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 <chrono>
#include <ctime>
#include <iostream>
#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 01:00 ====================
static void start_daily_cleanup()
{
    clean_expired_log_dirs();   // 启动清理一次

    std::thread([]() {
        for (;;)
        {
            time_t raw = std::time(nullptr);
            struct tm* t = std::localtime(&raw);
            std::tm next = *t;
            next.tm_hour = 1;
            next.tm_min = 0;
            next.tm_sec = 0;
            time_t next_t = std::mktime(&next);
            if (next_t <= raw) next_t += 86400;   // 已过今日 01:00 → 明日
            std::this_thread::sleep_for(std::chrono::seconds(next_t - raw));
            clean_expired_log_dirs();
        }
    }).detach();
}

// ==================== exe 模式：自动做一次截面检测 ====================
// 启动统一后台扫描，采 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 " << 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(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)
    start_daily_cleanup();

    std::cout << "==================== 配置文件内容 ====================" << std::endl;
    std::cout << "雷达IP: " << Leida_IP << " : " << Leida_PORT << std::endl;
    std::cout << "运行模式: " << Run_Mode << " (tcp=服务端, 其他=自动检测)" << std::endl;
    std::cout << "TCP端口: " << Tcp_Port << std::endl;
    std::cout << "采集时长: " << Collect_Duration_S << " 秒" << std::endl;
    std::cout << "移动速度: " << Speed_Z << " cm/s (0=时间模式, >0=距离模式)"
              << std::endl;
    std::cout << "Z范围: " << Z_RANGE_MM << " mm | Y范围: " << Y_RANGE_MM
              << " mm | 雷达频率: " << Lidar_Hz << " Hz" << std::endl;
    std::cout << "z空隙插值模式: " << Z_Interpolate_Mode << std::endl;
    std::cout << "日志保留天数: " << 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))
    {
#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 (Run_Mode == "tcp")
        run_tcp_server(driver);
    else
        rc = run_exe_check(driver);

    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;
}