERSION_PATH,upload_url,sizeof(upload_url))){
printf("结束进程\n");
return 0;
}
Alarm* alarm = static_cast<Alarm*>(args);
// 获取当前系统时间
std::time_t alarmTime_std = std::time(nullptr);
// 将时间转换为本地时间
std::tm* localTime = std::localtime(&alarmTime_std);
// 从本地时间结构中获取时间信息
int year = localTime->tm_year + 1900;
int month = localTime->tm_mon + 1;
int day = localTime->tm_mday;
int hour = localTime->tm_hour;
int minute = localTime->tm_min;
int second = localTime->tm_sec;
// 拼接成字符串
std::ostringstream oss_alarmTime;
oss_alarmTime << std::setfill('0')
<< std::setw(4) << year << "-"
<< std::setw(2) << month << "-"
<< std::setw(2) << day << " "
<< std::setw(2) << hour << ":"
<< std::setw(2) << minute << ":"
<< std::setw(2) << second;
// 获取拼接后的字符串
std::string formattedTime = oss_alarmTime.str();
std::string cameraId = DeviceID;
std::string controllerId = response_controllerId;
std::string msg = (alarm->alarmMsg).c_str();
std::string type = "1";
std::string time = formattedTime;
std::string img = (alarm->alarmBase64).c_str();
std::string Coverage = (alarm->alarmCoverage).c_str();
std::cout << "cameraId: " << cameraId << " msg: " << msg << " type: " << type << " time: " << time <<std::endl;
std::string MessageString =
R"({
"cameraid": ")" + cameraId + R"(",
"controllerId": ")" + controllerId + R"(",
"msg": ")" + msg + R"(",
"type": ")" + type + R"(",
"errNum": ")" + Coverage + R"(",
"img": ")" + img + R"(",
"time": ")" + time + R"("
})";
CURL *curl;
CURLcode res;
curl_global_init(CURL_GLOBAL_ALL);
curl = curl_easy_init();
if(curl)
{
curl_easy_setopt(curl, CURLOPT_CUSTOMREQUEST, "POST");
curl_easy_setopt(curl, CURLOPT_URL, upload_url);
/* Now specify the POST data */
struct curl_slist *plist = nullptr;
plist = curl_slist_append(plist, "Content-Type:application/json;charset=UTF-8");
curl_easy_setopt(curl, CURLOPT_HTTPHEADER, plist);
curl_easy_setopt(curl, CURLOPT_POSTFIELDS, MessageString.c_str());
std::string response;
curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, WriteCallback);
curl_easy_setopt(curl, CURLOPT_WRITEDATA, &response);
curl_easy_setopt(curl, CURLOPT_TIMEOUT, 10L);
res = curl_easy_perform(curl);
/* Check for errors */
// if(res != CURLE_OK)
// fprintf(stderr, "curl_easy_perform() failed: %s\n",curl_easy_strerror(res));
if (res != CURLE_OK) {
std::cerr << "Failed to perform cURL request: " << curl_easy_strerror(res) << std::endl;
} else {
std::cout << "Request successful!" << std::endl;
std::cout << "Response: " << response << std::endl;
}
curl_easy_cleanup(curl);
}
curl_global_cleanup();
}
void *upload_message_controller(void *args)
{
pthread_detach(pthread_self());
Alarm* alarm = static_cast<Alarm*>(args);
// 获取当前系统时间
std::time_t alarmTime_std = std::time(nullptr);
// 将时间转换为本地时间
std::tm* localTime = std::localtime(&alarmTime_std);
// 从本地时间结构中获取时间信息
int year = localTime->tm_year + 1900;
int month = localTime->tm_mon + 1;
int day = localTime->tm_mday;
int hour = localTime->tm_hour;
int minute = localTime->tm_min;
int second = localTime->tm_sec;
// 拼接成字符串
std::ostringstream oss_alarmTime;
oss_alarmTime << std::setfill('0')
<< std::setw(4) << year << "-"
<< std::setw(2) << month << "-"
<< std::setw(2) << day << " "
<< std::setw(2) << hour << ":"
<< std::setw(2) << minute << ":"
<< std::setw(2) << second;
// 获取拼接后的字符串
std::string formattedTime = oss_alarmTime.str();
std::string cameraId = DeviceID;
std::string Coverage = (alarm->alarmCoverage).c_str();
std::cout << "cameraid: " << cameraId << " errNum: " << Coverage <<std::endl;
std::string MessageString =
R"({
"cameraid": ")" + cameraId + R"(",
"errNum": ")" + Coverage + R"("
})";
CURL *curl;
CURLcode res;
curl_global_init(CURL_GLOBAL_ALL);
curl = curl_easy_init();
if(curl)
{
curl_easy_setopt(curl, CURLOPT_CUSTOMREQUEST, "GET");
curl_easy_setopt(curl, CURLOPT_URL, "http://192.168.1.23:9527/device/alarm");
/* Now specify the POST data */
struct curl_slist *plist = nullptr;
plist = curl_slist_append(plist, "Content-Type:application/json;charset=UTF-8");
curl_easy_setopt(curl, CURLOPT_HTTPHEADER, plist);
curl_easy_setopt(curl, CURLOPT_POSTFIELDS, MessageString.c_str());
curl_easy_setopt(curl, CURLOPT_TIMEOUT, 10L);
// std::string response;
// curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, WriteCallback);
// curl_easy_setopt(curl, CURLOPT_WRITEDATA, &response);
res = curl_easy_perform(curl);
/* Check for errors */
// if(res != CURLE_OK)
// fprintf(stderr, "curl_easy_perform() failed: %s\n",curl_easy_strerror(res));
if (res != CURLE_OK) {
std::cerr << "controller: Failed to perform cURL request: " << curl_easy_strerror(res) << std::endl;
} else {
std::cout << "controller: Request successful!" << std::endl;
// std::cout << "controller: Response: " << response << std::endl;
}
// 清理 cURL 资源
curl_easy_cleanup(curl);
}
curl_global_cleanup(); // 清理全局 cURL 资源
}
void *heart_beat(void *args){
pthread_detach(pthread_self()); // 分离线程，使线程结束时系统自动回收资源
auto last_time = std::chrono::high_resolution_clock::now();// 记录开始时间
int time2run = 1;
// 当全局变量 quit 未置为真时，持续运行心跳线程
while(!quit){
//获取时间
auto current_time = std::chrono::high_resolution_clock::now();
auto elapsed_time = std::chrono::duration_cast<std::chrono::milliseconds>(current_time - last_time);// 计算距离开始时间的时间差
if (elapsed_time.count() - 30000 > 0) {
last_time = current_time;
time2run = 1;
}
if(time2run){
std::cout << "心跳上报" << std::endl;
std::string cameraId = DeviceID;
std::string IP = "987654";
int state = 1;
std::string http_address = "http";
std::string MessageString =
R"({
"cameraId": ")" + cameraId + R"(",
"IP": ")" + IP + R"(",
"state": )" + std::to_string(state) + R"(,
"http_address": ")" + http_address + R"("
})";
CURL *curl;
CURLcode res;
curl_global_init(CURL_GLOBAL_ALL);
curl = curl_easy_init();
if(curl)
{
curl_easy_setopt(curl, CURLOPT_CUSTOMREQUEST, "GET");
curl_easy_setopt(curl, CURLOPT_URL, "http://192.168.1.23:9527/device/heartbeat");
/* Now specify the POST data */
struct curl_slist *plist = nullptr;
plist = curl_slist_append(plist, "Content-Type:application/json;charset=UTF-8");
curl_easy_setopt(curl, CURLOPT_HTTPHEADER, plist);
curl_easy_setopt(curl, CURLOPT_POSTFIELDS, MessageString.c_str());
std::string response;
curl_easy_setopt(curl, CURLOPT_TIMEOUT, 10L);
curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, WriteCallback);
curl_easy_setopt(curl, CURLOPT_WRITEDATA, &response);
res = curl_easy_perform(curl);
/* Check for errors */
// if(res != CURLE_OK)
// fprintf(stderr, "curl_easy_perform() failed: %s\n",curl_easy_strerror(res));
if (res != CURLE_OK) {
std::cerr << "heart beat: Failed to perform cURL request: " << curl_easy_strerror(res) << std::endl;
} else {
std::cout << "heart beat: Request successful!" << std::endl;
std::cout << "heart beat: Response: " << response << std::endl;
// 解析 JSON 字符串
try {
json jsonData = json::parse(response);
// 提取 controllerId 字段的内容
response_controllerId = jsonData["controllerId"];
std::cout << "Controller ID: " << response_controllerId << std::endl;
} catch (const json::parse_error& e) {
std::cerr << "JSON parsing error: " << e.what() << std::endl;
}
}
curl_easy_cleanup(curl);
}
curl_global_cleanup();
}
time2run = 0;
}
}
void *read_serial_thread(void *args)
{
pthread_detach(pthread_self());
ssize_t bytesRead;
// 打开红外传感器对应的串口设备
serialPortInfraredSensor = open(SERIAL_PORT_INFRARED_SENSOR, O_RDWR | O_NOCTTY | O_NDELAY);
if (serialPortInfraredSensor == -1) {
printf("Failed to open serial port: %s\n", SERIAL_PORT_INFRARED_SENSOR);
return 0;
}
struct termios tty;
memset(&tty, 0, sizeof(tty)); // 初始化配置结构体，清零
if (tcgetattr(serialPortInfraredSensor, &tty) != 0) {
printf("Failed to get serial port attributes\n");
close(serialPortInfraredSensor);
return 0;
}
// 设置串口输入和输出波特率
cfsetospeed(&tty, BAUD_RATE);
cfsetispeed(&tty, BAUD_RATE);
tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8;
tty.c_cflag &= ~(PARENB | PARODD);
tty.c_cflag &= ~CSTOPB;
tty.c_cflag |= CREAD | CLOCAL;
tty.c_iflag = IGNPAR;
tty.c_oflag = 0;
tty.c_lflag = 0;
if (tcsetattr(serialPortInfraredSensor, TCSANOW, &tty) != 0) {
printf("Failed to set serial port attributes\n");
close(serialPortInfraredSensor);
return 0;
}
// while(1){
// mtx.lock();
// bytesRead = read(serialPortInfraredSensor, buffer, sizeof(buffer));
// mtx.unlock();
// if (bytesRead>0) {
// if((buffer[0]== 0x5a)&&(buffer[1]==0x5a)) {
// // printf("readed serialPortInfraredSensor date\n");
// }else{
// // printf("read failed\n");
// }
// }else{
// // printf("empty to read\n");
// }
// }
// 设置文件描述符集合和超时时间，准备使用 select() 进行串口数据的检测
fd_set readfds;
struct timeval timeout;
int selectResult;
// 此处后续可以继续添加使用 select() 监听串口数据的逻辑…
while (1) {
FD_ZERO(&readfds);
FD_SET(serialPortInfraredSensor, &readfds);
timeout.tv_sec = 5; // 5秒超时
timeout.tv_usec = 0;
selectResult = select(serialPortInfraredSensor + 1, &readfds, NULL, NULL, &timeout);
if (selectResult > 0) {
if (FD_ISSET(serialPortInfraredSensor, &readfds)) {
mtx.lock();
bytesRead = read(serialPortInfraredSensor, buffer, sizeof(buffer));
mtx.unlock();
if (bytesRead > 0) {
if (buffer[0] == 0x5a && buffer[1] == 0x5a) {
// printf("readed serialPortInfraredSensor date\n");
} else {
// printf("read failed\n");
}
}
}
} else if (selectResult == 0) {
// 超时，没有数据可读
// printf("Timeout, no data available\n");
} else {
// select出错
printf("select() failed\n");
break;
}
}
}