eUi/src/Core/detProcess.hpp

#include <qthread.h>
#include <serviceManager.h>
#include <sql/qSqlBase.h>
#include <missonLoader.h>
#include <CLIManager.h>
#include <back/missionResultHandle.h>
class detProcess : public QThread
{
public:
    CsvWriter* _csvWriter = nullptr;
    missonResultHandle* _missonResultHandle = nullptr;
	ServiceManager _serviceManager;
    CLIManager* _cliManager; // 命令行接口管理器
    bool initOnce = false;  
    detProcess(SQLiteDB* dbIn, nlohmann::ordered_json& jsonIn, qtFuncBridge* bridgeIn):
        db(dbIn),bridge(bridgeIn),json(jsonIn){

    }

    // 对普通指针的安全删除
    template<typename T>
    void safeDelete(T*& ptr) {
        if (ptr) { delete ptr; ptr = nullptr; }
    }

    // 尝试对基于 QThread 的 serviceModule 进行关停，然后删除
    void safeShutdownDelete(serviceModule* ptr) {
        if (!ptr) return;
        // 如果对象正在运行，尝试停止
        if (ptr->isRunning()) {
            // 如果存在 stop 槽，则尝试调用
            QMetaObject::invokeMethod(ptr, "stop", Qt::DirectConnection);
            // 作为后备，尝试退出事件循环
            QMetaObject::invokeMethod(ptr, "quit", Qt::DirectConnection);
            // 等待其退出，给予一定时间
            if (!ptr->wait(2000)) {
                // 仍在运行时，作为最后手段强制终止
                ptr->terminate();
                ptr->wait(1000);
            }
        }
        delete ptr; ptr = nullptr;
    }

    void init() {
        // 创建/重建需要的服务模块，避免重复创建
        if (!_serviceManager._imgSaveThreadManager) {
            _serviceManager._imgSaveThreadManager = new imgSaveThreadManager(json["imgSaveBasePath"]);
        }
        if (!_serviceManager._cameraManager) {
            _serviceManager._cameraManager = new cameraManager(json, bridge);
        }
        if (!_serviceManager._triggerManager) {
            _serviceManager._triggerManager = new triggerManager(this, bridge, json["Triggers"]);
        }
        if (initOnce == false) {
            initOnce = true;
            _csvWriter = new CsvWriter(db);
            _serviceManager._detDataManager = new detDataManager();
            _missonResultHandle = new missonResultHandle(bridge);
            _serviceManager._missonResultHandle = _missonResultHandle;
            _serviceManager.dataBase = db;
            _serviceManager._csvWriter = _csvWriter;
            // handleAiModelManager 与 CLI 等只在首次初始化创建
            if (!_serviceManager._handleAiModelManager) {
                _serviceManager._handleAiModelManager = new handleAiModelManager(json, bridge);
            }
            connect(bridge, &qtFuncBridge::reInitConfig, this, [=]() {reinitConfig(); });
            _cliManager = new CLIManager(&_serviceManager, bridge);
        }
    }

    bool waitrForInitResult(serviceModule* ptr, int overtimeS = 999999) {
        int overTimeMs = overtimeS * 1000;
        int timecnt = 0;
        while (timecnt <= overTimeMs) {
            if (ptr->status != NotInit)
                break;
            QThread::msleep(100);
            timecnt += 100;
        }
        if (timecnt > overTimeMs)
            return false;
        if (ptr->status == InitFailure)
            return false;
        return true;
    }

    // 重新初始化配置
    void reinitConfig() {
        // 1. 优雅停止并释放已有运行中的服务模块
        // 停止并删除线程型模块
        safeShutdownDelete(_serviceManager._cameraManager);
        safeShutdownDelete(_serviceManager._triggerManager);
        // imgSaveThreadManager 可能不是 QThread，直接删除
        safeDelete(_serviceManager._imgSaveThreadManager);
        // handleAiModelManager 可能运行在后台，优雅停止后删除
        if (_serviceManager._handleAiModelManager) {
            // try invoking stop if exists
            QMetaObject::invokeMethod(_serviceManager._handleAiModelManager, "stop", Qt::DirectConnection);
            safeDelete(_serviceManager._handleAiModelManager);
        }

        // 2. 重新初始化
        init();

        // 3. 如果 detProcess 尚未运行，则启动主线程；如果已在运行，run() 应自行管理子模块的重启
        if (!this->isRunning()) {
            this->start();
        } else {    
            // 已在运行的话，可以发出信号或回调，通知 run 中重载配置（这里仅 log）
            qDebug() << "detProcess already running, init refreshed. run() should handle reloading if needed.";
        }
    }
    // 初始化并运行主流程
    void run() {
#if 1
        //_pythonLoader.cao();
        _serviceManager._cameraManager->start();
        _serviceManager._handleAiModelManager->start();
        //_lightSourceManager.start();
        _serviceManager._triggerManager->start();
        bool res1 = waitrForInitResult(_serviceManager._cameraManager);
        bool res2 = waitrForInitResult(_serviceManager._handleAiModelManager);
        bool res3 = waitrForInitResult(_serviceManager._triggerManager);

        if (res1 == true && res2 == true && res3 == true) {
            _missionLoader.loadMission(json["missionDllPath"]);
            _missionLoader.getMisson(json["missionDllPath"])->init(
                &_serviceManager,
                json["missionSettings"], bridge
            );
            _cliManager->initBasicPreset();
            _serviceManager._detDataManager->setTriggerManager(_serviceManager._triggerManager);
            emit bridge->initResult(InitOK);
        }
        else {
            emit bridge->initResult(InitFailure);
        }
        //_missonResultHandle->test();
#endif
    }
private:
    nlohmann::ordered_json json;
    SQLiteDB* db;
    qtFuncBridge* bridge;
	MissionLoader _missionLoader; // 任务加载器，用于加载任务配置
	
};

#pragma once