updown/plugin/corework - 副本/vision.cpp

#include "vision.h"
#include "manage.h"
#include "log.h"
#include "ops.h"

//结束符
static const char* _endstr = ";";
static const int _endlen = (int)strlen(_endstr);

CVision::CVision()
{
    _len = 0;
    _ires = 0;
    _port = VPORT;
    _skt = INVALID_SKT;
    _size = MAX_BUF_LEN;
    _msg = new char[_size];
    memset(_msg, 0, _size);
    _status = SOCKET_DISCONNECTED;
    _hReply = sys_CreateEvent(TRUE, FALSE, NULL);
    _hSection = sys_InitializeCriticalSection();
}

CVision::~CVision(void)
{
    Deinit();
    delete _msg;
    sys_CloseHandle(_hReply);
    sys_DeleteCriticalSection(_hSection);
}

int CVision::Init(const char* pszip, ushort port)
{//任务开始
    sys_EnterCriticalSection(_hSection);
    if (INVALID_SKT == _skt)
    {
        _port = port;
        Disconnect();
        REPORT("%d 等待连接", _port);
        _skt = skt_client(pszip, port);
    }
    sys_LeaveCriticalSection(_hSection);
    return 0;
}

int CVision::Deinit()
{//关闭任务
    sys_EnterCriticalSection(_hSection);
    if (INVALID_SKT != _skt)
    {
        Disconnect();
        skt_close(_skt);
        _skt = INVALID_SKT;
        REPORT("%d 关闭连接", _port);
    }
    ClearMsg();
    sys_LeaveCriticalSection(_hSection);
    return 0;
}

void CVision::Connect()
{//等待连接
    sys_EnterCriticalSection(_hSection);
    if (INVALID_SKT != _skt &&
        SOCKET_CONNECTED != _status &&
        SOCKET_CONNECTED == skt_status(_skt))
    {
        _status = SOCKET_CONNECTED;
        _socket = skt_get_socket(_skt);
        REPORT("%d 已连接", _port);
    }
    sys_LeaveCriticalSection(_hSection);
}

void CVision::Disconnect()
{//断开处理
    ZERO_CHK(SOCKET_CONNECTED == _status);

    _len = 0;
    _index = 0;
    _socket = 0;
    sys_SetEvent(_hReply);
    _ires = ERR_NO_CONNECT;
    _status = SOCKET_DISCONNECTED;
}

int CVision::Process()
{//拍照处理,等待拍照结果返回 0标识成功 内部阻塞
    TOpsCfg cfg;

    ops_get_cfg(&cfg);

    RETURN_CHK_NOPRT(!cfg.offVision, 0);

    sys_EnterCriticalSection(_hSection);
    _ires = ERR_NO_CONNECT;
    if (IsConn())
    {
        _index = 0;
        ClearMsg();
        sys_ResetEvent(_hReply);
        SendMsg("M");
    }
    sys_LeaveCriticalSection(_hSection);
    sys_WaitForSingleObject(_hReply, 5000);
    return _ires;
}

int CVision::WaitResult(char* s, int timeout)
{//接收处理结果 一旦接收成功，_res将清空
    TOpsCfg cfg;
    char* pmsg = NULL;
    int ret = ERR_NO_CONNECT;
    uint ct = sys_GetTickCount();

    RETURN_CHK_NOPRT(s, ERR_INPUT_PARAM);

    ops_get_cfg(&cfg);
    if (cfg.offVision)
    {//禁用
        sprintf(s, "0");
        return 0;
    }

    while (ret && IsConn())
    {
        if (sys_GetTickCount() > ct + timeout)
        {//超时
            return ERR_TIMEOUT;
        }
        sys_WaitForSingleObject(_hReply, 50);
        sys_EnterCriticalSection(_hSection);
        if (IsConn() && !_lstmsg.empty())
        {
            ret = 0;
            pmsg = _lstmsg.front();
            _lstmsg.pop_front();
            strcpy(s, pmsg);
            delete pmsg;
        }
        if (_lstmsg.empty()) sys_ResetEvent(_hReply);
        sys_LeaveCriticalSection(_hSection);
    }
    return ret;
}

void CVision::RecvMsg(char* s, int nsize)
{//接收消息 -- 由线程执行
    sys_EnterCriticalSection(_hSection);
    RecvMsgB(s, nsize);
    sys_LeaveCriticalSection(_hSection);
}

int CVision::Send(const char* s)
{//发送消息
    int ret = 0;

    RETURN_CHK_NOPRT(s && *s, ERR_INPUT_PARAM);
    RETURN_CHK_NOPRT(IsConn(), ERR_NO_CONNECT);

    sys_EnterCriticalSection(_hSection);
    ret = SendMsg(s);
    sys_LeaveCriticalSection(_hSection);
    return ret;
}

int CVision::SendMsg(const char *pszFormat, ...)
{
    int len = 0;
    int ret = 0;
    va_list args;
    char buff[MAX_BUF_LEN] = {0};

    va_start(args, pszFormat);
    len = vsnprintf(buff, MAX_BUF_LEN-1, pszFormat, args);
    va_end(args);

    RETURN_CHK_NOPRT(len > 0, ERR_INPUT_PARAM);

    len += sprintf(buff + len, "%s", _endstr);  //增加结束符

    ret = skt_send(_skt, buff, len);
    if (ERR_NO_CONNECT == ret)
    {//已经断开
        Disconnect();
        REPORT("%d 已断开连接", _port);
        return ret;
    }
    if (ins->visionLog()) LOG_INF1("%d send: %s", _port, buff);
    return 0;
}

int CVision::FindEnd(char* pszmsg)
{
    char* ptmp = NULL;
    ptmp = strstr(pszmsg, _endstr);
    if (!ptmp) return -1;
    *ptmp = 0;
    return (int)(ptmp - pszmsg);
}

void CVision::ClearMsg()
{
    while (!_lstmsg.empty())
    {
        FREE_ANY(_lstmsg.front());
        _lstmsg.pop_front();
    }
}

void CVision::RecvMsgB(char* s, int nsize)
{//接收消息
    int len = 0;
    char* pdest = NULL;

    ZERO_CHK(SOCKET_CONNECTED == _status);

    //len = skt_recv(_skt, _msg + _len, _size - 1 - _len, 0);
    len = sys_Recv(_socket, _msg + _len, _size - 1 - _len);
    if (ERR_NO_CONNECT == len)
    {//已经断开
        Disconnect();
        REPORT("%d 已断开连接", _port);
        return;
    }

    ZERO_CHK(len > 0); //error

    if (ins->visionLog()) LOG_INF1("%d recv: %s", _port, _msg + _len);

    _len += len;    //消息长度
    if (_size - 1 == _len)
    {//缓冲区不够了 +大
        _size += MAX_BUF_LEN;
        pdest = new char[_size];
        memset(pdest, 0, _size);
        memcpy(pdest, _msg, _len);
        delete _msg;
        _msg = pdest;
    }

    pdest = _msg;
    while(_len > 0)
    {
        len = FindEnd(pdest);   //查找结束符
        if (len < 0) break;     //未找到结束符

        //新消息
        if (!s) ParseMsg(pdest);
        else
        {//需要拷贝到外部
            if (nsize < len + 2)
            {//buffer 不够
                REPORT("%d 接收视觉缓冲区不够，消息不完全接收", _port);
            }
            else
            {//copy
                nsize -= len + 1;
                s = comm_strcpy(s, pdest);
                s = comm_strcpy(s, ";");
            }
        }
        len += _endlen; //加上结束符长度
        _len -= len;
        pdest += len;
    }

    if (_len > 0 && pdest != _msg)
    {//不等，标识前面已经解析过消息，后面剩余消息需要前移
        mem_forward(pdest, _len + 1, (uint)(pdest - _msg));
    }
}

int CVision::ParseMsg(char* pszmsg)
{
    int nlen = 0;
    char* ptmp = NULL;

    RETURN_CHK_NOPRT(pszmsg, ERR_INPUT_PARAM);

    if (ins->visionLog()) LOG_INF1("%d parse msg: %s", _port, pszmsg);

    ptmp = sys_strtok(NULL, ",", &pszmsg);

    RETURN_CHK_NOPRT(ptmp && *ptmp, ERR_INPUT_PARAM);

    if (strcmp(ptmp, "M"))
    {//不是拍照返回消息
        REPORT("%d 接收到异常指令: %s", _port, ptmp);
        return ERR_INPUT_PARAM;
    }

    RETURN_CHK_NOPRT(pszmsg && *pszmsg, 0);

    if (0 == _index)
    {//首次返回拍照结果
        RETURN_CHK_NOPRT(EMSTR_INT == get_str_type(pszmsg), ERR_INPUT_PARAM);
        _ires = atoi(pszmsg);   //结果
        sys_SetEvent(_hReply);
        _index++;
        return 0;
    }

    //二次返回、多次返回
    ptmp = new char[strlen(pszmsg) + 1];
    comm_strcpy(ptmp, pszmsg);
    _lstmsg.push_back(ptmp);
    sys_SetEvent(_hReply);
    return 0;
}