feat:heapmap with value;fix:qcustomplot warning

components/ffmsep/cpstream_core.cc

@@ -1,5 +1,8 @@
 #include "components/ffmsep/cpstream_core.hh"
 
+#include "components/ffmsep/presist/presist.hh"
+#include "dlog/dlog.hh"
+
 #include <algorithm>
 #include <atomic>
 #include <chrono>
@@ -7,19 +10,21 @@
 #include <cstddef>
 #include <cstdint>
 #include <deque>
+#include <future>
 #include <memory>
 #include <mutex>
 #include <optional>
 #include <thread>
 #include <utility>
 #include <vector>
+using namespace std::chrono_literals;
 
 namespace ffmsep {
 
 namespace {
 
-constexpr auto kReaderIdleSleep = std::chrono::milliseconds(5);
-constexpr auto kDecoderIdleSleep = std::chrono::milliseconds(1);
+constexpr auto kReaderIdleSleep = 5ms;
+constexpr auto kDecoderIdleSleep = 1ms;
 
 const CPCodec* resolve_requested_codec(const CPStreamConfig& config) {
     if (!config.codec_name.empty()) {
@@ -48,6 +53,7 @@ struct CPStreamCore::Impl {
     explicit Impl(CPStreamConfig config)
         : config_(std::move(config)) {
         normalize_config();
+        frame_writer_ = std::make_unique<persist::JsonWritter>();
     }
 
     ~Impl() = default;
@@ -63,7 +69,7 @@ struct CPStreamCore::Impl {
             config_.frame_queue_capacity = 1U;
         }
         if (config_.slave_request_interval.count() < 0) {
-            config_.slave_request_interval = std::chrono::milliseconds{0};
+            config_.slave_request_interval = 0ms;
         }
         frame_queue_capacity_ = config_.frame_queue_capacity;
     }
@@ -115,7 +121,7 @@ struct CPStreamCore::Impl {
             serial->flush();
 
             {
-                std::lock_guard lock(serial_mutex_);
+                std::lock_guard<std::mutex> lock(serial_mutex_);
                 serial_ = std::move(serial);
             }
         } catch (const serial::IOException& ex) {
@@ -139,11 +145,11 @@ struct CPStreamCore::Impl {
         }
 
         {
-            std::lock_guard lock(packet_mutex_);
+            std::lock_guard<std::mutex> lock(packet_mutex_);
             packet_queue_.clear();
         }
         {
-            std::lock_guard lock(frame_mutex_);
+            std::lock_guard<std::mutex> lock(frame_mutex_);
             frame_queue_.clear();
         }
         pts_counter_.store(0, std::memory_order_relaxed);
@@ -164,7 +170,7 @@ struct CPStreamCore::Impl {
         stop();
 
         {
-            std::lock_guard lock(serial_mutex_);
+            std::lock_guard<std::mutex> lock(serial_mutex_);
             if (serial_) {
                 try {
                     if (serial_->isOpen()) {
@@ -184,12 +190,13 @@ struct CPStreamCore::Impl {
         }
 
         {
-            std::lock_guard lock(packet_mutex_);
+            std::lock_guard<std::mutex> lock(packet_mutex_);
             packet_queue_.clear();
         }
         {
-            std::lock_guard lock(frame_mutex_);
+            std::lock_guard<std::mutex> lock(frame_mutex_);
             frame_queue_.clear();
+            frame_record_queue_.clear();
         }
     }
 
@@ -200,7 +207,7 @@ struct CPStreamCore::Impl {
 
         std::shared_ptr<serial::Serial> serial_copy;
         {
-            std::lock_guard lock(serial_mutex_);
+            std::lock_guard<std::mutex> lock(serial_mutex_);
             serial_copy = serial_;
         }
         if (!serial_copy || !serial_copy->isOpen()) {
@@ -249,7 +256,7 @@ struct CPStreamCore::Impl {
         stop_requested_.store(false, std::memory_order_release);
 
         {
-            std::lock_guard lock(packet_mutex_);
+            std::lock_guard<std::mutex> lock(packet_mutex_);
             packet_queue_.clear();
         }
 
@@ -259,7 +266,7 @@ struct CPStreamCore::Impl {
     }
 
     bool is_open() const {
-        std::lock_guard lock(serial_mutex_);
+        std::lock_guard<std::mutex> lock(serial_mutex_);
         return serial_ && serial_->isOpen();
     }
 
@@ -278,7 +285,7 @@ struct CPStreamCore::Impl {
 
         std::shared_ptr<serial::Serial> serial_copy;
         {
-            std::lock_guard lock(serial_mutex_);
+            std::lock_guard<std::mutex> lock(serial_mutex_);
             serial_copy = serial_;
         }
 
@@ -300,17 +307,17 @@ struct CPStreamCore::Impl {
         return false;
     }
 
-    std::optional<DecodedFrame> try_pop_frame() {
-        std::lock_guard lock(frame_mutex_);
+    std::optional<std::shared_ptr<DecodedFrame>> try_pop_frame() {
+        std::lock_guard<std::mutex> lock(frame_mutex_);
         if (frame_queue_.empty()) {
             return std::nullopt;
         }
-        DecodedFrame frame = std::move(frame_queue_.front());
+        std::shared_ptr<DecodedFrame> frame = std::move(frame_queue_.front());
         frame_queue_.pop_front();
         return frame;
     }
 
-    bool wait_for_frame(DecodedFrame& frame, std::chrono::milliseconds timeout) {
+    bool wait_for_frame(std::shared_ptr<DecodedFrame>& frame, std::chrono::milliseconds timeout) {
         std::unique_lock lock(frame_mutex_);
         if (!frame_cv_.wait_for(lock, timeout, [&] {
                 return !frame_queue_.empty();
@@ -323,7 +330,7 @@ struct CPStreamCore::Impl {
     }
 
     void clear_frames() {
-        std::lock_guard lock(frame_mutex_);
+        std::lock_guard<std::mutex> lock(frame_mutex_);
         frame_queue_.clear();
     }
 
@@ -332,7 +339,7 @@ struct CPStreamCore::Impl {
             capacity = 1U;
         }
         {
-            std::lock_guard lock(frame_mutex_);
+            std::lock_guard<std::mutex> lock(frame_mutex_);
             frame_queue_capacity_ = capacity;
             config_.frame_queue_capacity = capacity;
             while (frame_queue_.size() > frame_queue_capacity_) {
@@ -341,8 +348,46 @@ struct CPStreamCore::Impl {
         }
     }
 
+    void clear_recorded_frames() {
+        std::lock_guard<std::mutex> lock(frame_mutex_);
+        frame_record_queue_.clear();
+    }
+
+    std::size_t recorded_frame_count() const {
+        std::lock_guard<std::mutex> lock(frame_mutex_);
+        return frame_record_queue_.size();
+    }
+
+    std::future<persist::WriteResult> export_recorded_frames(const std::string& path, bool clear_after_export) {
+        if (!frame_writer_) {
+            frame_writer_ = std::make_unique<persist::JsonWritter>();
+        }
+
+        std::deque<std::shared_ptr<DecodedFrame>> snapshot;
+        {
+            std::lock_guard<std::mutex> lock(frame_mutex_);
+            snapshot = frame_record_queue_;
+            if (clear_after_export) {
+                frame_record_queue_.clear();
+            }
+        }
+
+        if (snapshot.empty()) {
+            std::promise<persist::WriteResult> promise;
+            auto future = promise.get_future();
+            promise.set_value(persist::WriteResult{
+                false,
+                "no recorded frames available",
+                path
+            });
+            return future;
+        }
+
+        return frame_writer_->enqueue(path, std::move(snapshot));
+    }
+
     void set_frame_callback(FrameCallback callback) {
-        std::lock_guard lock(callback_mutex_);
+        std::lock_guard<std::mutex> lock(callback_mutex_);
         frame_callback_ = std::move(callback);
     }
 
@@ -351,7 +396,7 @@ struct CPStreamCore::Impl {
     }
 
     std::string last_error() const {
-        std::lock_guard lock(last_error_mutex_);
+        std::lock_guard<std::mutex> lock(last_error_mutex_);
         return last_error_;
     }
 
@@ -365,7 +410,7 @@ struct CPStreamCore::Impl {
         while (!stop_requested_.load(std::memory_order_acquire)) {
             std::shared_ptr<serial::Serial> serial_copy;
             {
-                std::lock_guard lock(serial_mutex_);
+                std::lock_guard<std::mutex> lock(serial_mutex_);
                 serial_copy = serial_;
             }
             if (!serial_copy || !serial_copy->isOpen()) {
@@ -400,7 +445,7 @@ struct CPStreamCore::Impl {
             packet.pts = pts_counter_.fetch_add(1, std::memory_order_relaxed);
 
             {
-                std::lock_guard lock(packet_mutex_);
+                std::lock_guard<std::mutex> lock(packet_mutex_);
                 if (packet_queue_.size() >= config_.packet_queue_capacity) {
                     packet_queue_.pop_front();
                 }
@@ -414,7 +459,7 @@ struct CPStreamCore::Impl {
         const auto command = config_.slave_request_command;
         auto interval = config_.slave_request_interval;
         if (interval.count() < 0) {
-            interval = std::chrono::milliseconds{0};
+            interval = 0ms;
         }
         const bool repeat = interval.count() > 0;
 
@@ -484,23 +529,24 @@ struct CPStreamCore::Impl {
                 CPFrame frame;
                 rc = cpcodec_receive_frame(codec_ctx_, &frame);
                 if (rc == CP_SUCCESS) {
-                    DecodedFrame decoded;
-                    decoded.pts = frame.pts;
-                    decoded.received_at = std::chrono::steady_clock::now();
-                    decoded.frame = std::move(frame);
-                    if (codec_descriptor_ && codec_descriptor_->id == CPCodecID::Tactile) {
-                        if (auto parsed = tactile::parse_frame(decoded.frame)) {
-                            decoded.tactile = parsed;
-                            decoded.tactile_pressures = tactile::parse_pressure_values(*parsed);
+                    auto decoded = std::make_shared<DecodedFrame>();
+                    decoded->pts = frame.pts;
+                    decoded->received_at = std::chrono::steady_clock::now();
+                    decoded->frame = std::move(frame);
+                    decoded->id = codec_descriptor_ ? codec_descriptor_->id : CPCodecID::Unknow;
+                    if (decoded->id == CPCodecID::Tactile) {
+                        if (auto parsed = tactile::parse_frame(decoded->frame)) {
+                            decoded->tactile = parsed;
+                            decoded->tactile_pressures = tactile::parse_pressure_values(*parsed);
                             if (auto matrix = tactile::parse_matrix_size_payload(*parsed)) {
-                                decoded.tactile_matrix_size = matrix;
+                                decoded->tactile_matrix_size = matrix;
                             }
                         }
                     }
 
                     FrameCallback callback_copy;
                     {
-                        std::lock_guard lock(callback_mutex_);
+                        std::lock_guard<std::mutex> lock(callback_mutex_);
                         callback_copy = frame_callback_;
                     }
                     if (callback_copy) {
@@ -508,11 +554,14 @@ struct CPStreamCore::Impl {
                     }
 
                     {
-                        std::lock_guard lock(frame_mutex_);
+                        std::lock_guard<std::mutex> lock(frame_mutex_);
                         if (frame_queue_.size() >= frame_queue_capacity_) {
                             frame_queue_.pop_front();
                         }
-                        frame_queue_.push_back(std::move(decoded));
+                        frame_queue_.push_back(decoded);
+                        if (decoded->id == CPCodecID::Tactile) {
+                            frame_record_queue_.push_back(decoded);
+                        }
                     }
                     frame_cv_.notify_one();
                 } else if (rc == CP_ERROR_EAGAIN) {
@@ -536,7 +585,7 @@ struct CPStreamCore::Impl {
         packet.flush = true;
         packet.end_of_stream = end_of_stream;
         {
-            std::lock_guard lock(packet_mutex_);
+            std::lock_guard<std::mutex> lock(packet_mutex_);
             packet_queue_.push_back(std::move(packet));
         }
         packet_cv_.notify_one();
@@ -554,7 +603,7 @@ struct CPStreamCore::Impl {
     }
 
     void set_last_error(std::string message) {
-        std::lock_guard lock(last_error_mutex_);
+        std::lock_guard<std::mutex> lock(last_error_mutex_);
         last_error_ = std::move(message);
     }
 
@@ -574,9 +623,12 @@ struct CPStreamCore::Impl {
     std::condition_variable packet_cv_;
     std::deque<Packet> packet_queue_;
 
-    std::mutex frame_mutex_;
+    mutable std::mutex frame_mutex_;
     std::condition_variable frame_cv_;
-    std::deque<DecodedFrame> frame_queue_;
+    // std::deque<DecodedFrame> frame_queue_;
+    // 更新为智能指针，我们需要更长的生命周期😊
+    std::deque<std::shared_ptr<DecodedFrame>> frame_queue_;
+    std::deque<std::shared_ptr<DecodedFrame>> frame_record_queue_;
     std::size_t frame_queue_capacity_ = 16;
 
     FrameCallback frame_callback_;
@@ -588,6 +640,8 @@ struct CPStreamCore::Impl {
 
     std::string last_error_;
     mutable std::mutex last_error_mutex_;
+
+    std::unique_ptr<persist::JsonWritter> frame_writer_;
 };
 
 CPStreamCore::CPStreamCore(CPStreamConfig config)
@@ -640,11 +694,11 @@ bool CPStreamCore::send(const std::uint8_t* data, std::size_t size) {
     return impl_->send(data, size);
 }
 
-std::optional<DecodedFrame> CPStreamCore::try_pop_frame() {
+std::optional<std::shared_ptr<DecodedFrame>> CPStreamCore::try_pop_frame() {
     return impl_->try_pop_frame();
 }
 
-bool CPStreamCore::wait_for_frame(DecodedFrame& frame, std::chrono::milliseconds timeout) {
+bool CPStreamCore::wait_for_frame(std::shared_ptr<DecodedFrame>& frame, std::chrono::milliseconds timeout) {
     return impl_->wait_for_frame(frame, timeout);
 }
 
@@ -656,6 +710,18 @@ void CPStreamCore::set_frame_queue_capacity(std::size_t capacity) {
     impl_->set_frame_queue_capacity(capacity);
 }
 
+void CPStreamCore::clear_recorded_frames() {
+    impl_->clear_recorded_frames();
+}
+
+std::size_t CPStreamCore::recorded_frame_count() const {
+    return impl_->recorded_frame_count();
+}
+
+std::future<persist::WriteResult> CPStreamCore::export_recorded_frames(const std::string& path, bool clear_after_export) {
+    return impl_->export_recorded_frames(path, clear_after_export);
+}
+
 void CPStreamCore::set_frame_callback(FrameCallback callback) {
     impl_->set_frame_callback(std::move(callback));
 }

components/ffmsep/cpstream_core.hh

@@ -5,16 +5,23 @@
 #include <chrono>
 #include <cstdint>
 #include <functional>
+#include <future>
 #include <memory>
 #include <optional>
 #include <serial/serial.h>
 #include <string>
 #include <vector>
+using namespace std::chrono_literals;
 
 namespace ffmsep {
 
+namespace persist {
+struct WriteResult;
+} // namespace persist
+
 struct DecodedFrame {
     CPFrame frame;
+    CPCodecID id = CPCodecID::Unknow;
     std::chrono::steady_clock::time_point received_at{};
     std::int64_t pts = 0;
     std::optional<tactile::TactileFrame> tactile;
@@ -36,12 +43,12 @@ struct CPStreamConfig {
     CPCodecID codec_id = CPCodecID::Unknow;
     std::string codec_name;
     std::vector<std::uint8_t> slave_request_command{};
-    std::chrono::milliseconds slave_request_interval{200};
+    std::chrono::milliseconds slave_request_interval{200ms};
 };
 
 class CPStreamCore {
 public:
-    using FrameCallback = std::function<void(const DecodedFrame&)>;
+    using FrameCallback = std::function<void(std::shared_ptr<DecodedFrame>)>;
 
     explicit CPStreamCore(CPStreamConfig config = {});
     ~CPStreamCore();
@@ -63,10 +70,14 @@ public:
     bool send(const std::vector<std::uint8_t>& data);
     bool send(const std::uint8_t* data, std::size_t size);
 
-    std::optional<DecodedFrame> try_pop_frame();
-    bool wait_for_frame(DecodedFrame& frame, std::chrono::milliseconds timeout);
+    std::optional<std::shared_ptr<DecodedFrame>> try_pop_frame();
+    bool wait_for_frame(std::shared_ptr<DecodedFrame>& frame, std::chrono::milliseconds timeout);
     void clear_frames();
     void set_frame_queue_capacity(std::size_t capacity);
+    void clear_recorded_frames();
+    [[nodiscard]] std::size_t recorded_frame_count() const;
+    std::future<persist::WriteResult> export_recorded_frames(const std::string& path,
+                                                             bool clear_after_export = false);
 
     void set_frame_callback(FrameCallback callback);
 
@@ -75,6 +86,8 @@ public:
 
     static std::vector<serial::PortInfo> list_available_ports();
 
+
+
 private:
     struct Impl;
     std::unique_ptr<Impl> impl_;

components/ffmsep/presist/presist.cc

@@ -0,0 +1,186 @@
+//
+// Created by Lenn on 2025/10/31.
+//
+
+#include "components/ffmsep/presist/presist.hh"
+
+#include "components/ffmsep/cpstream_core.hh"
+
+#include <chrono>
+#include <filesystem>
+#include <fstream>
+#include <iomanip>
+#include <system_error>
+#include <nlohmann/json.hpp>
+
+namespace ffmsep::persist {
+
+namespace {
+
+using nlohmann::json;
+
+json serialize_tactile_frame(const DecodedFrame& frame) {
+    json result = {
+        {"pts", frame.pts},
+        {"raw_frame", frame.frame.data},
+        {"pressures", frame.tactile_pressures},
+    };
+
+    const auto received = frame.received_at.time_since_epoch();
+    result["received_at_ns"] =
+        std::chrono::duration_cast<std::chrono::nanoseconds>(received).count();
+
+    if (frame.tactile_matrix_size) {
+        result["matrix"] = {
+            {"long_edge", frame.tactile_matrix_size->long_edge},
+            {"short_edge", frame.tactile_matrix_size->short_edge},
+        };
+    }
+
+    if (frame.tactile) {
+        const auto& tactile = *frame.tactile;
+        result["tactile"] = {
+            {"device_address", tactile.device_address},
+            {"response_function", tactile.response_function},
+            {"function", static_cast<std::uint8_t>(tactile.function)},
+            {"start_address", tactile.start_address},
+            {"return_byte_count", tactile.return_byte_count},
+            {"status", tactile.status},
+            {"payload", tactile.payload},
+        };
+    }
+
+    return result;
+}
+
+} // namespace
+
+bool WriteQueue::push(WriteRequest&& req) {
+    {
+        std::lock_guard<std::mutex> lock(mutex_);
+        if (stopped_) {
+            return false;
+        }
+        queue_.push(std::move(req));
+    }
+    cond_.notify_one();
+    return true;
+}
+
+bool WriteQueue::pop(WriteRequest& out) {
+    std::unique_lock lock(mutex_);
+    cond_.wait(lock, [&] {
+        return stopped_ || !queue_.empty();
+    });
+
+    if (queue_.empty()) {
+        return false;
+    }
+
+    out = std::move(queue_.front());
+    queue_.pop();
+    return true;
+}
+
+void WriteQueue::stop() {
+    {
+        std::lock_guard<std::mutex> lock(mutex_);
+        stopped_ = true;
+    }
+    cond_.notify_all();
+}
+
+JsonWritter::JsonWritter()
+    : write_thread_([this] { run(); }) {}
+
+JsonWritter::~JsonWritter() {
+    stop();
+}
+
+std::future<WriteResult> JsonWritter::enqueue(std::string path,
+                                              std::deque<std::shared_ptr<DecodedFrame>> frames) {
+    std::promise<WriteResult> promise;
+    auto future = promise.get_future();
+
+    WriteRequest request{std::move(path), std::move(frames), std::move(promise)};
+    if (!write_queue_.push(std::move(request))) {
+        WriteResult result{false, "writer has been stopped", request.path};
+        request.promise.set_value(std::move(result));
+    }
+
+    return future;
+}
+
+void JsonWritter::run() {
+    WriteRequest request;
+    while (write_queue_.pop(request)) {
+        try {
+            auto result = write_once(request.path, std::move(request.frames));
+            request.promise.set_value(std::move(result));
+        } catch (const std::exception& ex) {
+            request.promise.set_value(WriteResult{false, ex.what(), request.path});
+        } catch (...) {
+            request.promise.set_value(WriteResult{false, "unknown error", request.path});
+        }
+    }
+}
+
+WriteResult JsonWritter::write_once(const std::string& path,
+                                    std::deque<std::shared_ptr<DecodedFrame>> frames) {
+    if (path.empty()) {
+        return {false, "export path is empty", path};
+    }
+
+    json tactile_frames = json::array();
+
+    for (const auto& frame : frames) {
+        if (!frame) {
+            continue;
+        }
+        if (frame->id != CPCodecID::Tactile || !frame->tactile) {
+            continue;
+        }
+        tactile_frames.push_back(serialize_tactile_frame(*frame));
+    }
+
+    if (tactile_frames.empty()) {
+        return {false, "no tactile frames available for export", path};
+    }
+
+    json root;
+    root["codec"] = "tactile";
+    root["frames"] = std::move(tactile_frames);
+
+    std::filesystem::path fs_path(path);
+    if (fs_path.has_parent_path()) {
+        std::error_code ec;
+        std::filesystem::create_directories(fs_path.parent_path(), ec);
+        if (ec) {
+            return {false, "failed to create export directory: " + ec.message(), path};
+        }
+    }
+
+    std::ofstream stream(path, std::ios::binary | std::ios::trunc);
+    if (!stream.is_open()) {
+        return {false, "failed to open export file", path};
+    }
+
+    stream << std::setw(2) << root;
+    stream.flush();
+    if (!stream.good()) {
+        return {false, "failed to write export file", path};
+    }
+
+    return {true, {}, path};
+}
+
+void JsonWritter::stop() {
+    if (!stopped_.exchange(true)) {
+        write_queue_.stop();
+        if (write_thread_.joinable()) {
+            write_thread_.join();
+        }
+    }
+}
+
+} // namespace ffmsep::persist

components/ffmsep/presist/presist.hh

@@ -0,0 +1,86 @@
+//
+// Created by Lenn on 2025/10/31.
+//
+
+#ifndef TOUCHSENSOR_PRESIST_HH
+#define TOUCHSENSOR_PRESIST_HH
+
+#include <atomic>
+#include <condition_variable>
+#include <deque>
+#include <future>
+#include <memory>
+#include <mutex>
+#include <queue>
+#include <string>
+#include <thread>
+
+namespace ffmsep {
+
+struct DecodedFrame;
+
+namespace persist {
+
+struct WriteResult {
+    bool ok = false;
+    std::string error;
+    std::string path;
+};
+
+struct WriteRequest {
+    WriteRequest() = default;
+    WriteRequest(std::string p,
+                 std::deque<std::shared_ptr<DecodedFrame>> f,
+                 std::promise<WriteResult>&& pr)
+        : path(std::move(p))
+        , frames(std::move(f))
+        , promise(std::move(pr)) {}
+
+    WriteRequest(const WriteRequest&) = delete;
+    WriteRequest& operator=(const WriteRequest&) = delete;
+    WriteRequest(WriteRequest&&) noexcept = default;
+    WriteRequest& operator=(WriteRequest&&) noexcept = default;
+
+    std::string path;
+    std::deque<std::shared_ptr<DecodedFrame>> frames;
+    std::promise<WriteResult> promise;
+};
+
+class WriteQueue {
+public:
+    bool push(WriteRequest&& req);
+    bool pop(WriteRequest& out);
+    void stop();
+
+private:
+    std::mutex mutex_;
+    std::condition_variable cond_;
+    std::queue<WriteRequest> queue_;
+    bool stopped_ = false;
+};
+
+class JsonWritter {
+public:
+    JsonWritter();
+    ~JsonWritter();
+
+    std::future<WriteResult> enqueue(std::string path,
+                                     std::deque<std::shared_ptr<DecodedFrame>> frames);
+
+    void stop();
+
+private:
+    void run();
+    WriteResult write_once(const std::string& path,
+                           std::deque<std::shared_ptr<DecodedFrame>> frames);
+
+private:
+    std::thread write_thread_;
+    WriteQueue write_queue_;
+    std::atomic_bool stopped_{false};
+};
+
+} // namespace persist
+} // namespace ffmsep
+
+#endif // TOUCHSENSOR_PRESIST_HH