leida_simi/io_utils.cpp

// io_utils.cpp - 通用 IO 工具实现
#include "io_utils.h"
#include "config.h"

#include <fstream>
#include <sstream>
#include <iomanip>
#include <iostream>
#include <mutex>
#include <ctime>
#include <algorithm>
#include <cstdio>

// stb single-header JPEG 编码器（实现仅保留在本文件，全工程只定义一次）
#define STB_IMAGE_WRITE_IMPLEMENTATION
#include "PAVO2_SDK/include/stb_image_write.h"

#ifdef _WIN32
#include <direct.h>   // _mkdir
#include <windows.h>
#include <io.h>
#include <iostream>
#include <cerrno>
#else
#include <sys/stat.h>
#include <unistd.h>
#include <dirent.h>
#include <cerrno>
#endif

std::string trim_str(const std::string& s)
{
    size_t b = s.find_first_not_of(" \t\r\n");
    if (b == std::string::npos) return "";
    size_t e = s.find_last_not_of(" \t\r\n");
    return s.substr(b, e - b + 1);
}

std::string gbk_to_utf8(const std::string& s)
{
#ifdef _WIN32
    if (s.empty()) return s;
    int wlen = MultiByteToWideChar(CP_ACP, 0, s.c_str(), (int)s.size(), nullptr, 0);
    if (wlen <= 0) return s;
    std::wstring wbuf(wlen, L'\0');
    MultiByteToWideChar(CP_ACP, 0, s.c_str(), (int)s.size(), &wbuf[0], wlen);
    int ulen = WideCharToMultiByte(CP_UTF8, 0, wbuf.c_str(), wlen, nullptr, 0, nullptr, nullptr);
    if (ulen <= 0) return s;
    std::string ubuf(ulen, '\0');
    WideCharToMultiByte(CP_UTF8, 0, wbuf.c_str(), wlen, &ubuf[0], ulen, nullptr, nullptr);
    return ubuf;
#else
    return s;
#endif
}

#ifdef _WIN32
static bool mkdir_one(const std::string& path) { return _mkdir(path.c_str()) == 0 || errno == EEXIST; }
#else
static bool mkdir_one(const std::string& path) { return mkdir(path.c_str(), 0777) == 0 || errno == EEXIST; }
#endif

bool make_dirs(const std::string& path)
{
    if (path.empty()) return false;
    std::string cur;
    size_t pos = 0;
    while (pos <= path.size()) {
        size_t slash = path.find_first_of("/\\", pos);
        cur += path.substr(pos, (slash == std::string::npos ? path.size() : slash) - pos);
        if (!cur.empty() && cur != ".") {
            if (!mkdir_one(cur) && errno != EEXIST) return false;
        }
        if (slash == std::string::npos) break;
        cur += '/';
        pos = slash + 1;
    }
    return true;
}

std::string make_task_dir(const std::string& task_id)
{
    std::string base = "data";
    make_dirs(base);
    time_t rawtime = std::time(nullptr);
    struct tm tmv;
#ifdef _WIN32
    localtime_s(&tmv, &rawtime);          // std::localtime 返回静态 tm，多线程并发会互相踩踏
#else
    localtime_r(&rawtime, &tmv);
#endif
    struct tm* t = &tmv;
    char date_buf[16], time_buf[16];
    std::strftime(date_buf, sizeof(date_buf), "%Y%m%d", t);
    std::strftime(time_buf, sizeof(time_buf), "%H%M%S", t);
    std::string day_dir = base + "/" + date_buf;
    make_dirs(day_dir);
    std::string task_dir = day_dir + "/" + time_buf;
    if (!task_id.empty()) task_dir += "_" + task_id;
    else                  task_dir += "_";
    make_dirs(task_dir);
    return task_dir;
}

// Windows 递归删除目录（含只读文件），直接用 API，不弹 cmd 黑窗
#ifdef _WIN32
static bool remove_dir_recursive(const std::wstring& dir)
{
    std::wstring pattern = dir + L"\\*";
    WIN32_FIND_DATAW fd;
    HANDLE h = FindFirstFileW(pattern.c_str(), &fd);
    if (h == INVALID_HANDLE_VALUE)
        return RemoveDirectoryW(dir.c_str()) != 0;

    do {
        std::wstring name = fd.cFileName;
        if (name == L"." || name == L"..") continue;
        std::wstring full = dir + L"\\" + name;
        if (fd.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY) {
            remove_dir_recursive(full);              // 子目录删不掉不致命，继续删其它
        } else {
            DWORD attrs = GetFileAttributesW(full.c_str());
            if (attrs != INVALID_FILE_ATTRIBUTES && (attrs & FILE_ATTRIBUTE_READONLY))
                SetFileAttributesW(full.c_str(), attrs & ~FILE_ATTRIBUTE_READONLY);
            DeleteFileW(full.c_str());
        }
    } while (FindNextFileW(h, &fd));
    FindClose(h);
    return RemoveDirectoryW(dir.c_str()) != 0;
}
#endif

// 清理 data/日期 下早于 cfg.log.retain_days 天的过期日期目录（保留最近 N 天）
// 在程序启动与每日 01:00 调用。目录名 YYYYMMDD 为纯数字，字典序即日期序。
void clean_expired_log_dirs()
{
    std::cout << "[清理] 定时检查过期日志目录 (保留最近 " << cfg.log.retain_days << " 天)" << std::endl;
    if (cfg.log.retain_days <= 0) { std::cout << "[清理] 已禁用(cfg.log.retain_days<=0), 跳过" << std::endl; return; }
#ifdef _WIN32
    // 截止日期 = 今天 - cfg.log.retain_days 天（用文件时间做减法，避免 localtime/mktime
    // 修改共享 tm 缓冲区，与 make_task_dir 等其它线程并发调用时产生数据竞争）
    SYSTEMTIME st;
    GetLocalTime(&st);
    FILETIME ft;
    SystemTimeToFileTime(&st, &ft);
    ULONGLONG t = ((ULONGLONG)ft.dwHighDateTime << 32) | ft.dwLowDateTime;
    t -= (ULONGLONG)cfg.log.retain_days * 86400ULL * 10000000ULL;   // 100ns 单位
    ft.dwHighDateTime = (DWORD)(t >> 32);
    ft.dwLowDateTime  = (DWORD)t;
    FileTimeToSystemTime(&ft, &st);

    char cutoff[16];
    std::snprintf(cutoff, sizeof(cutoff), "%04u%02u%02u", st.wYear, st.wMonth, st.wDay);

    const std::string base = "data";
    const std::wstring wbase(base.begin(), base.end());
    WIN32_FIND_DATAW fd;
    HANDLE h = FindFirstFileW((wbase + L"\\*").c_str(), &fd);
    if (h == INVALID_HANDLE_VALUE) { std::cout << "[清理] data 目录不存在, 跳过" << std::endl; return; }
    int removed = 0;
    do {
        if (!(fd.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY)) continue;
        std::wstring wname = fd.cFileName;
        if (wname.size() != 8) continue;             // 仅处理 YYYYMMDD
        bool is_num = true;
        for (wchar_t c : wname)
            if (c < L'0' || c > L'9') { is_num = false; break; }
        if (!is_num) continue;

        std::string name(wname.begin(), wname.end());   // 纯数字 ASCII，无损转换
        if (name < cutoff) {                            // 早于截止日期才删
            std::wstring full = wbase + L"\\" + wname;
            if (remove_dir_recursive(full)) {
                std::cout << "[清理] 已删除过期日志目录: data/" << name << std::endl;
                ++removed;
            }
            else
                std::cout << "[清理] 删除失败(可能正被占用): data/" << name << std::endl;
        }
    } while (FindNextFileW(h, &fd));
    FindClose(h);
    std::cout << "[清理] 完成: 本次共删除 " << removed << " 个过期目录" << std::endl;
#endif
}

void save_pcd_ascii(const std::string& filename,
                    const std::vector<double>& xs,
                    const std::vector<double>& ys,
                    const std::vector<double>& zs)
{
    size_t n = xs.size();
    std::ostringstream oss;
    oss << "# .PCD v0.7 - Point Cloud Data file format\n"
        << "VERSION 0.7\n"
        << "FIELDS x y z\n"
        << "SIZE 4 4 4\n"
        << "TYPE F F F\n"
        << "COUNT 1 1 1\n"
        << "WIDTH " << n << "\n"
        << "HEIGHT 1\n"
        << "VIEWPOINT 0 0 0 1 0 0 0\n"
        << "POINTS " << n << "\n"
        << "DATA ascii\n"
        << std::fixed << std::setprecision(1);
    for (size_t i = 0; i < n; i++) {
        oss << xs[i] << " " << ys[i] << " " << zs[i] << "\n";
    }
    std::string buf = oss.str();
    std::ofstream f(filename, std::ios::binary);
    f.write(buf.data(), (std::streamsize)buf.size());
    f.close();
}

bool save_jpg_gray(const std::string& filename, int width, int height,
                   const std::vector<uint8_t>& pixels, int quality)
{
    std::vector<uint8_t> rgb(width * height * 3);
    for (int i = 0; i < width * height; i++) {
        uint8_t v = pixels[i];
        rgb[i * 3 + 0] = v;
        rgb[i * 3 + 1] = v;
        rgb[i * 3 + 2] = v;
    }
    int ret = stbi_write_jpg(filename.c_str(), width, height, 3, rgb.data(), quality);
    return ret != 0;
}

// ==================== 运行日志镜像：控制台 -> data/当天/run.log ====================
// 设计：用自定义 streambuf 接管 std::cout/std::cerr，按行同时写控制台与文件。
//   - 线程安全（TcpServer/采集线程/后台保存线程都会打印）
//   - 跨天自动切换到新的 data/YYYYMMDD/run.log
//   - 对象常驻不释放，避免与 std::cout 的静态析构顺序冲突
namespace
{
    // 当前日期字符串 YYYYMMDD（线程安全）
    static std::string log_today()
    {
        time_t raw = std::time(nullptr);
        struct tm tmv;
#ifdef _WIN32
        localtime_s(&tmv, &raw);
#else
        localtime_r(&raw, &tmv);
#endif
        char buf[16];
        std::strftime(buf, sizeof(buf), "%Y%m%d", &tmv);
        return buf;
    }

    // 日志文件句柄（跨天滚动 + 线程安全）
    class RunLog
    {
    public:
        static RunLog& instance() { static RunLog* p = new RunLog(); return *p; }  // 常驻

        void write(const char* data, std::size_t n)
        {
            if (n == 0) return;
            std::lock_guard<std::mutex> lk(mtx_);
            ensure_open_locked();
            if (file_.is_open()) file_.write(data, (std::streamsize)n);
        }
        void flush()
        {
            std::lock_guard<std::mutex> lk(mtx_);
            if (file_.is_open()) file_.flush();
        }
        void close()
        {
            std::lock_guard<std::mutex> lk(mtx_);
            if (file_.is_open()) { file_.flush(); file_.close(); }
        }
    private:
        RunLog() {}
        void ensure_open_locked()
        {
            std::string day = log_today();
            if (file_.is_open() && day == day_) return;
            file_.close();
            std::string dir = "data/" + day;
            make_dirs(dir);
            file_.open(dir + "/run.log", std::ios::app | std::ios::binary);
            day_ = day;
        }
        std::mutex    mtx_;
        std::ofstream file_;
        std::string   day_;
    };

    // 同时写控制台(原 rdbuf)与 run.log 的 streambuf，按行落盘
    class TeeBuf : public std::streambuf
    {
    public:
        explicit TeeBuf(std::streambuf* console) : console_(console) {}
    protected:
        int overflow(int ch)
        {
            std::lock_guard<std::mutex> lk(mtx_);
            if (ch != EOF)
            {
                buf_.push_back((char)ch);
                if (ch == '\n') flush_locked();
            }
            return ch;
        }
        std::streamsize xsputn(const char* s, std::streamsize n)
        {
            std::lock_guard<std::mutex> lk(mtx_);
            buf_.append(s, (std::size_t)n);
            std::size_t pos = buf_.find_last_of('\n');
            if (pos != std::string::npos)
            {
                out_locked(buf_.data(), pos + 1);   // 只输出到最后一个换行
                buf_.erase(0, pos + 1);
            }
            return n;
        }
        int sync()
        {
            std::lock_guard<std::mutex> lk(mtx_);
            flush_locked();
            if (console_) console_->pubsync();
            return 0;
        }
    private:
        void flush_locked()
        {
            if (!buf_.empty()) { out_locked(buf_.data(), buf_.size()); buf_.clear(); }
            RunLog::instance().flush();
        }
        void out_locked(const char* data, std::size_t n)
        {
            if (console_) console_->sputn(data, (std::streamsize)n);
            RunLog::instance().write(data, n);
        }
        std::streambuf* console_;
        std::string     buf_;
        std::mutex      mtx_;
    };

    static TeeBuf*       g_cout_tee = nullptr;
    static TeeBuf*       g_cerr_tee = nullptr;
    static std::streambuf* g_cout_old = nullptr;
    static std::streambuf* g_cerr_old = nullptr;
} // namespace

void start_run_log()
{
    if (g_cout_tee) return;                 // 已启动，幂等
    std::cout.flush();
    std::cerr.flush();
    g_cout_old = std::cout.rdbuf();
    g_cerr_old = std::cerr.rdbuf();
    g_cout_tee = new TeeBuf(g_cout_old);    // 常驻，不释放
    g_cerr_tee = new TeeBuf(g_cerr_old);
    std::cout.rdbuf(g_cout_tee);
    std::cerr.rdbuf(g_cerr_tee);
}

void stop_run_log()
{
    if (!g_cout_tee) return;
    std::cout.flush();
    std::cerr.flush();
    std::cout.rdbuf(g_cout_old);            // 还原，避免静态析构期再进日志
    std::cerr.rdbuf(g_cerr_old);
    RunLog::instance().close();
}