feat: v0.1.0更新

src/core/NetworkManager.cpp

@@ -0,0 +1,174 @@
+#include "core/NetworkManager.h"
+#include "core/GVSPParser.h"
+#include <QDebug>
+#include <QVariant>
+
+NetworkManager::NetworkManager(QObject *parent)
+    : QObject(parent)
+    , m_controlSocket(new QUdpSocket(this))
+    , m_dataSocket(new QUdpSocket(this))
+    , m_gvspParser(new GVSPParser(this))
+    , m_controlPort(6790)
+    , m_dataPort(3957)
+    , m_isConnected(false)
+{
+    // 连接数据接收信号
+    connect(m_dataSocket, &QUdpSocket::readyRead, this, &NetworkManager::onReadyRead);
+    connect(m_dataSocket, &QUdpSocket::errorOccurred, this, &NetworkManager::onError);
+
+    // 连接GVSP解析器信号
+    connect(m_gvspParser, &GVSPParser::imageReceived, this, &NetworkManager::imageReceived);
+    connect(m_gvspParser, &GVSPParser::depthDataReceived, this, &NetworkManager::depthDataReceived);
+}
+
+NetworkManager::~NetworkManager()
+{
+    disconnectFromCamera();
+}
+
+// ========== 连接和断开 ==========
+bool NetworkManager::connectToCamera(const QString &ip, int controlPort, int dataPort)
+{
+    m_cameraIp = ip;
+    m_controlPort = controlPort;
+    m_dataPort = dataPort;
+
+    // 绑定控制Socket到任意端口（让系统自动分配）
+    if (!m_controlSocket->bind(QHostAddress::Any, 0)) {
+        QString error = QString("Failed to bind control socket: %1")
+                            .arg(m_controlSocket->errorString());
+        qDebug() << error;
+        emit errorOccurred(error);
+        return false;
+    }
+    qDebug() << "Successfully bound control socket to port" << m_controlSocket->localPort();
+
+    // 绑定数据接收端口
+    if (!m_dataSocket->bind(QHostAddress::Any, m_dataPort)) {
+        QString error = QString("Failed to bind data port %1: %2")
+                            .arg(m_dataPort)
+                            .arg(m_dataSocket->errorString());
+        qDebug() << error;
+        emit errorOccurred(error);
+        return false;
+    }
+
+    // 设置UDP接收缓冲区大小为64MB（减少丢包）
+    m_dataSocket->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption, QVariant(64 * 1024 * 1024));
+
+    qDebug() << "Successfully bound data port" << m_dataPort;
+    qDebug() << "Data socket state:" << m_dataSocket->state();
+    qDebug() << "UDP receive buffer size:" << m_dataSocket->socketOption(QAbstractSocket::ReceiveBufferSizeSocketOption).toInt();
+
+    m_isConnected = true;
+    qDebug() << "Connected to camera:" << m_cameraIp << "Control port:" << m_controlPort << "Data port:" << m_dataPort;
+
+    // Send STOP command to register client IP on camera
+    sendStopCommand();
+    qDebug() << "Sent STOP command to register client IP";
+
+    emit connected();
+    return true;
+}
+
+void NetworkManager::disconnectFromCamera()
+{
+    if (m_isConnected) {
+        m_controlSocket->close();
+        m_dataSocket->close();
+        m_isConnected = false;
+        qDebug() << "Disconnected from camera";
+        emit disconnected();
+    }
+}
+
+bool NetworkManager::isConnected() const
+{
+    return m_isConnected;
+}
+
+// ========== 发送控制命令 ==========
+bool NetworkManager::sendCommand(const QString &command)
+{
+    if (!m_isConnected) {
+        qDebug() << "Not connected to camera";
+        return false;
+    }
+
+    QByteArray data = command.toUtf8();
+    qDebug() << "Sending command to" << m_cameraIp << ":" << m_controlPort << "data:" << command;
+    qDebug() << "Control socket state:" << m_controlSocket->state();
+    qDebug() << "Control socket error:" << m_controlSocket->errorString();
+    qDebug() << "Data to send (hex):" << data.toHex();
+    qDebug() << "Data size:" << data.size();
+
+    qint64 sent = m_controlSocket->writeDatagram(data, QHostAddress(m_cameraIp), m_controlPort);
+
+    qDebug() << "writeDatagram returned:" << sent;
+    if (sent == -1) {
+        QString error = QString("Failed to send command: %1").arg(m_controlSocket->errorString());
+        qDebug() << error;
+        qDebug() << "Socket error code:" << m_controlSocket->error();
+        emit errorOccurred(error);
+        return false;
+    }
+
+    qDebug() << "Command sent successfully, bytes:" << sent;
+    qDebug() << "Sent command:" << command;
+    return true;
+}
+
+bool NetworkManager::sendStartCommand()
+{
+    return sendCommand("START");
+}
+
+bool NetworkManager::sendStopCommand()
+{
+    return sendCommand("STOP");
+}
+
+bool NetworkManager::sendOnceCommand()
+{
+    return sendCommand("ONCE");
+}
+
+bool NetworkManager::sendExposureCommand(int exposureTime)
+{
+    QString command = QString("EXPOSURE:%1").arg(exposureTime);
+    return sendCommand(command);
+}
+
+// ========== 槽函数 ==========
+void NetworkManager::onReadyRead()
+{
+    static int packetCount = 0;
+
+    while (m_dataSocket->hasPendingDatagrams()) {
+        QByteArray datagram;
+        datagram.resize(m_dataSocket->pendingDatagramSize());
+
+        QHostAddress sender;
+        quint16 senderPort;
+        m_dataSocket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
+
+        // 临时添加日志以诊断问题
+        if (packetCount < 5) {
+            qDebug() << "[NetworkManager] Received packet" << packetCount << "from" << sender.toString() << ":" << senderPort << "size:" << datagram.size();
+        }
+        packetCount++;
+
+        // 将数据包传递给GVSP解析器
+        m_gvspParser->parsePacket(datagram);
+
+        // 仍然发出原始数据信号（用于调试）
+        emit dataReceived(datagram);
+    }
+}
+
+void NetworkManager::onError(QAbstractSocket::SocketError socketError)
+{
+    QString error = QString("Socket error: %1").arg(m_dataSocket->errorString());
+    qDebug() << error;
+    emit errorOccurred(error);
+}