leida_simi/main.cpp

// main.cpp - 程序入口（模块化重构版）
// 模块: config / json_utils / filter / io_utils / lidar_utils / count / detect / tcp_server
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <ctime>
#include <iostream>
#include <mutex>
#include <thread>
#include <vector>

#ifdef _WIN32
#include <winsock2.h>
#endif

#include "config.h"
#include "common.h"
#include "io_utils.h"
#include "lidar_utils.h"
#include "detect.h"
#include "tcp_server.h"

// ==================== 日志目录清理：启动时 + 每天 log.clean_time ====================
static std::atomic<bool> g_cleanup_stop{ false };
static std::mutex        g_cleanup_mtx;
static std::condition_variable g_cleanup_cv;
static std::thread       g_cleanup_thread;

// 启动清理线程：等下一个 01:00 执行一次清理后循环；等待可被 stop_daily_cleanup() 中断
static void start_daily_cleanup()
{
    clean_expired_log_dirs();   // 启动清理一次

    g_cleanup_stop = false;
    g_cleanup_thread = std::thread([]() {
        for (;;)
        {
            // 清理时刻来自配置(cfg.log.clean_hour/minute/sec)，每轮读取：运行期发 config
            // 命令重载后，下一轮即按新时刻执行
            int hour = cfg.log.clean_hour, minute = cfg.log.clean_minute, sec = cfg.log.clean_sec;
            time_t raw = std::time(nullptr);
            struct tm* t = std::localtime(&raw);
            std::tm next = *t;
            next.tm_hour = hour;
            next.tm_min  = minute;
            next.tm_sec  = sec;
            time_t next_t = std::mktime(&next);
            if (next_t <= raw) next_t += 86400;

            char buf[32];
            std::snprintf(buf, sizeof(buf), "%02d:%02d:%02d", hour, minute, sec);
            std::cout << "[清理] 下次定时清理: 每天 " << buf << " (等待 "
                      << (next_t - raw) / 60 << " 分钟)" << std::endl;

            // 可中断等待：wait_for 返回 true 表示 stop 标志已置位（程序退出）
            std::unique_lock<std::mutex> lk(g_cleanup_mtx);
            if (g_cleanup_cv.wait_for(lk, std::chrono::seconds(next_t - raw),
                                      [] { return g_cleanup_stop.load(); }))
                return;                              // 程序正在退出
            lk.unlock();

            clean_expired_log_dirs();
        }
    });
}

// 主程序退出前调用：唤醒并等待清理线程结束，
// 避免进程析构时后台线程仍在访问全局对象/标准输出导致崩溃（原 detach 版的崩退根因）
static void stop_daily_cleanup()
{
    g_cleanup_stop = true;
    g_cleanup_cv.notify_all();
    if (g_cleanup_thread.joinable()) g_cleanup_thread.join();
}

// ==================== exe 模式：自动做一次截面检测 ====================
// 启动统一后台扫描，采 cfg.scan.collect_duration_s 秒后自动停止，做截面检测并保存到
// data/日期/时间_ 目录（无 task_id）。
static int run_exe_check(pavo2::pavo2_driver& driver)
{
    std::cout << "\n[exe] 自动检测开始: 采集 " << cfg.scan.collect_duration_s
              << " 秒 ..." << std::endl;

    ScanSession scan;
    scan.reset();
    if (!scan.start(driver))
    {
        std::cerr << "[错误] 启动扫描会话失败!" << std::endl;
        return -1;
    }
    std::this_thread::sleep_for(std::chrono::seconds(cfg.scan.collect_duration_s));
    scan.stop();
    std::vector<CountPoint> pts = scan.snapshot();
    scan.reset();
    std::cout << "[exe] 采集结束, 点数=" << pts.size() << std::endl;

    std::string out_dir = make_task_dir("");
    DetectResult res;
    detect_analyze_slices(pts, out_dir, &res);

    std::cout << "[exe] 检测完成: ";
    if (res.valid)
    {
        std::cout << "start白色占比=" << res.start_fill_pct
                  << "%, end白色占比=" << res.end_fill_pct << "%";
    }
    else
    {
        std::cout << "无有效结果";
    }
    std::cout << ", 输出目录=" << out_dir << std::endl;
    return 0;
}

// ==================== 主入口 ====================
int main()
{
#ifdef _WIN32
    WSADATA wsa;
    if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0)
    {
        std::cerr << "[错误] WSAStartup 失败!" << std::endl;
        return -1;
    }
#endif

    load_config();               // 默认读取 ./config/config (JSON)
    reload_speed_profile();      // cfg.scan.z_speed_type=configuration 时加载 config/speed.txt
    start_daily_cleanup();

    std::cout << "==================== 配置文件内容 ====================" << std::endl;
    std::cout << "雷达IP: " << cfg.radar.ip << " : " << cfg.radar.port << std::endl;
    std::cout << "运行模式: " << cfg.server.mode
              << " (tcp=TCP服务端, http=HTTP服务端, 其他=自动检测)" << std::endl;
    std::cout << "TCP/HTTP端口: " << cfg.server.port << std::endl;
    std::cout << "采集时长: " << cfg.scan.collect_duration_s << " 秒" << std::endl;
    std::cout << "Z轴模式: " << cfg.scan.z_speed_type
              << " (uniformSpeed=匀速, configuration=config/speed.txt变速)" << std::endl;
    std::cout << "移动速度: " << cfg.scan.z_speed << " cm/s (0=时间模式, >0=距离模式)"
              << std::endl;
    std::cout << "Z范围: " << cfg.detect.z_range_mm << " mm | Y范围: " << cfg.detect.y_range_mm
              << " mm | 雷达频率: " << cfg.radar.hz << " Hz" << std::endl;
    std::cout << "z空隙插值模式: " << cfg.count.z_interpolate_mode << std::endl;
    std::cout << "日志保留天数: " << cfg.log.retain_days << std::endl;
    std::cout << "======================================================" << std::endl;
    std::cout << "======================================================" << std::endl;
    std::cout << "        Pavo2 Lidar 雷达数据采集程序 (模块化)" << std::endl;
    std::cout << "======================================================" << std::endl;

    pavo2::pavo2_driver driver;
    if (!connect_lidar(driver))
    {
        stop_daily_cleanup();   // 提前退出也要先停掉后台清理线程
#ifdef _WIN32
        WSACleanup();
#endif
        return -1;
    }

    std::cout << "\n[等待] 等待雷达数据稳定（2秒）..." << std::endl;
    std::this_thread::sleep_for(std::chrono::seconds(2));

    int rc = 0;
    if (cfg.server.mode == "tcp")
        run_tcp_server(driver);
    else if (cfg.server.mode == "http")
        run_http_server(driver);
    else
        rc = run_exe_check(driver);

    stop_daily_cleanup();   // 通知后台清理线程退出并等待结束，防止崩退

    std::cout << "\n[关闭] 正在断开雷达连接..." << std::endl;
    driver.pavo2_close();
#ifdef _WIN32
    WSACleanup();
#endif
    std::cout << "[完成] 程序运行结束。" << std::endl;
    return rc;
}