EXPERIMENT / 配套代码
integration/FuncPtz.cpp
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namespace
{
std::mutex initMutex;
bool initialized = false;
int initError = -ENODATA;
bool unsignedField(const Json::Value &v, const char *name, unsigned &out)
{
const auto &n = v[name];
if (n.isUInt()) {
if (n.asUInt64() > 0xffffffffULL)
return false;
out = static_cast<unsigned>(n.asUInt64());
return true;
}
if (!n.isInt() || n.asInt64() < 0 || n.asInt64() > 0xffffffffLL)
return false;
out = static_cast<unsigned>(n.asInt64());
return true;
}
int readConfig(PtzConfig &c, Json::Value *raw = nullptr)
{
std::string text;
Json::Value root;
if (ParamShm::ReadJsonTable(ParamShm::ConfigShmName(), text))
Json::Reader().parse(text, root);
Json::Value p;
if (root.isObject() && root["sys"].isObject())
p = root["sys"]["ptz"];
// 旧持久化参数没有新增硬件字段时，采用随产品打包的默认段，不恢复整张参数表。
if (p.isNull()) {
std::ifstream file("/usr/app/Bin/config_table.json");
std::string data((std::istreambuf_iterator<char>(file)), std::istreambuf_iterator<char>());
Json::Value defaults;
if (!file || !Json::Reader().parse(data, defaults) || !defaults.isObject() || !defaults["items"].isObject() || !defaults["items"]["sys"].isObject() || !defaults["items"]["sys"]["value"].isObject())
return -ENODATA;
p = defaults["items"]["sys"]["value"]["ptz"];
}
if (raw)
*raw = p;
if (!p.isObject() || !unsignedField(p, "defaultLevel", c.defaultLevel))
return -ENODATA;
const char *names[] = {"h", "v"};
for (unsigned i = 0; i < 2; ++i) {
const auto &v = p[names[i]];
auto &a = c.axis[i];
if (!v.isObject() || !unsignedField(v, "maxSteps", a.maxSteps) || !unsignedField(v, "seekSteps", a.seekSteps) || !unsignedField(v, "homeLevel", a.homeLevel) || !v["positiveDirection"].isInt() || !v["parametersConfirmed"].isBool())
return -EINVAL;
a.positiveDirection = v["positiveDirection"].asInt();
a.parametersConfirmed = v["parametersConfirmed"].asBool();
}
return 0;
}
Json::Value stateJson()
{
PtzState s;
int rc = PtzGetStatus(s);
Json::Value out;
out["supported"] = true;
out["available"] = rc == 0;
out["error"] = rc;
if (rc)
return out;
out["default_level"] = s.defaultLevel;
const char *names[] = {"h", "v"};
for (unsigned i = 0; i < 2; ++i) {
auto &v = out[names[i]];
const auto &a = s.axis[i];
v["position"] = Json::Int64(a.position);
v["target"] = Json::Int64(a.target);
v["max_steps"] = a.maxSteps;
v["speed"] = a.speed;
v["running"] = a.running;
v["calibrated"] = a.calibrated;
v["parameters_confirmed"] = a.parametersConfirmed;
v["phase"] = PtzPhaseName(a.phase);
v["error"] = a.error;
}
return out;
}
Json::Value configJson(const PtzConfig &c)
{
Json::Value out;
std::string revision = std::to_string(c.defaultLevel);
out["default_level"] = c.defaultLevel;
for (unsigned i = 0; i < 2; ++i) {
auto &v = out[i ? "v" : "h"];
const auto &a = c.axis[i];
v["max_angle"] = a.maxSteps * 360.0 / 4096.0;
v["max_steps"] = a.maxSteps;
v["seek_steps"] = a.seekSteps;
v["home_level"] = a.homeLevel;
v["positive_direction"] = a.positiveDirection;
v["parameters_confirmed"] = a.parametersConfirmed;
revision += "/" + std::to_string(a.maxSteps) + "/" + std::to_string(a.seekSteps) + "/" + std::to_string(a.homeLevel) + "/" + std::to_string(a.positiveDirection) + "/" + std::to_string(a.parametersConfirmed);
}
out["revision"] = revision;
return out;
}
int configureTravel(const PtzSetConfigCommand &p, Json::Value &result, std::string &message)
{
PtzConfig current;
int rc = PtzGetConfig(current);
if (rc)
return rc;
if (p.expectedRevision != configJson(current)["revision"].asString()) {
message = "配置已改变，请重新读取";
return -EAGAIN;
}
PtzTravelConfig t{};
for (unsigned i = 0; i < 2; ++i) {
t.maxSteps[i] = static_cast<unsigned>(std::llround(p.travel[i].maxAngle * 4096.0 / 360.0));
t.seekSteps[i] = p.travel[i].seekSteps;
}
auto &client = ParamClient::instance();
Json::Value sys;
if (!client.get("config", "sys", sys, 3000, ParamClient::Source::Ipc) || !sys.isObject())
return -EIO;
Json::Value raw = sys.get("ptz", Json::Value());
const bool missing = raw.isNull();
if (missing) {
PtzConfig unused;
if (readConfig(unused, &raw))
return -EIO;
}
if (!raw.isObject())
return -EINVAL;
unsigned defaultLevel = 0;
if (!unsignedField(raw, "defaultLevel", defaultLevel) || defaultLevel != current.defaultLevel)
return -EAGAIN;
// 不覆盖其他接口已修改但 Func 尚未应用的硬件配置。
for (unsigned i = 0; i < 2; ++i) {
const auto &a = raw[i ? "v" : "h"];
const auto &old = current.axis[i];
if (!a.isObject())
return -EINVAL;
unsigned max = 0, seek = 0, homeLevel = 0;
if (!unsignedField(a, "maxSteps", max) || !unsignedField(a, "seekSteps", seek) || max != old.maxSteps || seek != old.seekSteps || !unsignedField(a, "homeLevel", homeLevel) || homeLevel != old.homeLevel || !a["positiveDirection"].isInt() || a["positiveDirection"].asInt() != old.positiveDirection || !a["parametersConfirmed"].isBool() || a["parametersConfirmed"].asBool() != old.parametersConfirmed) {
message = "设备参数与运行配置不一致，请重启 Func 后重新读取";
return -EAGAIN;
}
}
Json::Value updated = raw;
for (unsigned i = 0; i < 2; ++i) {
updated[i ? "v" : "h"]["maxSteps"] = t.maxSteps[i];
updated[i ? "v" : "h"]["seekSteps"] = t.seekSteps[i];
}
// 旧设备尚无 sys.ptz 时，条件更新整个 sys，保留其他参数且防止并发覆盖。
const std::string key = missing ? "sys" : "sys.ptz";
Json::Value before = missing ? sys : raw, after = missing ? sys : updated;
if (missing)
after["ptz"] = updated;
if (Json::FastWriter().write(before).size() + Json::FastWriter().write(after).size() + 512 >= sizeof(IPCMessage{}.payload))
return -E2BIG;
rc = PtzPrepareTravel(t);
if (rc) {
if (rc == -EBUSY)
message = "请先停止两轴，再保存行程";
if (rc == -ERANGE)
message = "当前位置超出新范围，请先移回新范围内";
if (rc == -EINVAL)
message = "归零行程必须不少于运动范围，且满足归零速度的时长限制";
return rc;
}
Json::Value response;
bool saved = client.compareSet("config", key, after, before, 3000, &response);
if (!saved && response.isNull()) {
// 超时不等于落盘失败：重新读取确认，不能盲目报告成功。
Json::Value actual;
saved = client.get("config", key, actual, 3000, ParamClient::Source::Ipc) && Json::FastWriter().write(actual) == Json::FastWriter().write(after);
}
rc = PtzFinishTravel(saved);
result["saved"] = saved;
result["applied"] = saved && !rc;
if (!saved) {
message = response.isNull() ? "保存结果未确认，请重新读取设备配置" : response.get("message", "保存失败，运行范围已回退").asString();
if (rc)
message += "；驱动范围回退失败，需要重新校准";
return rc ? rc : -EIO;
}
if (rc)
return rc;
PtzGetConfig(current);
result["ptz_config"] = configJson(current);
message = "已保存并应用";
return 0;
}
}
void InitFuncPtz()
{
std::lock_guard<std::mutex> lock(initMutex);
if (initialized)
return;
PtzConfig c;
int rc = readConfig(c);
if (!rc)
rc = PtzInit(c);
if (rc != initError)
FUNC_WARN("PTZ initialization: %d\n", rc);
initError = rc;
initialized = !rc;
}
static void FuncPtzInitTask(bool running)
{
if (running)
InitFuncPtz();
}
REGISTER_TASK_INTERVAL(FuncPtzInitTask, 5);
void StopFuncPtz()
{
std::lock_guard<std::mutex> lock(initMutex);
PtzDeinit();
initialized = false;
}
namespace
{
int ptzUnavailable(Json::Value &result, std::string &message)
{
message = "PTZ disabled in Kconfig";
result["ptz"]["supported"] = false;
result["ptz"]["available"] = false;
return -ENOTSUP;
}
PtzAxis driverAxis(PtzCommandAxis axis)
{
return axis == PtzCommandAxis::H ? PtzAxis::H : axis == PtzCommandAxis::V ? PtzAxis::V
: PtzAxis::Both;
}
// 仅整理操作结果，不决定执行哪条命令。
int motionResult(int code, Json::Value &result, std::string &message)
{
message = code ? strerror(-code) : "accepted";
if (code == -ENODATA)
message = "axis not calibrated";
if (code == -EACCES)
message = "homing direction and travel parameters not confirmed";
result["accepted"] = code == 0;
result["ptz"] = stateJson();
return code;
}
}
int FuncPtzStatus(Json::Value &result, std::string &message)
{
ptzUnavailable(result, message);
return 0;
result["ptz"] = stateJson();
if (!result["ptz"]["available"].asBool())
message = "PTZ configuration or driver unavailable";
return 0;
}
int FuncPtzMoveTo(const PtzMoveToCommand &command, Json::Value &result, std::string &message)
{
(void)command;
return ptzUnavailable(result, message);
return motionResult(PtzMoveTo(driverAxis(command.axis), command.position, command.level), result, message);
}
int FuncPtzStop(const PtzStopCommand &command, Json::Value &result, std::string &message)
{
(void)command;
return ptzUnavailable(result, message);
return motionResult(PtzStop(driverAxis(command.axis)), result, message);
}
int FuncPtzHome(const PtzHomeCommand &command, Json::Value &result, std::string &message)
{
(void)command;
return ptzUnavailable(result, message);
return motionResult(PtzHome(driverAxis(command.axis), command.level), result, message);
}
int FuncPtzCenter(const PtzCenterCommand &command, Json::Value &result, std::string &message)
{
(void)command;
return ptzUnavailable(result, message);
return motionResult(PtzCenter(driverAxis(command.axis), command.level), result, message);
}
int FuncPtzManual(const PtzManualCommand &command, Json::Value &result, std::string &message)
{
(void)command;
return ptzUnavailable(result, message);
return motionResult(PtzManual(driverAxis(command.axis), command.increasing, command.level, command.owner, command.token, command.renew), result, message);
}
int FuncPtzRelease(const PtzReleaseCommand &command, Json::Value &result, std::string &message)
{
(void)command;
return ptzUnavailable(result, message);
return motionResult(PtzRelease(driverAxis(command.axis), command.owner, command.token), result, message);
}
int FuncPtzDisconnect(const PtzDisconnectCommand &command, Json::Value &result, std::string &message)
{
(void)command;
return ptzUnavailable(result, message);
return motionResult(PtzDisconnect(command.owner), result, message);
}
int FuncPtzGetConfig(Json::Value &result, std::string &message)
{
return ptzUnavailable(result, message);
PtzConfig current;
int code = PtzGetConfig(current);
if (!code) {
PtzConfig stored;
code = readConfig(stored);
if (!code && configJson(stored)["revision"] != configJson(current)["revision"]) {
message = "保存参数与运行配置不一致，请重启 Func 后重新读取";
return -EAGAIN;
}
if (!code)
result["ptz_config"] = configJson(current);
}
if (code)
message = strerror(-code);
return code;
}
int FuncPtzSetConfig(const PtzSetConfigCommand &command, Json::Value &result, std::string &message)
{
(void)command;
return ptzUnavailable(result, message);
message.clear();
const int code = configureTravel(command, result, message);
if (code && message.empty())
message = strerror(-code);
return code;
}