Use the camera as the base type

Author: KingRichord

CMakeLists.txt

@@ -13,7 +13,7 @@ endif ()
 add_subdirectory(infinite_sense_core)
 
 add_executable(${PROJECT_NAME}_zmq_node
-        example/ZMQ/zmq_main.cpp
+        example/ZMQ/main.cpp
 )
 target_link_libraries(${PROJECT_NAME}_zmq_node PRIVATE
         infinite_sense_core

example/ZMQ/zmq_main.cpp example/GigeCam/main.cppexample/ZMQ/zmq_main.cpp renamed to example/GigeCam/main.cpp

@@ -1,8 +1,6 @@
-#include "cam.h"
+#include "mvcam.h"
 #include "infinite_sense.h"
 #include "MvCameraControl.h"
-#include "log.h"
-#include "trigger.h"
 namespace infinite_sense {
 bool IsColor(const MvGvspPixelType type) {
   switch (type) {

infinite_sense_core/src/cam.cpp example/GigeCam/mvcam.cppinfinite_sense_core/src/cam.cpp renamed to example/GigeCam/mvcam.cpp

@@ -0,0 +1,25 @@
+#pragma once
+#include "infinite_sense.h"
+namespace infinite_sense {
+class CamManger final : public Cam {
+ public:
+  explicit CamManger(const std::map<std::string, TriggerDevice>& params) : params_(params) {}
+  ~CamManger() override;
+
+  CamManger(const CamManger&) = delete;
+  CamManger& operator=(const CamManger&) = delete;
+
+  bool Initialization() override;
+  void Stop() override;
+  void Start() override;
+  void Restart() override;
+
+ private:
+  void Receive(void* handle, const std::string&) override;
+  bool is_running_{false};
+  std::vector<int> rets_;
+  std::vector<void*> handles_;
+  std::vector<std::thread> cam_threads_;
+  std::map<std::string, TriggerDevice> params_;
+};
+}  // namespace infinite_sense

example/GigeCam/mvcam.h

@@ -0,0 +1,43 @@
+#include "infinite_sense.h"
+using namespace infinite_sense;
+int main() {
+
+  // 1.创建同步器
+  Synchronizer synchronizer;
+  /*
+   使用网口连接
+   synchronizer.SetNetLink("192.168.1.188", 8888);
+  */
+  synchronizer.SetUsbLink("/dev/ttyACM0", 460800);
+
+  /*
+    如使用工业相机, 需要指定 相机名称 和 同步板的触发端口
+    std::map<std::string, TriggerDevice> params;
+    params["camera_1"] = TriggerDevice::CAM_1; //camera_1:表示设备的名称，TriggerDevice::CAM_1:使用同步板CAM_1端口触发
+    synchronizer.UseMvCam(params);
+  */
+
+  // 2.开启同步
+  synchronizer.Start();
+
+  // 3.订阅数据
+  Synchronizer::PrintSummary();
+  zmq::context_t context(1);
+  zmq::socket_t subscriber(context, zmq::socket_type::sub);
+  subscriber.connect("tcp://localhost:5555");
+
+  const std::string topic = "imu_1";   // 订阅特定主题（如,板载IMU数据： "imu_1"）
+  subscriber.setsockopt(ZMQ_SUBSCRIBE, topic.c_str(), topic.size());
+  zmq::message_t msg;
+  while (true) {
+    if (subscriber.recv(msg, zmq::recv_flags::dontwait)) {
+      if (subscriber.get(zmq::sockopt::rcvmore)) {
+        zmq::message_t dummy;
+        subscriber.recv(dummy);
+      }
+    }
+  }
+  // 4.停止同步
+  synchronizer.Stop();
+  return 0;
+}

example/ZMQ/main.cpp

@@ -24,13 +24,10 @@ add_library(${PROJECT_NAME} SHARED
   src/infinite_sense.cpp
   src/trigger.cpp
   src/usb.cpp
-  src/cam.cpp
   src/image.cpp
   src/net.cpp
   src/messenger.cpp
   src/ptp.cpp
-  include/ptp.h
-  src/sensor.h
 )
 # 检测平台并设置相关变量
 if (CMAKE_SYSTEM_PROCESSOR MATCHES "arm" OR CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")

infinite_sense_core/CMakeLists.txt

@@ -4,27 +4,26 @@
 #include "messenger.h"
 #include "infinite_sense.h"
 namespace infinite_sense {
-class CamManger {
- public:
-  explicit CamManger(const std::map<std::string, TriggerDevice>& params) : params_(params) {}
-  ~CamManger();
+class Cam{
+public:
+  Cam();
+  explicit Cam(const std::map<std::string, TriggerDevice>& params) : params_(params) {}
+  virtual ~Cam();
 
-  CamManger(const CamManger&) = delete;
-  CamManger& operator=(const CamManger&) = delete;
+  Cam(const Cam&) = delete;
+  Cam& operator=(const Cam&) = delete;
 
-  bool Initialization();
-  void Stop();
-  void Start();
+  virtual bool Initialization();
+  virtual void Stop();
+  virtual void Start();
+  virtual void Restart();
   void Enable() { is_running_ = true; }
   void Disable() { is_running_ = false; }
-  void Restart();
-
- private:
-  void Receive(void* handle, const std::string&);
+private:
+  virtual void Receive(void* handle, const std::string&);
   bool is_running_{false};
-  std::vector<int> rets_;
-  std::vector<void*> handles_;
   std::vector<std::thread> cam_threads_;
   std::map<std::string, TriggerDevice> params_;
 };
+
 }  // namespace infinite_sense

infinite_sense_core/include/cam.h

@@ -0,0 +1,45 @@
+#pragma once
+#include <cstdint>
+#include <string>
+#include "image.h"
+namespace infinite_sense {
+struct ImuData {
+  uint64_t time_stamp_us;
+  float temperature;
+  std::string name;
+  float a[3];
+  float g[3];
+  float q[4];
+};
+
+struct CamData {
+  uint64_t time_stamp_us;
+  std::string name;
+  GMat image;
+};
+
+struct LaserData {
+  uint64_t time_stamp_us;
+  std::string name;
+};
+
+struct GPSData {
+  uint64_t time_stamp_us;
+  uint64_t gps_stamp_us;
+  uint64_t gps_stamp_us_trigger;
+  std::string name;
+  float latitude;
+  float longitude;
+};
+
+enum TriggerDevice {
+  IMU_1 = 0,  // internal imu
+  IMU_2 = 1,  // external imu
+  CAM_1 = 2,  // camera 1
+  CAM_2 = 3,  // camera 2
+  CAM_3 = 4,  // camera 3
+  CAM_4 = 5,  // camera 4
+  LASER = 6,  // laser pps
+  GPS = 7,    // gps pps
+};
+}  // namespace infinite_sense

infinite_sense_core/include/config.h

@@ -1,45 +1,60 @@
 #pragma once
-#include <cstdint>
-#include <string>
-#include "image.h"
+#include "infinite_sense.h"
+
 namespace infinite_sense {
-struct ImuData {
-  uint64_t time_stamp_us;
-  float temperature;
-  std::string name;
-  float a[3];
-  float g[3];
-  float q[4];
-};
 
-struct CamData {
-  uint64_t time_stamp_us;
-  std::string name;
-  GMat image;
+inline void ProcessTriggerData(const nlohmann::json &data) {
+  if (data["f"] != "t") {
+    return;
+  }
+  const uint64_t time_stamp = data["t"];
+  const uint16_t status = data["s"];
+  const uint64_t count  =data["c"];
+  SET_LAST_TRIGGER_STATUS(time_stamp, status);
 };
 
-struct LaserData {
-  uint64_t time_stamp_us;
-  std::string name;
+inline void ProcessIMUData(const nlohmann::json &data) {
+  if (data["f"] != "imu") {
+    return;
+  }
+  ImuData imu{};
+  const uint64_t time_stamp = data["t"];
+  const uint64_t count = data["c"];
+  imu.time_stamp_us = time_stamp;
+  // std::cout << imu.time_stamp_us << std::endl;
+  imu.a[0] = data["d"][0];
+  imu.a[1] = data["d"][1];
+  imu.a[2] = data["d"][2];
+  imu.g[0] = data["d"][3];
+  imu.g[1] = data["d"][4];
+  imu.g[2] = data["d"][5];
+  imu.temperature = data["d"][6];
+  imu.q[0] = data["q"][0];
+  imu.q[1] = data["q"][1];
+  imu.q[2] = data["q"][2];
+  imu.q[3] = data["q"][3];
+  Messenger::GetInstance().PubStruct("imu1",&imu,sizeof(imu));
 };
 
-struct GPSData {
-  uint64_t time_stamp_us;
-  uint64_t gps_stamp_us;
-  uint64_t gps_stamp_us_trigger;
-  std::string name;
-  float latitude;
-  float longitude;
+inline void ProcessGPSData(const nlohmann::json &data) {
+  if (data["f"] != "GNGGA") {
+    return;
+  }
+  GPSData gps{};
+  gps.latitude = data["d"][0];
+  gps.longitude = data["d"][1];
+  gps.gps_stamp_us = data["d"][2];
+  gps.gps_stamp_us_trigger = data["d"][3];
+  gps.time_stamp_us = data["t"];
+  Messenger::GetInstance().PubStruct("gps",&gps,sizeof(gps));
 };
 
-enum TriggerDevice {
-  IMU_1 = 0,  // internal imu
-  IMU_2 = 1,  // external imu
-  CAM_1 = 2,  // camera 1
-  CAM_2 = 3,  // camera 2
-  CAM_3 = 4,  // camera 3
-  CAM_4 = 5,  // camera 4
-  LASER = 6,  // laser pps
-  GPS = 7,    // gps pps
+
+inline void ProcessLOGData(const nlohmann::json &data) {
+  if (data["f"] != "log") {
+    return;
+  }
+  LOG(data["l"]) << data["msg"];
 };
-}  // namespace infinite_sense
+
+}  // namespace infinite_sense

infinite_sense_core/include/data.h

@@ -1,16 +1,16 @@
 #pragma once
 #include "log.h"
-#include "data.h"
+#include "config.h"
 #include "messenger.h"
-
+#include "cam.h"
+#include "trigger.h"
 namespace infinite_sense {
 
 class NetManager;
 class UsbManager;
 class CamManger;
 class TriggerManger;
 class Messenger;
-
 /**
  * @class Synchronizer
  * @brief 同步器类，负责统一协调网络、串口、相机等模块的启动与配置，管理多传感器系统的时间同步。
@@ -59,7 +59,7 @@ class Synchronizer {
   void SetNetLink(std::string net_dev, unsigned int port);
 
   /**
-   * @brief 使用 MV（迈德威视）相机，并配置其对应的触发设备。
+   * @brief 使用工业相机，并配置其对应的触发设备。
    *
    * @param params 可选参数：映射相机名称到 TriggerDevice 枚举。
    */
@@ -100,7 +100,7 @@ class Synchronizer {
   std::shared_ptr<UsbManager> serial_manager_{nullptr};
 
   /// 相机管理器
-  std::shared_ptr<CamManger> cam_manager_{nullptr};
+  std::shared_ptr<Cam> cam_manager_{nullptr};
 };
 
 }  // namespace infinite_sense