Queue/weigh/Publisher.cxx

// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/*!
 * @file Publisher.cxx
 * This file contains the implementation of the publisher functions.
 *
 * This file was generated by the tool fastddsgen.
 */

#include "Publisher.hpp"

#include <condition_variable>
#include <csignal>
#include <stdexcept>
#include <thread>

#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/log/Log.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>

#include "SystemPubSubTypes.hpp"

#include "msg.hpp"
#include "MsgHandler.hpp"
#include "WeightStabilityDetector.hpp"
#include "DEBUG.hpp"

using namespace eprosima::fastdds::dds;

PublisherApp::PublisherApp(
        const int& domain_id)
    : factory_(nullptr)
    , participant_(nullptr)
    , publisher_(nullptr)
    , topic_(nullptr)
    , writer_(nullptr)
    , type_(new WeighingSystem::ScaleInfoPubSubType())
    , matched_(0)
    , samples_sent_(0)
    , stop_(false)
{
    //

    // Create the participant
    DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
    pqos.name("Weigh_pub_participant");
    pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
    pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
    factory_ = DomainParticipantFactory::get_shared_instance();
    participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
    if (participant_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::ScaleInfo Participant initialization failed");
    }

    // Register the type
    type_.register_type(participant_);

    // Create the publisher
    PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
    participant_->get_default_publisher_qos(pub_qos);
    publisher_ = participant_->create_publisher(pub_qos, nullptr, StatusMask::none());
    if (publisher_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::ScaleInfo Publisher initialization failed");
    }

    // Create the topic
    TopicQos topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    topic_ = participant_->create_topic("ScaleInfo", type_.get_type_name(), topic_qos);
    if (topic_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::ScaleInfo Topic initialization failed");
    }

    // Create the data writer
    DataWriterQos writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    writer_ = publisher_->create_datawriter(topic_, writer_qos, this, StatusMask::all());
    if (writer_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::ScaleInfo DataWriter initialization failed");
    }
}

PublisherApp::~PublisherApp()
{
    if (nullptr != participant_)
    {
        // Delete DDS entities contained within the DomainParticipant
        participant_->delete_contained_entities();

        // Delete DomainParticipant
        factory_->delete_participant(participant_);
    }
}

void PublisherApp::on_publication_matched(
        DataWriter* writer,
        const PublicationMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        {
            std::lock_guard<std::mutex> lock(mutex_);
            matched_ = info.current_count;
        }
        DEBUG(writer->get_topic()->get_name() << " Publisher matched.");
        cv_.notify_one();
    }
    else if (info.current_count_change == -1)
    {
        {
            std::lock_guard<std::mutex> lock(mutex_);
            matched_ = info.current_count;
        }
        DEBUG(writer->get_topic()->get_name() << " Publisher unmatched.");
    }
    else
    {
        DEBUG(info.current_count_change << " is not a valid value for PublicationMatchedStatus current count change");
    }
}

uint8_t send_time = 0;

void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
{
    // 配置检测器 - 使用更合理的参数
    WeightStabilityDetector::Config config;
    config.jitter_threshold = handler->jitter_weight;       // 30kg抖动阈值
    config.min_weight_threshold = handler->empty_weight;    // 300kg开始检测
    config.empty_car_threshold = handler->empty_weight;     // 默认300kg为空车
    config.fast_drop_threshold = 1000.0f;                   // 快速下降1吨认为车辆离开
    config.required_stable_count = 24;                      // 20次稳定即可
    config.min_jitter_count = 4;                            // 至少4次非增长
    config.timeout_extra = 4;                               // 超时额外次数
    config.window_size = 8;                                 // 窗口大小8
    config.max_std_dev = handler->jitter_weight;            // 最大标准差30kg
    config.enable_debug_log = false;
    config.reset_window_on_vehicle_on = true;
    config.leave_reset_delay_ms = 500;                      // 0.5秒后重置
    
    // 创建检测器
    WeightStabilityDetector detector(config);
    
    // 设置状态回调
    detector.setStateCallback([](WeightStabilityDetector::VehicleState state,
                                float weight,
                                [[maybe_unused]] void* user_data) {
        const char* state_names[] = {
            "NO_VEHICLE",
            "VEHICLE_ON",
            "VEHICLE_STABLE",
            "VEHICLE_LEAVING"
        };
        
        send_time = 50;
        std::cout << "\n=== STATE CHANGE: " << state_names[static_cast<int>(state)]
                  << ", Weight: " << weight << " kg ===" << std::endl;
    });
    
    // 设置重量回调
    detector.setWeightCallback([](float weight, bool is_stable, [[maybe_unused]] void* user_data) {
        if (is_stable) {
            // std::cout << "Weight stabilized: " << weight << " kg" << std::endl;
        }
    });
    
    while (!is_stopped())
    {
        std::unique_lock<std::mutex> lock(MsgData::queue_cv_mtx_, std::try_to_lock);
        if (lock.owns_lock())
        {
            if(!MsgData::ScaleCommand_queue_.empty())
            {
                MsgData::ScaleCommand_queue_.pop();
                lock.unlock();
            }
            else
            {
                lock.unlock();
            }
        }

        if (handler->isOpen() == true)
        {
            float weight;
            if (handler->HandleDeviceMsg(weight) == true)
            {
                bool success = detector.processWeight(weight);

                // ========== 调试打印1：串口收到数据 ==========
                //std::cout << "[DEBUG] Recv from ttyS3, weight=" << weight << std::endl;

                
                if (!success)
                {
                    std::cout << "Failed to process weight!" << std::endl;
                    continue;
                }

                // 获取统计信息
                auto stats = detector.getStatistics();
                auto state = detector.getState();

                // const char *state_names[] = {
                //     "NO_VEHICLE", "VEHICLE_ON", "VEHICLE_STABLE", "VEHICLE_LEAVING"};

                // std::cout << "State: " << state_names[static_cast<int>(state)]
                //           << ", Stable: " << (detector.isStable() ? "Yes" : "No")
                //           << ", HasVehicle: " << (detector.hasVehicle() ? "Yes" : "No") << std::endl;

                // if (stats.sample_count > 0)
                // {
                //     std::cout << "Stats: Mean=" << std::setprecision(2) << stats.mean
                //               << "kg, StdDev=" << stats.std_dev
                //               << "kg, Range=" << (stats.max - stats.min)
                //               << "kg, Samples=" << stats.sample_count << std::endl;
                // }

                // 如果稳定，显示稳定重量
                WeighingSystem::ScaleInfo info;
                info.State() = true;
                if (weight < handler->empty_weight)
                {
                    info.HasVehicle() = 0;
                }
                else
                {
                    info.HasVehicle() = 1;
                }
                if (detector.isStable())
                {
                    info.WeightOK() = true;
                    info.Value() = weight / 1000.0f;
                    info.StableValue() = weight / 1000.0f;
                }
                else
                {
                    info.WeightOK() = false;
                    info.Value() = weight / 1000.0f;
                    info.StableValue() = 0;
                }

                if (send_time >= 50)
                {

                    // ========== 调试打印2：DDS发布前 ==========
                    // std::cout << "[DEBUG] DDS Publish: Value=" << info.Value() 
                    //           << " StableValue=" << info.StableValue()
                    //           << " HasVehicle=" << info.HasVehicle() << std::endl;

                    writer_->write(&info);
                    send_time = 0;
                }
            }
        }

        if (send_time++ > 50)
        {
            send_time = 50;
        }


        // ========== 调试打印3：主循环心跳 ==========
        // static int heartbeat = 0;
        // heartbeat++;
        // if (heartbeat % 100 == 0) {
        //     std::cout << "[DEBUG] Main loop alive, heartbeat=" << heartbeat << std::endl;
        // }

        // Wait for period or stop event
        std::unique_lock<std::mutex> period_lock(mutex_);
        cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this]()
                {
                    return is_stopped();
                });
    }
}


bool PublisherApp::publish()
{
    bool ret = false;
    // Wait for the data endpoints discovery
    std::unique_lock<std::mutex> matched_lock(mutex_);
    cv_.wait(matched_lock, [&]()
            {
                // at least one has been discovered
                return ((matched_ > 0) || is_stopped());
            });

    if (!is_stopped())
    {
        /* Initialize your structure here */
        WeighingSystem::ScaleInfo sample_;
        ret = (RETCODE_OK == writer_->write(&sample_));
    }
    return ret;
}

bool PublisherApp::is_stopped()
{
    return stop_.load();
}

void PublisherApp::stop()
{
    stop_.store(true);
    cv_.notify_one();
}