Vehicle-cpp/ZJ_PRO/EgoSystem/main.cpp

 
#include <stdio.h>
#include <iostream>
#include "../common/comm.h"
#include "../common/iobuffer.h"
#include "api.h"
#include "protocol.pb.h"
#include "message_queue.h"
#include <signal.h>
#include <cstring>
#include <stdlib.h>

/*
extern "C"
{
#include "/usr/local/ffmpeg/include/libavcodec/avcodec.h"

//#include "/usr/local/ffmpeg/include/libavutil/time.h"
//#include "/usr/local/ffmpeg/include/libavutil/opt.h"
//#include "/usr/local/ffmpeg/include/libavutil/imgutils.h"
//#include "/usr/local/x264/include/x264.h"
}
*/

//#include <sensors/sensors.h>
//#include <PCANBasic.h>

//20230413 MQTT
//#include "../thirdparty/Mqtt/include/MQTTAsync.h"
//#include "../thirdparty/jsoncpp/include/json/json.h"
//
//MQTTAsync mqttClient;
////static const char* subTopic = "hello1";  //订阅主题
//
//
//void sendMessage(char* data, int qos ,const char * pubTopic)
//{
//    int rc;
//    MQTTAsync_message pubmsg = MQTTAsync_message_initializer;
//    MQTTAsync_responseOptions opts = MQTTAsync_responseOptions_initializer;
//
//    opts.context = mqttClient;
//
//    pubmsg.payload = data;
//    pubmsg.payloadlen = strlen(data);
//    pubmsg.qos = qos;
//    printf("mqtt send: %s\n", (char*)pubmsg.payload);
// 
//    if ((rc = MQTTAsync_sendMessage(mqttClient, pubTopic, &pubmsg, &opts)) != MQTTASYNC_SUCCESS)
//    {
//        printf("MQTTAsync_sendMessage() fail, error code:%d\n", rc);
//    }
//}
//
//void onConnectCallCBack(void* context, char* cause) //连接成功callback
//{
//    //printf("Connection successful.\n");
//    //int rc, qos;
//    //MQTTAsync_responseOptions opts = MQTTAsync_responseOptions_initializer;
//
//    //qos = 0;
//    //opts.context = mqttClient;
//
//    //if ((rc = MQTTAsync_subscribe(mqttClient, subTopic, qos, &opts)) != MQTTASYNC_SUCCESS) //subTopic
//    //{
//    //    printf("MQTTAsync_subscribe() fail, error code:%d\n", rc);
//    //}
//
//    printf("Connection successful.\n");
//    int rc;
//    const int qos[2] = {0,1};
//    MQTTAsync_responseOptions opts = MQTTAsync_responseOptions_initializer;
//
//    char* const subTopic[2] = { "hello" ,"hello1"};  //订阅主题
//
//    opts.context = mqttClient;
//
//    if ((rc = MQTTAsync_subscribeMany(mqttClient,2,subTopic, qos, &opts)) != MQTTASYNC_SUCCESS) //subTopic
//    {
//        printf("MQTTAsync_subscribe() fail, error code:%d\n", rc);
//    }
//}
//
//void onConnectFailure(void* context, MQTTAsync_failureData* response) //连接失败callback
//{
//    printf("connection fail, error code: %d, error message:%s\n", response ? response->code : 0, response ? response->message : 0);
//}
//
//void Disconnect(void* context, char* cause) //连接断开callback
//{
//    printf("disconnect, cause: %s\n", cause);
//}
//
//int  RecevieMessage(void* context, char* pubTopic, int topicLen, MQTTAsync_message* message)
//{
//    char buf[message->payloadlen + 1];
//
//    memcpy(buf, message->payload, message->payloadlen);
//    printf("mqtt recv: %s\n", buf);
//    MQTTAsync_freeMessage(&message);
//    MQTTAsync_free(pubTopic);
//
//    return 1;
//}


void daemonize(void) {
  signal(SIGTTOU, SIG_IGN);
  signal(SIGTTIN, SIG_IGN);
  signal(SIGTSTP, SIG_IGN);
  if (0 != fork()) exit(0);
  if (-1 == setsid()) exit(0);
  signal(SIGHUP, SIG_IGN);
  if (0 != fork()) exit(0);
  //if (0 != chdir("/")) exit(0);
}
 
bool checkOnly()
{
    const char filename[]  = "./lockfile";
    int fd = open (filename, O_WRONLY | O_CREAT , 0644);
    int flock = lockf(fd, F_TLOCK, 0 );
    if (fd == -1) {
        return false;
    }
    //给文件加锁
    if (flock == -1) {
        return false;
    }
    //程序退出后，文件自动解锁
    return true;
}
std::string getpath()
{
	  char exec_name [BUFSIZ];
	 readlink ("/proc/self/exe", exec_name, BUFSIZ);
	 int32_t len=strlen(exec_name);
     for(int i=len;i>=0;i--)
     {
         if(exec_name[i]=='/')
           {
               exec_name[i]=0;
               break;
           }
     }
	 return std::string(exec_name);
}


//const char *inFileName  = "/home/zhouchao/2.yuv";
//const char *outFileName  = "/home/zhouchao/3.h264";
/*
int encode(AVCodecContext* codecContent, AVPacket* packet, AVFrame* frame, FILE* outFile)
{
	//编码
	int ret = avcodec_send_frame(codecContent, frame);
	if (ret < 0)
		printf("Error sending a frame for encoding\r\n");
 
	while (ret == 0)
	{
 
		ret = avcodec_receive_packet(codecContent, packet);
 
		if (ret == AVERROR(EAGAIN) || ret == AVERROR_EOF) {
			return 0;
		}
		else if (ret < 0)
			printf("Error encoding video frame\r\n");
 
		if (ret == 0)
			fwrite(packet->data, 1, packet->size, outFile);
	}
}
*/


/*

#include <stdio.h>
#include <dirent.h>
#include <sys/stat.h>
#include <string.h>

int day_diffient(int year_start, int month_start, int day_start,char *Dst)
{
    //2024-03-11

    int year_end = strtol(Dst,NULL,10);

    char Temp = '-',*p = NULL,*p1 = NULL;

    p = strchr(Dst,Temp);
    int month_end = strtol(p + 1,NULL,10);
    p1 = strchr(p + 1,Temp);
    int day_end = strtol(p1 + 1,NULL,10);

    int y2, m2, d2;
    int y1, m1, d1;

    m1 = (month_start + 9) % 12;
    y1 = year_start - m1/10;
    d1 = 365*y1 + y1/4 - y1/100 + y1/400 + (m1*306 + 5)/10 + (day_start - 1);
    m2 = (month_end + 9) % 12;
    y2 = year_end - m2/10;
    d2 = 365*y2 + y2/4 - y2/100 + y2/400 + (m2*306 + 5)/10 + (day_end - 1);

    return (d1 - d2);
}
void delete_days(const char *path)
{
    DIR *dir;
    struct dirent *entry;
    struct stat statbuf;

    time_t rawtime;
    struct tm* info;
    time(&rawtime);

    info = localtime(&rawtime);
    uint8_t secret[64] = { 0 };

    sprintf((char*)secret, "%d-%.2d-%.2d", info->tm_year + 1900, info->tm_mon + 1, info->tm_mday);
    printf("%s\r\n",secret);
 
    dir = opendir(path);
    if (dir == NULL)
    {
        printf("无法打开目录\n");
        return;
    }
 
    while ((entry = readdir(dir)) != NULL) 
    {
        char file_path[1024];
        snprintf(file_path, sizeof(file_path), "%s/%s", path, entry->d_name);
 
        if (stat(file_path, &statbuf) == -1)
            continue;
 
        if (S_ISDIR(statbuf.st_mode))
        {  
            if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) 
                continue; 

            if(day_diffient(info->tm_year + 1900, info->tm_mon + 1, info->tm_mday,entry->d_name) > 15)
            {
                char Dst[128];
                memset(Dst,0,128);

                sprintf(Dst,"rm -rf /home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build/log/%s",entry->d_name);
                system(Dst);
            }
            delete_days(file_path); 
        }
    }
    closedir(dir);
}
//traverse_path("/home/nvidia/20240226ZGJ-PORT/EgoZJ/EgoSystem/build/log");
*/



int main(int argc,char *argv[])
{

   //system("pulseaudio --start");
  //  daemonize();
    auto path=getpath();
    std::cout<<path<<std::endl;
    if(-1==chdir(path.c_str())) return 0;
    
    if(checkOnly()==false) 
    {
        std::cout<<"进程已经在运行"<<std::endl;
        return 0;
    }

    
    /*

    #include <sys/statfs.h>                                                                                                            
    #include <stdlib.h>
    #include <unistd.h>
    #include <sys/vfs.h>
    struct statfs diskInfo;  
      
    statfs("/dev/mmcblk0p1", &diskInfo);  
    unsigned long long blocksize = diskInfo.f_bsize;    //每个block里包含的字节数  
    unsigned long long totalsize = blocksize * diskInfo.f_blocks;   //总的字节数，f_blocks为block的数目  
    printf("Total_size = %llu B = %llu KB = %llu MB = %llu GB\n",   
        totalsize, totalsize>>10, totalsize>>20, totalsize>>30);  
      
    unsigned long long freeDisk = diskInfo.f_bfree * blocksize; //剩余空间的大小  
    unsigned long long availableDisk = diskInfo.f_bavail * blocksize;   //可用空间大小  
    printf("Disk_free = %llu MB = %llu GB\nDisk_available = %llu MB = %llu GB\n",   
        freeDisk>>20, freeDisk>>30, availableDisk>>20, availableDisk>>30);
    */
    
    //20230425
    /*
   TPCANStatus result;
   char strMsg[256];

   result = CAN_Initialize(PCAN_USBBUS1, PCAN_BAUD_500K);

   if (result != PCAN_ERROR_OK)
   {
       CAN_GetErrorText(result, 0, strMsg);
       std::cout << strMsg << std::endl;
   }
   else
       std::cout << "PCAN-USB (Ch-1) was initialized" << std::endl;

   
    TPCANMsg dataMessage;
    dataMessage.ID = 0x601;
    dataMessage.MSGTYPE = PCAN_MESSAGE_STANDARD;
    dataMessage.LEN = 0x03;

    memset(dataMessage.DATA,0x00,8);
        ////memcpy(dataMessage.DATA, date, dataMessage.LEN);
    dataMessage.DATA[0] = 0xB1;
    dataMessage.DATA[1] = 0x10;
    dataMessage.DATA[2] = 0xFF;
    result = CAN_Write(PCAN_USBBUS1, &dataMessage);

   int fd;
   TPCANMsg CANMsg;
   TPCANTimestamp CANTimeStamp;

   TPCANStatus stsResult = CAN_GetValue(PCAN_USBBUS1, PCAN_RECEIVE_EVENT, &fd, sizeof(fd));

   if (stsResult != PCAN_ERROR_OK)
   {
       std::cout << "CAN_GetValue Error" << "\n";
   }

   while (true)
   {
       struct timeval timeout = {};
       timeout.tv_usec = 50000; // 50ms

       fd_set fds;
       FD_ZERO(&fds);
       FD_SET(fd, &fds);

   //    //Checks for messages when an event is received
       int err = select(fd + 1, &fds, NULL, NULL, &timeout);
       if (err != -1 && FD_ISSET(fd, &fds)) 
       {
           result = CAN_Read(PCAN_USBBUS1, &CANMsg, &CANTimeStamp);
           if (result != PCAN_ERROR_QRCVEMPTY)
           {
               //char Dst[128] = { 0 };
   //            //memcpy(Dst, CANMsg.DATA, CANMsg.LEN);
   //            //std::cout  << Dst << "\n";
               std::cout << "111" << "\n";
           }
       }
   }
   CAN_Uninitialize(PCAN_USBBUS1);
    */


    //20230413 HMAC-SHA256签名加密
 //   uint8_t outdata[128] = {0};
	//uint8_t md[SHA256_DIGESTLEN] = {0};
	//uint8_t secret[] = {"hallowordjdadwfxfalmfjwgrjlqsjdwg"};//密钥
	//uint8_t indata[] = {"halloword"};//数据
	//int len1 = strlen((char *)secret);
	//int len2 = strlen((char *)indata);
	//
	//HMAC_SHA256_CTX hmac;
	//hmac_sha256_init(&hmac, secret, len1);
	//hmac_sha256_update(&hmac, indata, len2);
	//hmac_sha256_final(&hmac, md);

	//memcpy(outdata, md, SHA256_DIGESTLEN);


	//for(int i = 0; i < SHA256_DIGESTLEN; i++)
	//{
	//	printf("%02x",outdata[i]);
	//}
	//printf("\n");
    
    
    /*
    //20230413 json
    Json::Value root;
   Json::Value Source;
   Json::FastWriter writer;

   Source["deviceEsn"] = "";
   Source["cloudEsn"] = "";
   Source["sendTime"] = "time";
   Source["ack"] = false;
   Source["seqNum"] = "";

   Json::Value GraspStatus;
   GraspStatus["graspEsn"] = Json::Value("graspEsn");
   GraspStatus["status"] = Json::Value("status");
   GraspStatus["timeStamp"] = Json::Value("timeStamp");

   Source["graspStatusList"].append(GraspStatus);
   //root.append(Source);

   Json::StyledWriter sw;
   std::cout << sw.write(Source) << std::endl << std::endl;
   //std::string data = writer.write(root);
   //std::cout << data << std::endl;   
    */
    /*struct timeval tv;
    gettimeofday(&tv, NULL);

    printf("millisecond: %ld\n", tv.tv_sec * 1000 + tv.tv_usec / 1000);*/
   

   
   //20230413 mqtt
   //int rc;
   //const char* serverUrl = "tcp://localhost:1883";  //服务器地址
   //const char* clientId = "publish_client";  //客户端标识符
   //const char* userName = "";  //用户名
   //const char* password = "";  //密码
   //MQTTAsync_create(&mqttClient, serverUrl, clientId, MQTTCLIENT_PERSISTENCE_NONE, NULL);

   //MQTTAsync_setCallbacks(mqttClient, NULL, Disconnect, RecevieMessage, NULL); //设置连接断开和接受数据回调
   //MQTTAsync_connectOptions conn_opts = MQTTAsync_connectOptions_initializer;  //初始化结构体
   //conn_opts.cleansession = 1;
   //conn_opts.username = userName;
   //conn_opts.password = password;
  
   //conn_opts.onFailure = onConnectFailure; //连接失败回调
   //conn_opts.context = mqttClient;
   //conn_opts.automaticReconnect = true;    //开启断开自动重连
   //conn_opts.minRetryInterval = 5; //最小重连间隔时间(秒)，每次失败重连间隔时间都会加倍
   //conn_opts.maxRetryInterval = 365 * 24 * 60 * 60;    //最大重连间隔时间(秒)
   //MQTTAsync_setConnected(mqttClient, NULL, onConnectCallCBack);   //设置连接成功回调,不管是第一次连接成功还是重连成功都会调用此回调
   //if ((rc = MQTTAsync_connect(mqttClient, &conn_opts)) != MQTTASYNC_SUCCESS)  //尝试连接
   //{
   //    printf("MQTTAsync_connect() fail, error code:%d\n", rc);
   //}
    /*
   double temp=0.f;
      
   auto err=sensors_init(NULL);
   if(err==0)
   {
        const sensors_chip_name *chip;
        int chip_nr=0;
        int i=0;
    
        const sensors_feature * feature=nullptr;
        while ((chip = sensors_get_detected_chips(NULL, &chip_nr))) 
        {
            if ((feature = sensors_get_features(chip, &i))) 
            {
                if (feature->type==SENSORS_FEATURE_TEMP)
                {
                    auto sf = sensors_get_subfeature(chip, feature,SENSORS_SUBFEATURE_TEMP_INPUT);
                    if(sf->type == SENSORS_SUBFEATURE_TEMP_INPUT)
                    {
                        sensors_get_value(chip, sf->number,&temp);
                        //temp = temp * (9.0F / 5.0F) + 32.0F;
                        std::cout << "System_Temp : " << temp << std::endl;
                    }
                }       
            }

        }
    }m
    sensors_cleanup();
*/
    //20231106-YUV转h.264
    
    /*
	AVCodec* codec = NULL;
	//AVCodecContext* codecContent = NULL;
	//AVPacket* packet = NULL;
	//AVFrame* frame = NULL;

    FILE* inFile = nullptr;
	FILE* outFile = nullptr;


    //查找指定编码器

    codec = avcodec_find_encoder(AV_CODEC_ID_H264);
	if (codec == NULL)
		printf("could not find h264 encoder!\r\n");
    else
        printf("could find h264 encoder!\r\n");
       */ 
    /*
    //申请编码器上下文
	codecContent = avcodec_alloc_context3(codec);
	if (codecContent == nullptr)
		printf("could not alloc h264 content!\r\n");

    //必设参数
	codecContent->width = 1280;
	codecContent->height = 720;
	codecContent->time_base = AVRational{ 1, 25 };
    codecContent->max_b_frames = 1;
	codecContent->pix_fmt = AV_PIX_FMT_YUV420P;
	codecContent->gop_size = 10; //关键帧间隔，默认250
	codecContent->framerate = AVRational{ 25, 1 };
 
	//初始化编码器上下文
	ret = avcodec_open2(codecContent, codec, NULL);
	if (ret < 0) 
		printf("Could not open codec: \r\n");

    packet = av_packet_alloc();
	if (packet == nullptr)
		printf("alloc packet error\r\n");
 
	frame = av_frame_alloc();
	if (packet == nullptr)
		printf("alloc frame error\r\n");

    //必设参数
	frame->width = codecContent->width;
	frame->height = codecContent->height;
	frame->format = codecContent->pix_fmt;

    //申请视频数据存储空间
	ret = av_frame_get_buffer(frame, 0);
	if (ret)
		printf("alloc frame buffer error!\r\n");

    inFile = fopen(inFileName, "rb");
	if (inFile == nullptr)
		printf("error to open inFile: %s\r\n", inFileName);

    outFile = fopen(outFileName, "wb+");
	if (inFile == nullptr)
		printf("error to open outFile: %s\n", outFileName);

    int framecount = 0;
	frame->pts = 0;
 
	int start_time = av_gettime() / 1000; //毫秒级
    while (!feof(inFile))
	{
		ret = av_frame_is_writable(frame);
		if (ret < 0)
			ret = av_frame_make_writable(frame);
 
 
		fread(frame->data[0], 1, frame->width * frame->height, inFile); //y
		fread(frame->data[1], 1, frame->width * frame->height / 4, inFile); //u
		fread(frame->data[2], 1, frame->width * frame->height / 4, inFile);  //v
 
		printf("encode frame num: %d\n", ++framecount);
 
 
		frame->pts += 1000 / (codecContent->time_base.den / codecContent->time_base.num);
		encode(codecContent, packet, frame, outFile);
 
	}
    
    encode(codecContent, packet, nullptr, outFile);
	printf("encode time cost: %d ms\n ", av_gettime() / 1000 - start_time);
 
	av_packet_free(&packet);
	av_frame_free(&frame);
	avcodec_free_context(&codecContent);
	fclose(inFile);
	fclose(outFile);
    */
   /*
   int16_t hi=(int16_t)(0x8c & 0x00FF);
   int16_t low= (int16_t)(0x9E & 0x00FF);
   unsigned int mmmm = (hi<<8)|low;
    */
    CMessageQueue Q;
    Q.Create();
	while(true)
    {
		Q.Process();
	}
    //gtk_main();
     
    return 0;
}