107 lines
3.0 KiB
C++
107 lines
3.0 KiB
C++
#include "perceptron.hpp"
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#include <chrono>
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#include <memory>
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#include <thread>
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#include "tasks/auto_aim/yolo.hpp"
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#include "tools/exiter.hpp"
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#include "tools/logger.hpp"
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namespace omniperception
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{
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Perceptron::Perceptron(
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io::USBCamera * usbcam1, io::USBCamera * usbcam2, io::USBCamera * usbcam3,
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io::USBCamera * usbcam4, const std::string & config_path)
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: detection_queue_(10), decider_(config_path), stop_flag_(false)
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{
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// 初始化 YOLO 模型
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yolo_parallel1_ = std::make_shared<auto_aim::YOLO>(config_path, false);
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yolo_parallel2_ = std::make_shared<auto_aim::YOLO>(config_path, false);
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yolo_parallel3_ = std::make_shared<auto_aim::YOLO>(config_path, false);
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yolo_parallel4_ = std::make_shared<auto_aim::YOLO>(config_path, false);
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std::this_thread::sleep_for(std::chrono::seconds(2));
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// 创建四个线程进行并行推理
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threads_.emplace_back([&] { parallel_infer(usbcam1, yolo_parallel1_); });
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threads_.emplace_back([&] { parallel_infer(usbcam2, yolo_parallel2_); });
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threads_.emplace_back([&] { parallel_infer(usbcam3, yolo_parallel3_); });
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threads_.emplace_back([&] { parallel_infer(usbcam4, yolo_parallel4_); });
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tools::logger()->info("Perceptron initialized.");
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}
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Perceptron::~Perceptron()
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{
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{
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std::unique_lock<std::mutex> lock(mutex_);
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stop_flag_ = true; // 设置退出标志
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}
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condition_.notify_all(); // 唤醒所有等待的线程
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// 等待线程结束
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for (auto & t : threads_) {
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if (t.joinable()) {
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t.join();
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}
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}
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tools::logger()->info("Perceptron destructed.");
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}
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std::vector<DetectionResult> Perceptron::get_detection_queue()
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{
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std::vector<DetectionResult> result;
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DetectionResult temp;
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// 注意：这里的 pop 不阻塞（假设队列为空时会报错或忽略）
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while (!detection_queue_.empty()) {
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detection_queue_.pop(temp);
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result.push_back(std::move(temp));
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}
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return result;
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}
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// 将并行推理逻辑移动到类成员函数
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void Perceptron::parallel_infer(
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io::USBCamera * cam, std::shared_ptr<auto_aim::YOLO> & yolov8_parallel)
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{
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if (!cam) {
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tools::logger()->error("Camera pointer is null!");
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return;
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}
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try {
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while (true) {
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cv::Mat usb_img;
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std::chrono::steady_clock::time_point ts;
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{
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std::unique_lock<std::mutex> lock(mutex_);
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if (stop_flag_) break; // 检查是否需要退出
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}
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cam->read(usb_img, ts);
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if (usb_img.empty()) {
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std::this_thread::sleep_for(std::chrono::milliseconds(30));
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continue;
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}
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auto armors = yolov8_parallel->detect(usb_img);
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if (!armors.empty()) {
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auto delta_angle = decider_.delta_angle(armors, cam->device_name);
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DetectionResult dr;
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dr.armors = std::move(armors);
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dr.timestamp = ts;
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dr.delta_yaw = delta_angle[0] / 57.3;
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dr.delta_pitch = delta_angle[1] / 57.3;
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detection_queue_.push(dr); // 推入线程安全队列
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}
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}
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} catch (const std::exception & e) {
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tools::logger()->error("Exception in parallel_infer: {}", e.what());
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}
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}
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} // namespace omniperception
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