mqtt

ApCreate/NetraLib/include/Netra.hpp

@@ -63,6 +63,19 @@ namespace QCL
          */
         std::vector<int> getClientSockets();
 
+        /**
+         * @brief 从服务器的客户端列表中移除并关闭一个客户端socket
+         * @param clientSock 客户端Socket描述符
+         */
+        void removeClient(int clientSock);
+
+        /**
+         * @brief 非阻塞探测客户端是否已断开（不消耗数据）
+         * @param clientSock 客户端Socket描述符
+         * @return true 已断开或发生致命错误；false 仍然存活或暂无数据
+         */
+        bool isClientDisconnected(int clientSock);
+
     private:
         /**
          * @brief 监听并接受新的客户端连接（运行在独立线程中）
@@ -196,6 +209,8 @@ namespace QCL
          */
         bool overwriteAtPos(const std::string &content, size_t pos, size_t length);
 
+        void close();
+
     private:
         std::string filePath_;  ///< 文件路径
         std::mutex writeMutex_; ///< 线程锁，保证多线程写入安全

ApCreate/NetraLib/src/Netra.cpp

@@ -181,6 +181,35 @@ namespace QCL
         return clientSockets_;
     }
 
+    void TcpServer::removeClient(int clientSock)
+    {
+        std::lock_guard<std::mutex> lock(clientsMutex_);
+        for (auto it = clientSockets_.begin(); it != clientSockets_.end(); ++it)
+        {
+            if (*it == clientSock)
+            {
+                close(*it);
+                clientSockets_.erase(it);
+                break;
+            }
+        }
+    }
+
+    bool TcpServer::isClientDisconnected(int clientSock)
+    {
+        char tmp;
+        ssize_t n = recv(clientSock, &tmp, 1, MSG_PEEK | MSG_DONTWAIT);
+        if (n == 0)
+            return true; // 对端有序关闭
+        if (n < 0)
+        {
+            if (errno == EAGAIN || errno == EWOULDBLOCK)
+                return false; // 只是暂时无数据
+            return true;      // 其它错误视为断开
+        }
+        return false; // 有数据可读
+    }
+
     /**
      * @brief 获取连接客户端的IP和端口
      * @param clientSock 客户端Socket描述符

ApCreate/src/main.cpp

@@ -10,6 +10,8 @@
 #include <string>
 #include <thread>
 
+#include <mqtt/async_client.h>
+
 #include <boost/process.hpp>
 
 #include <nlohmann/json.hpp>
@@ -34,7 +36,12 @@ string filepath = "/home/orangepi/InitAuth/conf/.env";
 string cameraPath = "/opt/rknn-yolov11/.env";
 string passwd = "/home/orangepi/InitAuth/pwd/.env";
 
-string url = "http://116.147.36.110:8095/device/validateDevice";
+// 云端Web认证接口
+const string url = "http://116.147.36.110:8095/device/validateDevice";
+const string mqtt_url = "tcp://192.168.12.1:1883";
+const string clientId = "RK3588_SubTest";
+const string Topic = "/Test";
+const int Qos = 1;
 
 std::atomic<bool> isRunning(true); // 全局运行标志
 std::atomic<bool> confirm(true);   // 发送卡和ID
@@ -54,6 +61,8 @@ struct OutSignal
     bool inPutMode;  // 触发输入模式 true--高电平,false -- 低电平
 } algor{};
 
+mqtt::async_client client(mqtt_url, clientId);
+
 // 确认是否已经进行过认证
 bool ConfirmInit();
 
@@ -94,6 +103,12 @@ void StartNet();
 // 开启服务
 void StartService();
 
+// mqtt初始化
+void mqttInit();
+
+// 接收消息回调
+void getMsgCallback(mqtt::const_message_ptr msg);
+
 /*
 parames:
 argv[1] - SSID of the WiFi network to connect to
@@ -110,6 +125,14 @@ int main(int argc, char *argv[])
     blockAllSignals();
     signal(SIGINT, Exit); // 捕获Ctrl+C信号
 
+    // 初始化mqtt服务器
+    mqttInit();
+
+    while (1)
+    {
+        this_thread::sleep_for(chrono::seconds(1));
+    }
+
     // 开启服务器
     MyServer = new TcpServer(8848);
 
@@ -149,6 +172,27 @@ int main(int argc, char *argv[])
     return 0;
 }
 
+void mqttInit()
+{
+
+    client.set_connected_handler([](const string &cause)
+                                 {
+        cout << cause << endl; 
+        cout << "Connected Successed!\n"; });
+    client.set_message_callback(getMsgCallback);
+
+    // 连接服务器
+    client.connect()->wait();
+    client.subscribe(Topic, Qos)->wait();
+}
+
+// 接收消息回调
+void getMsgCallback(mqtt::const_message_ptr msg)
+{
+    cout << "收到消息" << endl;
+    cout << "recv:" << msg->to_string() << endl;
+}
+
 // 开启服务
 void StartService()
 {
@@ -263,9 +307,11 @@ void ReceiveData()
             continue;
         }
         int index = client.size();
-        for (int ii = 0; ii < index; ii++)
+        // cout << "index: " << index << endl;
+        for (int ii = 0; ii < index; ++ii) // 从新到旧，优先处理新连接
         {
             buffer = MyServer->receiveFromClient(client[ii], false); // 非阻塞模式接受数据
+            // cout << buffer << endl;
             if (buffer.empty() == false)
             {
                 cout << "已收到" << buffer << endl;
@@ -313,14 +359,15 @@ void ReceiveData()
                     double safe = toDouble(safe_json);
 
                     // 整文件读取，逐行替换，保持注释不变
-                    ReadFile rf(cameraPath);
+                    ReadFile *rf = new ReadFile(cameraPath);
-                    if (!rf.Open())
+                    if (!rf->Open())
                     {
                         cerr << "文件打开失败: " << cameraPath << "\n";
                     }
                     else
                     {
-                        auto lines = rf.ReadLines();
+                        auto lines = rf->ReadLines();
+                        delete rf;
                         for (auto &line : lines)
                         {
                             if (line.rfind("NEAR_THRESHOLD=", 0) == 0)
@@ -346,32 +393,90 @@ void ReceiveData()
                             if (i + 1 < lines.size())
                                 out += "\n";
                         }
-                        WriteFile wf(cameraPath);
+                        WriteFile *wf = new WriteFile(cameraPath);
-                        wf.overwriteText(out);
+                        wf->overwriteText(out);
+                        delete wf;
                     }
                 }
-                else
+                else if (buffer.find("media") != string::npos)
                 {
-                    // 写摄像头画面设置
+                    // 写摄像头参数(与距离相同方式: 整体读取-逐行替换-整体写回)
-                    string conf = "";
                     cout << buffer << endl;
-                    if (buffer.find("media") != string::npos)
+                    CalculateInfo(media, buffer);
-                    { // 写摄像头参数
+                    ReadFile *rf = new ReadFile(cameraPath);
-                        cout << buffer << endl;
+                    if (!rf->Open())
-                        WriteFile cam(cameraPath);
-                        CalculateInfo(media, buffer);
-                        conf = format("\nMEDIA_MIRROR={}\nMEDIA_FLIP={}\nMEDIA_OCCLUSION={}\n", media.mirror == 1 ? "true" : "false", media.flip == 1 ? "true" : "false", media.occlusion == 1 ? "true" : "false");
-                        cout << conf;
-                        cam.writeAfterPatternOrAppend("***---***", conf);
-                    }
-                    if (buffer.find("algorithm") != string::npos)
                     {
-                        // 写输入输出参数
+                        cerr << "文件打开失败: " << cameraPath << "\n";
-                        WriteFile mode(filepath);
+                    }
-                        int pos = mode.countBytesPattern("***---***", true);
+                    else
-                        CalculateInfo(algor, buffer);
+                    {
-                        conf = format("\noutPutMode:{}\ninPutMode:{}", algor.outPutMode == 1 ? "true" : "false", algor.inPutMode == 1 ? "true" : "false");
+                        auto lines = rf->ReadLines();
-                        mode.writeAfterPatternOrAppend("***---***", conf);
+                        delete rf;
+                        for (auto &line : lines)
+                        {
+                            if (line.rfind("MEDIA_MIRROR=", 0) == 0)
+                            {
+                                line = format("MEDIA_MIRROR={}", media.mirror ? "true" : "false");
+                            }
+                            else if (line.rfind("MEDIA_FLIP=", 0) == 0)
+                            {
+                                line = format("MEDIA_FLIP={}", media.flip ? "true" : "false");
+                            }
+                            else if (line.rfind("MEDIA_OCCLUSION=", 0) == 0)
+                            {
+                                line = format("MEDIA_OCCLUSION={}", media.occlusion ? "true" : "false");
+                            }
+                        }
+
+                        string out;
+                        out.reserve(4096);
+                        for (size_t i = 0; i < lines.size(); ++i)
+                        {
+                            out += lines[i];
+                            if (i + 1 < lines.size())
+                                out += "\n";
+                        }
+                        WriteFile *wf = new WriteFile(cameraPath);
+                        wf->overwriteText(out);
+                        delete wf;
+                    }
+                }
+                else if (buffer.find("algorithm") != string::npos)
+                {
+                    // 写输入输出参数(与距离相同方式: 整体读取-逐行替换-整体写回)
+                    CalculateInfo(algor, buffer);
+                    ReadFile *rf2 = new ReadFile(filepath);
+                    if (!rf2->Open())
+                    {
+                        cerr << "文件打开失败: " << filepath << "\n";
+                    }
+                    else
+                    {
+                        auto lines = rf2->ReadLines();
+                        delete rf2;
+                        for (auto &line : lines)
+                        {
+                            if (line.rfind("outPutMode:", 0) == 0)
+                            {
+                                line = format("outPutMode:{}", algor.outPutMode ? "true" : "false");
+                            }
+                            else if (line.rfind("inPutMode:", 0) == 0)
+                            {
+                                line = format("inPutMode:{}", algor.inPutMode ? "true" : "false");
+                            }
+                        }
+
+                        string out;
+                        out.reserve(4096);
+                        for (size_t i = 0; i < lines.size(); ++i)
+                        {
+                            out += lines[i];
+                            if (i + 1 < lines.size())
+                                out += "\n";
+                        }
+                        WriteFile *wf2 = new WriteFile(filepath);
+                        wf2->overwriteText(out);
+                        delete wf2;
                     }
                 }
             }
@@ -390,7 +495,8 @@ void OpenRTSP()
 // 视频推流
 void VideoStream()
 {
-    string commnd = "ffmpeg -f v4l2 -i /dev/video0 -c:v h264_rkmpp -rtsp_transport tcp -f rtsp rtsp://192.168.12.1:8554/stream";
+    // 静音ffmpeg的统计输出，保留错误；避免污染日志
+    string commnd = "ffmpeg -nostats -hide_banner -loglevel error -f v4l2 -i /dev/video0 -c:v h264_rkmpp -rtsp_transport tcp -f rtsp rtsp://192.168.12.1:8554/stream 2>/dev/null";
     video_proc = bp::child("/bin/bash", bp::args = {"-c", commnd});
 }
 

ApCreate/src/makefile

@@ -1,7 +1,7 @@
 all:wifi
 
 wifi:main.cpp 
-	g++ -g -o wifi main.cpp /home/orangepi/RKApp/ApCreate/NetraLib/src/Netra.cpp /home/orangepi/RKApp/ApCreate/NetraLib/src/encrypt.cpp /home/orangepi/RKApp/ApCreate/NetraLib/src/NetRequest.cpp -lpthread -I/home/orangepi/RKApp/ApCreate/NetraLib/include
+	g++ -g -o wifi main.cpp /home/orangepi/RKApp/ApCreate/NetraLib/src/Netra.cpp /home/orangepi/RKApp/ApCreate/NetraLib/src/encrypt.cpp /home/orangepi/RKApp/ApCreate/NetraLib/src/NetRequest.cpp -I/home/orangepi/RKApp/ApCreate/NetraLib/include -lpaho-mqttpp3 -lpaho-mqtt3a -lpthread	
 	mv ./wifi ../bin/wifi
 
 clean: