248 lines
6.8 KiB
C++
248 lines
6.8 KiB
C++
/**
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* @file GroundReceiver.h
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* @brief SkyLink Qt 地面站 - UDP 接收和数据重组头文件
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*
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* 在单独的线程中运行，负责：
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* 1. 监听 UDP 广播
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* 2. 接收分片数据包
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* 3. 重组完整帧
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* 4. 解码 JPEG 图像
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*
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* @author flowzl
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* @date 2026-01-19
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*/
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#pragma once
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#include <QObject>
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#include <QUdpSocket>
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#include <QThread>
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#include <QImage>
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#include <QMap>
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#include <QDebug>
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#include <QString>
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#include <map>
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#include <vector>
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#include <memory>
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#include <cstdint>
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#include <mutex>
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// OpenCV for YUYV conversion
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#include <opencv2/opencv.hpp>
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#include <opencv2/imgproc.hpp>
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#include "protocol.h"
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/**
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* @struct FrameBuffer
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* @brief 帧缓冲区，用于重组分片数据
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*/
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struct FrameBuffer {
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uint32_t frame_id;
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uint16_t total_chunks;
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std::map<uint16_t, std::vector<uint8_t>> chunks; // chunk_index -> 数据
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double timestamp;
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double lat, lon, alt;
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uint64_t receive_time_ms;
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uint32_t photo_number = 0; // 照片编号（从reserve字段提取）
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/**
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* @brief 检查是否所有分片都已接收
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*/
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bool is_complete() const {
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if (total_chunks == 0) return false;
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for (uint16_t i = 0; i < total_chunks; i++) {
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if (chunks.find(i) == chunks.end()) {
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return false;
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}
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}
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return true;
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}
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/**
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* @brief 将所有分片合并为一个字节数组
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* @return 合并后的数据，如果分片不完整返回空vector
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*/
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std::vector<uint8_t> merge() const {
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std::vector<uint8_t> result;
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// 预分配空间以提高性能
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size_t estimated_size = chunks.size() * 500; // 估算每个分片约500字节
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result.reserve(estimated_size);
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// 调试：检查分片顺序
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QString chunk_indices;
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for (const auto& pair : chunks) {
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chunk_indices += QString::number(pair.first) + " ";
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}
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qDebug() << "帧" << frame_id << "合并前，分片索引:" << chunk_indices;
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for (uint16_t i = 0; i < total_chunks; i++) {
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auto it = chunks.find(i);
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if (it != chunks.end()) {
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// 调试：如果是第一个分片，打印前几个字节
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if (i == 0 && !it->second.empty()) {
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QString hex_preview;
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for (size_t j = 0; j < std::min((size_t)8, it->second.size()); j++) {
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hex_preview += QString::number(it->second[j], 16).rightJustified(2, '0') + " ";
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}
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qDebug() << "帧" << frame_id << "合并时，分片0前8字节:" << hex_preview;
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}
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result.insert(result.end(), it->second.begin(), it->second.end());
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} else {
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// 如果缺少分片，返回空vector表示不完整
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qWarning() << "帧" << frame_id << "合并时缺少分片" << i;
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return std::vector<uint8_t>();
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}
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}
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return result;
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}
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};
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/**
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* @class GroundReceiver
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* @brief UDP 接收和数据重组引擎
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*/
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class GroundReceiver : public QObject {
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Q_OBJECT
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public:
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/**
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* @brief 构造函数
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* @param parent 父对象
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* @param port UDP 监听端口 (默认 9999)
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*/
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explicit GroundReceiver(QObject* parent = nullptr, uint16_t port = 9999);
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/**
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* @brief 析构函数
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*/
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~GroundReceiver();
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/**
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* @brief 启动接收器
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*/
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void start();
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/**
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* @brief 停止接收器
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*/
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void stop();
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/**
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* @brief 获取是否正在运行
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*/
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bool is_running() const;
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signals:
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/**
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* @brief 完整帧解码完成信号
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* @param img 解码后的 QImage
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* @param lat 纬度
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* @param lon 经度
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* @param alt 海拔
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* @param photo_number 照片编号
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*/
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void frameDecoded(const QImage& img, double lat, double lon, double alt, uint32_t photo_number);
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/**
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* @brief 统计信息更新信号
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* @param fps 每秒帧数
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* @param kbs 每秒 KB 数
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*/
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void statsUpdated(int fps, int kbs);
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/**
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* @brief 错误信号
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* @param error_msg 错误信息
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*/
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void error(const QString& error_msg);
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private slots:
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/**
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* @brief UDP 有数据可读时的槽函数
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*/
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void on_udp_read_ready();
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/**
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* @brief 处理 UDP 错误
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*/
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void on_udp_error();
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/**
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* @brief 定期清理超时的帧
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*/
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void on_cleanup_timeout();
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private:
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// ========================================================================
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// UDP 套接字和网络
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// ========================================================================
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uint16_t listen_port_;
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std::unique_ptr<QUdpSocket> udp_socket_;
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QThread worker_thread_;
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// ========================================================================
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// 帧缓冲区管理
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// ========================================================================
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std::map<uint32_t, FrameBuffer> frame_buffers_; // frame_id -> FrameBuffer
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std::mutex frame_buffers_mutex_;
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uint32_t last_complete_frame_id_;
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// ========================================================================
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// 统计信息
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// ========================================================================
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struct {
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uint32_t total_packets = 0; ///< 总接收包数
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uint32_t total_bytes = 0; ///< 总接收字节数
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uint32_t total_frames = 0; ///< 完整帧数
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uint32_t dropped_frames = 0; ///< 丢弃的帧数
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uint32_t frames_this_second = 0; ///< 本秒帧数
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uint32_t bytes_this_second = 0; ///< 本秒字节数
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uint64_t last_stats_time = 0; ///< 上次统计时刻
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} stats_;
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std::mutex stats_mutex_;
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// ========================================================================
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// 私有方法
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// ========================================================================
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/**
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* @brief 处理接收到的 UDP 数据包
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*/
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void process_packet(const uint8_t* data, size_t len);
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/**
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* @brief 处理完整的帧
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*/
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void handle_complete_frame(const FrameBuffer& frame);
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/**
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* @brief 从 JPEG 数据解码为 QImage
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*/
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QImage decode_jpeg(const std::vector<uint8_t>& data);
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/**
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* @brief 从 YUYV 数据转换为 QImage
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* @param yuyv_data YUYV格式的原始数据
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* @param width 图像宽度
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* @param height 图像高度
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* @return 转换后的QImage
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*/
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QImage decode_yuyv(const std::vector<uint8_t>& yuyv_data, int width, int height);
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/**
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* @brief 清理超时的帧缓冲区
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*/
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void cleanup_timeout_frames();
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/**
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* @brief 更新和报告统计信息
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*/
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void update_stats(uint32_t packet_size);
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};
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