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E01-AutoPilot.cpp
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155 lines (120 loc) · 4.52 KB
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/***************************
@Author: Chunel
@Contact: chunel@foxmail.com
@File: E01-AutoPilot.cpp
@Time: 2023/9/15 20:03
@Desc: 本example主要展示，Camera 每隔1000ms，采集一张图片
LaneDetector 和 CarDetector同时消费这张图片，计算对应的内容
并且最终在Show中展示对应的结果信息
***************************/
#include <iostream>
#include <cstring>
#include <memory>
#include "CGraph.h"
using namespace CGraph;
static const int DEFAULT_IMAGE_SIZE = 64;
static const int DEFAULT_MESSAGE_BUF_SIZE = 16;
static const char* EXAMPLE_IMAGE_TOPIC = "/example/image/topic";
static const char* EXAMPLE_PARAM_KEY = "example-param-key";
struct ImageMParam : public GMessageParam {
int frame_id_ = 0;
char image_buf_[DEFAULT_IMAGE_SIZE] = {0};
explicit ImageMParam() = default;
ImageMParam(const ImageMParam& param) : GMessageParam(param) {
this->frame_id_ = param.frame_id_;
memcpy(image_buf_, param.image_buf_, DEFAULT_IMAGE_SIZE);
}
ImageMParam& operator=(const ImageMParam& param) {
if (this == ¶m) {
return *this;
}
this->frame_id_ = param.frame_id_;
memcpy(image_buf_, param.image_buf_, DEFAULT_IMAGE_SIZE);
return *this;
}
};
struct DetectResultGParam : public GParam {
int lane_num_ = 0;
int car_num_ = 0;
int frame_id_ = 0;
};
class CameraGDaemon : public GDaemon {
public:
CVoid daemonTask(GDaemonParamPtr param) override {
ImageMParam image;
image.frame_id_ = cur_index_;
std::string info = "this is " + std::to_string(cur_index_) + " image";
memcpy(image.image_buf_, info.c_str(), info.length());
cur_index_++;
CGRAPH_PUB_MPARAM(ImageMParam, EXAMPLE_IMAGE_TOPIC, image, GMessagePushStrategy::WAIT);
}
private:
int cur_index_ = 0;
};
class LaneDetectorGNode : public GNode {
public:
CStatus init() override {
// 订阅 EXAMPLE_IMAGE_TOPIC 消息。每次 bind的返回值，是不一样的，用于区分
conn_id_ = CGRAPH_BIND_MESSAGE_TOPIC(ImageMParam, EXAMPLE_IMAGE_TOPIC, DEFAULT_MESSAGE_BUF_SIZE)
return CStatus();
}
CStatus run() override {
std::unique_ptr<ImageMParam> image = nullptr;
auto status = CGRAPH_SUB_MPARAM(ImageMParam, conn_id_, image);
if (status.isErr()) {
return status;
}
auto param = CGRAPH_GET_GPARAM_WITH_NO_EMPTY(DetectResultGParam, EXAMPLE_PARAM_KEY)
// detector lane in image.image_buf_ ...
CGRAPH_ECHO("detecting lane in frame [%d], info is [%s]", image->frame_id_, image->image_buf_);
param->frame_id_ = image->frame_id_;
param->lane_num_ = std::abs((int)std::random_device{}()) % 10;
return CStatus();
}
private:
int conn_id_ = 0;
};
class CarDetectorGNode : public GNode {
public:
CStatus init() override {
conn_id_ = CGRAPH_BIND_MESSAGE_TOPIC(ImageMParam, EXAMPLE_IMAGE_TOPIC, DEFAULT_MESSAGE_BUF_SIZE)
return CStatus();
}
CStatus run() override {
std::unique_ptr<ImageMParam> image = nullptr;
auto status = CGRAPH_SUB_MPARAM(ImageMParam, conn_id_, image);
if (status.isErr()) {
return status;
}
auto param = CGRAPH_GET_GPARAM_WITH_NO_EMPTY(DetectResultGParam, EXAMPLE_PARAM_KEY);
CGRAPH_ECHO("finding car in frame [%d], info is [%s]", image->frame_id_, image->image_buf_);
// find car in image.image_buf_ ...
param->car_num_ = std::abs((int)std::random_device{}()) % 5;
return CStatus();
}
private:
int conn_id_ = 0;
};
class ShowGNode : public GNode {
CStatus run() override {
auto param = CGRAPH_GET_GPARAM_WITH_NO_EMPTY(DetectResultGParam, EXAMPLE_PARAM_KEY);
CGRAPH_ECHO("find [%d] car and [%d] lane in frame [%d] \n", param->car_num_, param->lane_num_, param->frame_id_);
return CStatus();
}
};
void example_auto_pilot() {
GElementPtr lane, car, show = nullptr;
auto pipeline = GPipelineFactory::create();
pipeline->registerGElement<LaneDetectorGNode>(&lane, {}, "lane");
pipeline->registerGElement<CarDetectorGNode>(&car, {}, "car");
pipeline->registerGElement<ShowGNode>(&show, {lane, car}, "show");
pipeline->createGParam<DetectResultGParam>(EXAMPLE_PARAM_KEY);
pipeline->addGDaemon<CameraGDaemon>(1000); // 模拟相机，每间隔1000ms，生成一张图片
pipeline->process(10);
GPipelineFactory::clear();
CGRAPH_CLEAR_MESSAGES()
}
int main() {
example_auto_pilot();
return 0;
}