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feat:slave 300Hz

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lenn
2025-10-31 10:03:43 +08:00
parent f411ab21cb
commit 6ed795a2b6
97 changed files with 257 additions and 47645 deletions
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492
components/view.cc
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@@ -2,25 +2,25 @@
// Created by Lenn on 2025/10/14.
//
#include <algorithm>
#include <array>
#include <cmath>
#include <cstdint>
#include <memory>
#include <mutex>
#include <QString>
#include <QObject>
#include <QMetaObject>
#include <QStringList>
#include <QtCore/Qt>
#include <optional>
#include <string>
#include <qsize.h>
#include <qsizepolicy.h>
#include <chrono>
#include <iomanip>
#include <iostream>
#include <sstream>
#include <algorithm>
#include <array>
#include <cmath>
#include <cstdint>
#include <memory>
#include <mutex>
#include <QString>
#include <QObject>
#include <QMetaObject>
#include <QStringList>
#include <QtCore/Qt>
#include <optional>
#include <string>
#include <qsize.h>
#include <qsizepolicy.h>
#include <chrono>
#include <iomanip>
#include <iostream>
#include <sstream>
#include "component.hh"
#include "cpstream_core.hh"
#include "modern-qt/utility/theme/theme.hh"
@@ -42,7 +42,7 @@
#include <modern-qt/widget/text.hh>
#include <modern-qt/widget/select.hh>
#include "components/ffmsep/tactile/tacdec.hh"
using namespace std::chrono_literals;
using namespace creeper;
namespace capro = card::pro;
@@ -98,10 +98,10 @@ public:
reset_core();
}
bool start(const QString& requested_port, std::uint32_t baudrate) {
if (is_connected()) {
return true;
}
bool start(const QString& requested_port, std::uint32_t baudrate) {
if (is_connected()) {
return true;
}
const auto ports = ffmsep::CPStreamCore::list_available_ports();
std::string port_utf8;
@@ -137,7 +137,7 @@ public:
cfg.packet_queue_capacity = 128;
cfg.frame_queue_capacity = 32;
cfg.slave_request_command.assign(kSlaveRequestCommand.begin(), kSlaveRequestCommand.end());
cfg.slave_request_interval = std::chrono::milliseconds{200};
cfg.slave_request_interval = 3ms;
reset_core();
core_ = std::make_unique<ffmsep::CPStreamCore>();
@@ -161,44 +161,44 @@ public:
}
active_port_ = QString::fromStdString(cfg.port);
last_error_.clear();
connected_ = true;
return true;
}
void stop() {
reset_core();
active_port_.clear();
if (heatmap_data_ && matrix_context_) {
heatmap_data_->set(make_flat_points(matrix_context_->get()));
}
connected_ = false;
}
[[nodiscard]] bool is_running() const noexcept {
return core_ && core_->is_running();
}
[[nodiscard]] bool is_connected() const noexcept {
return connected_;
}
[[nodiscard]] QString active_port() const {
return active_port_;
}
last_error_.clear();
connected_ = true;
return true;
}
void stop() {
reset_core();
active_port_.clear();
if (heatmap_data_ && matrix_context_) {
heatmap_data_->set(make_flat_points(matrix_context_->get()));
}
connected_ = false;
}
[[nodiscard]] bool is_running() const noexcept {
return core_ && core_->is_running();
}
[[nodiscard]] bool is_connected() const noexcept {
return connected_;
}
[[nodiscard]] QString active_port() const {
return active_port_;
}
[[nodiscard]] QString last_error() const {
return last_error_;
}
private:
void reset_core() {
connected_ = false;
if (!core_) {
return;
}
core_->set_frame_callback({});
if (core_->is_running()) {
void reset_core() {
connected_ = false;
if (!core_) {
return;
}
core_->set_frame_callback({});
if (core_->is_running()) {
core_->stop();
}
if (core_->is_open()) {
@@ -219,46 +219,46 @@ private:
return;
}
auto pressures = frame.tactile_pressures;
auto size_hint = frame.tactile_matrix_size;
auto frame_bytes = frame.frame.data;
std::vector<std::uint8_t> raw_payload;
if (frame.tactile) {
raw_payload = frame.tactile->payload;
}
QMetaObject::invokeMethod(
this,
[this,
pressures = std::move(pressures),
size_hint,
frame_bytes = std::move(frame_bytes),
raw_payload = std::move(raw_payload)]() {
const auto format_raw = [](const std::vector<std::uint8_t>& data) -> std::string {
if (data.empty()) {
return "[]";
}
std::ostringstream oss;
oss << '[';
oss << std::uppercase << std::setfill('0');
for (std::size_t idx = 0; idx < data.size(); ++idx) {
if (idx != 0U) {
oss << ' ';
}
oss << std::setw(2) << std::hex << static_cast<unsigned int>(data[idx]);
}
oss << ']';
return oss.str();
};
std::cout << "[Sensor] frame=" << format_raw(frame_bytes);
std::cout << " payload=" << format_raw(raw_payload);
std::cout << " received " << pressures.size() << " pressure values";
if (size_hint) {
std::cout << " matrix=" << int(size_hint->long_edge)
<< "x" << int(size_hint->short_edge);
}
const std::size_t preview = std::min<std::size_t>(pressures.size(), 12);
auto pressures = frame.tactile_pressures;
auto size_hint = frame.tactile_matrix_size;
auto frame_bytes = frame.frame.data;
std::vector<std::uint8_t> raw_payload;
if (frame.tactile) {
raw_payload = frame.tactile->payload;
}
QMetaObject::invokeMethod(
this,
[this,
pressures = std::move(pressures),
size_hint,
frame_bytes = std::move(frame_bytes),
raw_payload = std::move(raw_payload)]() {
const auto format_raw = [](const std::vector<std::uint8_t>& data) -> std::string {
if (data.empty()) {
return "[]";
}
std::ostringstream oss;
oss << '[';
oss << std::uppercase << std::setfill('0');
for (std::size_t idx = 0; idx < data.size(); ++idx) {
if (idx != 0U) {
oss << ' ';
}
oss << std::setw(2) << std::hex << static_cast<unsigned int>(data[idx]);
}
oss << ']';
return oss.str();
};
std::cout << "[Sensor] frame=" << format_raw(frame_bytes);
std::cout << " payload=" << format_raw(raw_payload);
std::cout << " received " << pressures.size() << " pressure values";
if (size_hint) {
std::cout << " matrix=" << int(size_hint->long_edge)
<< "x" << int(size_hint->short_edge);
}
const std::size_t preview = std::min<std::size_t>(pressures.size(), 12);
if (preview > 0) {
std::cout << " values=[";
for (std::size_t idx = 0; idx < preview; ++idx) {
@@ -305,107 +305,107 @@ private:
Qt::QueuedConnection);
}
[[nodiscard]] QSize normalize_matrix(QSize candidate, std::size_t value_count) const {
if (value_count == 0U) {
return QSize{};
}
const auto adapt_from = [value_count](const QSize& hint) -> std::optional<QSize> {
if (hint.width() <= 0 && hint.height() <= 0) {
return std::nullopt;
}
if (hint.width() > 0 && hint.height() > 0) {
const auto cells = static_cast<std::size_t>(hint.width()) *
static_cast<std::size_t>(hint.height());
if (cells == value_count) {
return hint;
}
}
if (hint.width() > 0) {
const auto width = static_cast<std::size_t>(hint.width());
if (width != 0U && (value_count % width) == 0U) {
const auto height = static_cast<int>(value_count / width);
return QSize{hint.width(), height};
}
}
if (hint.height() > 0) {
const auto height = static_cast<std::size_t>(hint.height());
if (height != 0U && (value_count % height) == 0U) {
const auto width = static_cast<int>(value_count / height);
return QSize{width, hint.height()};
}
}
return std::nullopt;
};
if (auto adjusted = adapt_from(candidate)) {
return *adjusted;
}
if (auto adjusted = adapt_from(matrix_context_->get())) {
return *adjusted;
}
const auto root = static_cast<int>(std::sqrt(static_cast<double>(value_count)));
for (int width = root; width >= 1; --width) {
const auto divisor = static_cast<std::size_t>(width);
if (divisor == 0U) {
continue;
}
if ((value_count % divisor) == 0U) {
const auto height = static_cast<int>(value_count / divisor);
return QSize{width, height};
}
}
return QSize{static_cast<int>(value_count), 1};
}
[[nodiscard]] QSize normalize_matrix(QSize candidate, std::size_t value_count) const {
if (value_count == 0U) {
return QSize{};
}
std::shared_ptr<MutableValue<QVector<PointData>>> heatmap_data_;
std::shared_ptr<MutableValue<QSize>> matrix_context_;
std::unique_ptr<ffmsep::CPStreamCore> core_;
QString active_port_;
QString last_error_;
bool connected_ = false;
};
const auto adapt_from = [value_count](const QSize& hint) -> std::optional<QSize> {
if (hint.width() <= 0 && hint.height() <= 0) {
return std::nullopt;
}
struct SensorUiState {
std::shared_ptr<MutableValue<QString>> link_icon =
std::make_shared<MutableValue<QString>>(QString::fromLatin1(material::icon::kAddLink));
std::shared_ptr<MutableValue<QVector<PointData>>> heatmap_data =
std::make_shared<MutableValue<QVector<PointData>>>();
std::shared_ptr<MutableValue<QSize>> heatmap_matrix =
std::make_shared<MutableValue<QSize>>();
std::shared_ptr<MutableValue<QStringList>> port_items =
std::make_shared<MutableValue<QStringList>>();
QString selected_port;
std::uint32_t selected_baud = 115200;
std::unique_ptr<SensorStreamController> controller;
if (hint.width() > 0 && hint.height() > 0) {
const auto cells = static_cast<std::size_t>(hint.width()) *
static_cast<std::size_t>(hint.height());
if (cells == value_count) {
return hint;
}
}
SensorUiState() {
const QSize size{3, 4};
heatmap_matrix->set_silent(size);
heatmap_data->set_silent(make_flat_points(size));
// 初始化串口列表
QStringList ports_list;
const auto ports = ffmsep::CPStreamCore::list_available_ports();
ports_list.reserve(static_cast<qsizetype>(ports.size()));
for (const auto& info : ports) {
ports_list.emplace_back(QString::fromStdString(info.port));
}
port_items->set_silent(ports_list);
if (selected_port.isEmpty() && !ports_list.isEmpty()) {
selected_port = ports_list.front();
}
controller = std::make_unique<SensorStreamController>(heatmap_data, heatmap_matrix);
}
};
if (hint.width() > 0) {
const auto width = static_cast<std::size_t>(hint.width());
if (width != 0U && (value_count % width) == 0U) {
const auto height = static_cast<int>(value_count / width);
return QSize{hint.width(), height};
}
}
if (hint.height() > 0) {
const auto height = static_cast<std::size_t>(hint.height());
if (height != 0U && (value_count % height) == 0U) {
const auto width = static_cast<int>(value_count / height);
return QSize{width, hint.height()};
}
}
return std::nullopt;
};
if (auto adjusted = adapt_from(candidate)) {
return *adjusted;
}
if (auto adjusted = adapt_from(matrix_context_->get())) {
return *adjusted;
}
const auto root = static_cast<int>(std::sqrt(static_cast<double>(value_count)));
for (int width = root; width >= 1; --width) {
const auto divisor = static_cast<std::size_t>(width);
if (divisor == 0U) {
continue;
}
if ((value_count % divisor) == 0U) {
const auto height = static_cast<int>(value_count / divisor);
return QSize{width, height};
}
}
return QSize{static_cast<int>(value_count), 1};
}
std::shared_ptr<MutableValue<QVector<PointData>>> heatmap_data_;
std::shared_ptr<MutableValue<QSize>> matrix_context_;
std::unique_ptr<ffmsep::CPStreamCore> core_;
QString active_port_;
QString last_error_;
bool connected_ = false;
};
struct SensorUiState {
std::shared_ptr<MutableValue<QString>> link_icon =
std::make_shared<MutableValue<QString>>(QString::fromLatin1(material::icon::kAddLink));
std::shared_ptr<MutableValue<QVector<PointData>>> heatmap_data =
std::make_shared<MutableValue<QVector<PointData>>>();
std::shared_ptr<MutableValue<QSize>> heatmap_matrix =
std::make_shared<MutableValue<QSize>>();
std::shared_ptr<MutableValue<QStringList>> port_items =
std::make_shared<MutableValue<QStringList>>();
QString selected_port;
std::uint32_t selected_baud = 115200;
std::unique_ptr<SensorStreamController> controller;
SensorUiState() {
const QSize size{3, 4};
heatmap_matrix->set_silent(size);
heatmap_data->set_silent(make_flat_points(size));
// 初始化串口列表
QStringList ports_list;
const auto ports = ffmsep::CPStreamCore::list_available_ports();
ports_list.reserve(static_cast<qsizetype>(ports.size()));
for (const auto& info : ports) {
ports_list.emplace_back(QString::fromStdString(info.port));
}
port_items->set_silent(ports_list);
if (selected_port.isEmpty() && !ports_list.isEmpty()) {
selected_port = ports_list.front();
}
controller = std::make_unique<SensorStreamController>(heatmap_data, heatmap_matrix);
}
};
SensorUiState& sensor_state() {
static SensorUiState state;
@@ -418,10 +418,10 @@ static auto ComConfigComponent(ThemeManager& manager) {
auto& sensor = sensor_state();
auto link_icon_context = sensor.link_icon;
// 串口下拉：改为绑定可变数据源，初始值由 SensorUiState 构造时填充
if (sensor.selected_port.isEmpty() && !sensor.port_items->get().isEmpty()) {
sensor.selected_port = sensor.port_items->get().front();
}
// 串口下拉：改为绑定可变数据源，初始值由 SensorUiState 构造时填充
if (sensor.selected_port.isEmpty() && !sensor.port_items->get().isEmpty()) {
sensor.selected_port = sensor.port_items->get().front();
}
const QStringList baud_items{
QString::fromLatin1("9600"),
@@ -440,21 +440,21 @@ static auto ComConfigComponent(ThemeManager& manager) {
// slogen_context,
// },
// },
lnpro::Item<MatSelect> {
slpro::ThemeManager {manager},
slpro::LeadingIcon {material::icon::kArrowDropDown, material::regular::font},
slpro::IndexChanged {[sensor_ptr = &sensor](auto& self){
const auto text = self.currentText();
if (!text.isEmpty()) {
sensor_ptr->selected_port = text;
}
}},
slpro::LeadingText {"COM"},
MutableForward {
slpro::SelectItems {},
sensor.port_items,
},
},
lnpro::Item<MatSelect> {
slpro::ThemeManager {manager},
slpro::LeadingIcon {material::icon::kArrowDropDown, material::regular::font},
slpro::IndexChanged {[sensor_ptr = &sensor](auto& self){
const auto text = self.currentText();
if (!text.isEmpty()) {
sensor_ptr->selected_port = text;
}
}},
slpro::LeadingText {"COM"},
MutableForward {
slpro::SelectItems {},
sensor.port_items,
},
},
lnpro::Item<MatSelect> {
slpro::ThemeManager {manager },
slpro::LeadingIcon { material::icon::kArrowDropDown, material::regular::font},
@@ -484,10 +484,10 @@ static auto ComConfigComponent(ThemeManager& manager) {
if (!sensor.controller) {
return;
}
if (sensor.controller->is_connected()) {
sensor.controller->stop();
link_icon_context->set(QString::fromLatin1(material::icon::kAddLink));
} else {
if (sensor.controller->is_connected()) {
sensor.controller->stop();
link_icon_context->set(QString::fromLatin1(material::icon::kAddLink));
} else {
const auto port = sensor.selected_port;
const auto baud = sensor.selected_baud == 0U ? 115200U : sensor.selected_baud;
if (sensor.controller->start(port, baud)) {
@@ -501,34 +501,34 @@ static auto ComConfigComponent(ThemeManager& manager) {
}
} }
},
lnpro::Item<IconButton> {
ibpro::ThemeManager { manager },
ibpro::FixedSize { 40, 40 },
ibpro::Color { IconButton::Color::TONAL },
ibpro::Font { material::kRoundSmallFont },
ibpro::FontIcon { material::icon::kRefresh },
ibpro::Clickable {[&sensor] {
// 刷新串口列表
QStringList ports_list;
const auto ports = ffmsep::CPStreamCore::list_available_ports();
ports_list.reserve(static_cast<qsizetype>(ports.size()));
for (const auto& info : ports) {
ports_list.emplace_back(QString::fromStdString(info.port));
}
// 保持原选择（若仍然存在）
if (!sensor.selected_port.isEmpty()) {
const bool exists = ports_list.contains(sensor.selected_port);
if (!exists) {
sensor.selected_port = ports_list.isEmpty() ? QString{} : ports_list.front();
}
} else if (!ports_list.isEmpty()) {
sensor.selected_port = ports_list.front();
}
sensor.port_items->set(std::move(ports_list));
}},
},
lnpro::Item<IconButton> {
ibpro::ThemeManager { manager },
ibpro::FixedSize { 40, 40 },
ibpro::Color { IconButton::Color::TONAL },
ibpro::Font { material::kRoundSmallFont },
ibpro::FontIcon { material::icon::kRefresh },
ibpro::Clickable {[&sensor] {
// 刷新串口列表
QStringList ports_list;
const auto ports = ffmsep::CPStreamCore::list_available_ports();
ports_list.reserve(static_cast<qsizetype>(ports.size()));
for (const auto& info : ports) {
ports_list.emplace_back(QString::fromStdString(info.port));
}
// 保持原选择（若仍然存在）
if (!sensor.selected_port.isEmpty()) {
const bool exists = ports_list.contains(sensor.selected_port);
if (!exists) {
sensor.selected_port = ports_list.isEmpty() ? QString{} : ports_list.front();
}
} else if (!ports_list.isEmpty()) {
sensor.selected_port = ports_list.front();
}
sensor.port_items->set(std::move(ports_list));
}},
},
};
return new Widget {