706 lines
26 KiB
C++
706 lines
26 KiB
C++
#include "DeviceConnection.h"
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#include "BoostLog.h"
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#include "StringUtility.h"
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#include <QFileInfo>
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#include <QPointF>
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#include <QTimer>
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#include <WinSock2.h>
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#include <boost/json/object.hpp>
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#include <boost/json/parse.hpp>
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#include <boost/json/serialize.hpp>
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#include <filesystem>
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#include <fstream>
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#include <mbedtls/md5.h>
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DeviceConnection::DeviceConnection(QObject *parent) : QObject{parent} {
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}
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DeviceConnection::~DeviceConnection() {
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close();
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}
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void DeviceConnection::close() {
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if (m_otaTimer != nullptr) {
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m_otaTimer->deleteLater();
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m_otaTimer = nullptr;
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}
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if (m_timerId > 0) {
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killTimer(m_timerId);
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m_timerId = -1;
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}
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if (m_commandSocket != nullptr) {
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m_commandSocket->deleteLater();
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m_commandSocket = nullptr;
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}
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if (m_h264Socket != nullptr) {
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m_h264Socket->deleteLater();
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m_h264Socket = nullptr;
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}
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while (!m_requests.empty()) {
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m_requests.pop();
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}
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}
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DeviceConnection::Infomation DeviceConnection::infomation() const {
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return m_infomation;
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}
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bool DeviceConnection::isConnected() const {
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bool ret = false;
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if (m_commandSocket != nullptr) {
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// LOG(info) << "DeviceConnection::isConnected " << m_commandSocket->isValid();
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ret = m_commandSocket->isValid() && (m_commandSocket->state() == QTcpSocket::ConnectedState);
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}
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return ret;
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}
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void DeviceConnection::connect(const Infomation &infomation) {
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close();
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m_infomation = infomation;
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m_commandSocket = new QTcpSocket(this);
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QObject::connect(m_commandSocket, &QTcpSocket::disconnected, this, &DeviceConnection::onDisconnected);
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QObject::connect(m_commandSocket, &QTcpSocket::errorOccurred, this, &DeviceConnection::onErrorOccurred);
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m_h264Socket = new QTcpSocket(this);
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QObject::connect(m_commandSocket, &QTcpSocket::connected, this, &DeviceConnection::onConnected);
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QObject::connect(m_h264Socket, &QTcpSocket::connected, this, &DeviceConnection::onConnected);
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QObject::connect(m_h264Socket, &QTcpSocket::readyRead, this, &DeviceConnection::onH264ReadyRead);
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QObject::connect(m_commandSocket, &QTcpSocket::readyRead, this, &DeviceConnection::onCommandReadyRead);
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LOG(info) << "connect to " << infomation.ip.toStdString();
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m_commandSocket->connectToHost(infomation.ip, 8000);
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m_h264Socket->connectToHost(infomation.ip, 8000);
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}
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DeviceConnection::Area DeviceConnection::area() const {
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return m_area;
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}
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NetworkInfomation DeviceConnection::networkInfomation() const {
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return m_networkInfomation;
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}
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void DeviceConnection::setLiveStreamEnabled(bool enabled) {
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m_videoEnabled = enabled;
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boost::json::object request;
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request["func"] = enabled ? "openlivestream_setdata" : "closelivestream_setdata";
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request["deviceid"] = "0";
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boost::json::object data;
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data["value"] = "1";
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_h264Socket->write(text.data(), text.size());
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}
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void DeviceConnection::requestOpenDoorArea() {
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Task task;
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task.command = "a03opendoor1_getdata";
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task.task = [this]() {
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boost::json::object request;
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request["func"] = "a03opendoor1_getdata";
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request["deviceid"] = "0";
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boost::json::object data;
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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};
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if (m_requests.empty()) {
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task.task();
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}
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m_requests.push(task);
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}
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QFuture<bool> DeviceConnection::updateOpenDoorAreaPoints(AreaWay way, const QList<QPointF> &points) {
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Task task;
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task.command = "a03opendoor1_setdata";
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task.task = [this, way, points]() {
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boost::json::object request;
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request["func"] = "a03opendoor1_setdata";
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request["deviceid"] = "0";
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boost::json::object data;
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const char *value = "0";
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if (way == FullArea) {
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value = "1";
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} else if (way == Quadrangle) {
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value = "2";
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}
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data["value"] = value;
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boost::json::array pointArray;
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for (auto &p : points) {
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boost::json::object point;
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point["x"] = p.x();
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point["y"] = p.y();
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pointArray.push_back(std::move(point));
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}
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data["points"] = std::move(pointArray);
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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};
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task.future = std::make_shared<QFutureInterface<bool>>();
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if (m_requests.empty()) {
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task.task();
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}
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auto ret = task.future->future();
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m_requests.push(task);
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return ret;
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}
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void DeviceConnection::requestShieldedArea() {
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Task task;
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task.command = "a03opendoor4_getdata";
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task.task = [this]() {
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boost::json::object request;
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request["func"] = "a03opendoor4_getdata";
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request["deviceid"] = "0";
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boost::json::object data;
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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};
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if (m_requests.empty()) {
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task.task();
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}
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m_requests.push(task);
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}
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void DeviceConnection::updateShieldedAreaPoints(bool enabled, const QList<QPointF> &points) {
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Task task;
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task.command = "a03opendoor4_setdata";
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task.task = [this, enabled, points]() {
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boost::json::object request;
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request["func"] = "a03opendoor4_setdata";
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request["deviceid"] = "0";
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boost::json::object data;
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data["value"] = enabled ? "1" : "0";
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boost::json::array pointArray;
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for (auto &p : points) {
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boost::json::object point;
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point["x"] = p.x();
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point["y"] = p.y();
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pointArray.push_back(std::move(point));
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}
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data["points"] = std::move(pointArray);
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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};
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if (m_requests.empty()) {
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task.task();
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}
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m_requests.push(task);
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}
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void DeviceConnection::requestAntiClipArea() {
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Task task;
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task.command = "a03opendoor5_getdata";
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task.task = [this]() {
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boost::json::object request;
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request["func"] = "a03opendoor5_getdata";
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request["deviceid"] = "0";
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boost::json::object data;
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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};
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if (m_requests.empty()) {
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task.task();
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}
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m_requests.push(task);
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}
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void DeviceConnection::updateAntiClipAreaPoints(bool enabled, const QList<QPointF> &points) {
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Task task;
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task.command = "a03opendoor5_setdata";
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task.task = [this, enabled, points]() {
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boost::json::object request;
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request["func"] = "a03opendoor5_setdata";
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request["deviceid"] = "0";
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boost::json::object data;
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data["value"] = enabled ? "1" : "0";
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boost::json::array pointArray;
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for (auto &p : points) {
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boost::json::object point;
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point["x"] = p.x();
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point["y"] = p.y();
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pointArray.push_back(std::move(point));
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}
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data["points"] = std::move(pointArray);
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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LOG(info) << "updateAntiClipAreaPoints";
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};
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if (m_requests.empty()) {
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task.task();
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}
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m_requests.push(task);
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}
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void DeviceConnection::requestResolution(Resolution resolution) {
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Task task;
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task.command = "quality_setdata";
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task.task = [this, resolution]() {
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boost::json::object request;
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request["func"] = "quality_setdata";
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request["deviceid"] = "0";
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boost::json::object data;
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data["value"] = static_cast<int>(resolution);
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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LOG(info) << "requestResolution";
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};
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if (m_requests.empty()) {
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task.task();
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}
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m_requests.push(task);
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}
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void DeviceConnection::requestVersion() {
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Task task;
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task.command = "a15devicedetail_getdata";
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task.task = [this]() {
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boost::json::object request;
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request["func"] = "a15devicedetail_getdata";
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request["deviceid"] = "0";
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boost::json::object data;
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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LOG(info) << "requestVersion";
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};
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if (m_requests.empty()) {
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task.task();
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}
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m_requests.push(task);
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}
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void DeviceConnection::requestNetworkInfomation() {
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Task task;
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task.command = "netconfig_getdata";
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task.task = [this]() {
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boost::json::object request;
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request["func"] = "netconfig_getdata";
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request["deviceid"] = "0";
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boost::json::object data;
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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LOG(info) << "requestNetworkInfomation";
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};
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if (m_requests.empty()) {
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task.task();
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}
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m_requests.push(task);
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}
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QFuture<bool> DeviceConnection::updateNetworkInfomation(bool dhcp, const QString &ip, const QString &netmask,
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const QString &gateway, const QString &dns) {
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Task task;
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task.command = "netconfig_setdata";
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task.task = [this, dhcp, ip, netmask, gateway, dns]() {
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boost::json::object request;
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request["func"] = "netconfig_setdata";
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request["deviceid"] = "0";
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boost::json::object data;
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data["type"] = dhcp ? "dhcp" : "static";
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data["ip"] = ip.toStdString();
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data["netmask"] = netmask.toStdString();
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data["gateway"] = gateway.toStdString();
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data["dns"] = dns.toStdString();
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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LOG(info) << "requestUpdateNetworkInfomation";
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};
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task.future = std::make_shared<QFutureInterface<bool>>();
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if (m_requests.empty()) {
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task.task();
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}
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auto ret = task.future->future();
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m_requests.push(task);
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return ret;
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}
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void DeviceConnection::requestOta(const QString &firmware, const QString &file) {
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m_otaProgress = 0;
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emit otaProgressChanged(true, m_otaProgress, "正在向设备发起OTA请求......");
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if (m_timerId > 0) {
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killTimer(m_timerId);
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m_timerId = -1;
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}
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if (!m_requests.empty()) {
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m_requests.pop();
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}
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Task task;
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task.command = "a22devicefirmware_setdata";
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task.task = [this, file, firmware]() {
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std::ifstream ifs(Amass::StringUtility::UTF8ToGBK(file.toStdString()), std::ifstream::binary);
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m_uploadBuffer = std::vector<uint8_t>((std::istreambuf_iterator<char>(ifs)), std::istreambuf_iterator<char>());
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m_sendedSize = 0;
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unsigned char md5[16];
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mbedtls_md5_context context;
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mbedtls_md5_init(&context);
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mbedtls_md5_starts(&context);
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mbedtls_md5_update(&context, m_uploadBuffer.data(), m_uploadBuffer.size());
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mbedtls_md5_finish(&context, md5);
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mbedtls_md5_free(&context);
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std::stringstream oss;
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oss << std::hex << std::setfill('0');
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for (int i = 0; i < 16; i++) {
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oss << std::setw(2) << static_cast<int>(md5[i]);
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}
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boost::json::object request;
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request["func"] = "a22devicefirmware_setdata";
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request["deviceid"] = "0";
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boost::json::object data;
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data["target_linux04_firmware"] = firmware.toStdString();
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QFileInfo fileInfo(file);
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data["datasize"] = fileInfo.size();
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data["md5"] = oss.str();
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request["data"] = std::move(data);
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auto text = boost::json::serialize(request);
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m_commandSocket->write(text.data(), text.size());
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LOG(info) << "requestOta: " << text;
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};
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if (m_requests.empty()) {
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task.task();
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}
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m_requests.push(task);
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}
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void DeviceConnection::transferBinContent() {
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constexpr int SliceSize = 1024;
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constexpr int WaitMd5CheckTime = 3000; // ms
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if (m_sendedSize >= m_uploadBuffer.size()) return;
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char buffer[1 + sizeof(int32_t) + 1024];
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int sendSize = SliceSize;
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if ((m_sendedSize + SliceSize) > m_uploadBuffer.size()) {
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sendSize = m_uploadBuffer.size() - m_sendedSize;
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}
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memcpy(buffer + 1 + sizeof(int32_t), m_uploadBuffer.data() + m_sendedSize, sendSize);
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buffer[0] = ':';
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auto contentSize = reinterpret_cast<int32_t *>(&buffer[1]);
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*contentSize = htonl(sendSize);
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m_commandSocket->write(buffer, sendSize + 1 + sizeof(uint32_t));
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m_sendedSize += sendSize;
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auto fileProgress = static_cast<float>(m_sendedSize) / m_uploadBuffer.size();
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m_otaProgress = 2 + 96 * fileProgress;
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emit otaProgressChanged(true, m_otaProgress,
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m_otaProgress < 98 ? "向设备发送升级固件......"
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: "升级固件发送完成,等待设备校验升级固件......");
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if ((m_sendedSize < m_uploadBuffer.size()) && isConnected()) {
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QTimer::singleShot(0, this, &DeviceConnection::transferBinContent);
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} else if (m_sendedSize >= m_uploadBuffer.size()) {
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LOG(info) << "transfer ota file finished, wait " << WaitMd5CheckTime
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<< " ms for send check, total sended size: " << m_sendedSize;
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// QTimer::singleShot(WaitMd5CheckTime, this, [this]() {
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// boost::json::object request;
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// request["func"] = "a22devicefirmware_setdata";
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// request["deviceid"] = "0";
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// boost::json::object data;
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// data["target_linux04_firmware"] = "RD_T009_V21R003B001";
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// request["data"] = std::move(data);
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// auto text = boost::json::serialize(request);
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// m_commandSocket->write(text.data(), text.size());
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// LOG(info) << "request md5 check result: " << text;
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// });
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if (m_otaTimer == nullptr) {
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m_otaTimer = new QTimer(this);
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m_otaTimer->setSingleShot(true);
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}
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#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
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Qt::ConnectionType type = Qt::SingleShotConnection;
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#else
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Qt::ConnectionType type = Qt::UniqueConnection;
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#endif
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m_otaTimer->callOnTimeout(
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this,
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[this]() {
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emit otaProgressChanged(false, m_otaProgress, "升级超时,请检查设备并重新尝试...");
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m_otaProgress = -1;
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m_commandSocket->close();
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m_h264Socket->close();
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},
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type);
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m_otaTimer->start(60 * 1000);
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}
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}
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QString DeviceConnection::handleCommand(const std::string_view &replyText, const Task *task) {
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QString ret;
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boost::system::error_code error;
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auto replyValue = boost::json::parse(replyText, error);
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if (error) {
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LOG(error) << "prase [" << replyText << "] failed, message: " << error.message();
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return ret;
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}
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auto &reply = replyValue.as_object();
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auto &function = reply.at("func").as_string();
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if (function == "a03opendoor1_getdata") {
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auto &data = reply.at("data").as_object();
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auto &value = data.at("value").as_string();
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auto &pointArray = data.at("points").as_array();
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QList<QPointF> points;
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for (auto &p : pointArray) {
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QPointF point;
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auto &obj = p.as_object();
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point.setX(obj.at("x").as_double());
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point.setY(obj.at("y").as_double());
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points.push_back(point);
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}
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AreaWay way = Diabled;
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if (value == "1") {
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way = FullArea;
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} else if (value == "2") {
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way = Quadrangle;
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}
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m_area.openDoorAreaWay = way;
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m_area.openDoorArea = points;
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emit openDoorAreaChanged(way, points);
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} else if (function == "a03opendoor4_getdata") {
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auto &data = reply.at("data").as_object();
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auto &value = data.at("value").as_string();
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auto &pointArray = data.at("points").as_array();
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QList<QPointF> points;
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for (auto &p : pointArray) {
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QPointF point;
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auto &obj = p.as_object();
|
||
point.setX(obj.at("x").as_double());
|
||
point.setY(obj.at("y").as_double());
|
||
points.push_back(point);
|
||
}
|
||
m_area.shieldedAreaEnabled = value == "1";
|
||
m_area.shieldedArea = points;
|
||
emit shieldedAreaChanged(value == "1", points);
|
||
} else if (function == "a03opendoor5_getdata") {
|
||
auto &data = reply.at("data").as_object();
|
||
auto &value = data.at("value").as_string();
|
||
auto &pointArray = data.at("points").as_array();
|
||
QList<QPointF> points;
|
||
for (auto &p : pointArray) {
|
||
QPointF point;
|
||
auto &obj = p.as_object();
|
||
point.setX(obj.at("x").as_double());
|
||
point.setY(obj.at("y").as_double());
|
||
points.push_back(point);
|
||
}
|
||
m_area.antiClipAreaEnabled = value == "1";
|
||
m_area.antiClipArea = points;
|
||
emit antiClipAreaChanged(value == "1", points);
|
||
} else if (function == "netconfig_getdata") {
|
||
auto &data = reply.at("data").as_object();
|
||
m_networkInfomation.dhcp = data.at("type").as_string() == "dhcp";
|
||
m_networkInfomation.ip = data.at("ip").as_string().c_str();
|
||
m_networkInfomation.gateway = data.at("gateway").as_string().c_str();
|
||
m_networkInfomation.netmask = data.at("netmask").as_string().c_str();
|
||
if (data.contains("dns")) {
|
||
m_networkInfomation.dns = data.at("dns").as_string().c_str();
|
||
}
|
||
emit networkInfomationChanged(m_networkInfomation);
|
||
LOG(info) << replyText;
|
||
} else if (function == "a15devicedetail_getdata") {
|
||
auto &data = reply.at("data").as_object();
|
||
auto firmware = QString::fromStdString(std::string(data.at("linux04_firmware").as_string()));
|
||
if (m_infomation.firmwareVersion != firmware) {
|
||
m_infomation.firmwareVersion = firmware;
|
||
emit firmwareChanged(m_infomation.firmwareVersion);
|
||
}
|
||
} else if (function == "a03opendoor5_setdata") {
|
||
requestAntiClipArea();
|
||
} else if (function == "a03opendoor4_setdata") {
|
||
requestShieldedArea();
|
||
} else if (function == "a03opendoor1_setdata") {
|
||
if ((task != nullptr) && (task->command.toStdString() == function)) {
|
||
if (task->timeoutTimer) {
|
||
task->timeoutTimer->stop();
|
||
}
|
||
bool status = true;
|
||
if (task->future) {
|
||
task->future->reportFinished(&status);
|
||
}
|
||
}
|
||
requestOpenDoorArea();
|
||
} else if (function == "netconfig_setdata") {
|
||
if ((task != nullptr) && (task->command.toStdString() == function)) {
|
||
if (task->timeoutTimer) {
|
||
task->timeoutTimer->stop();
|
||
}
|
||
bool status = true;
|
||
if (task->future) {
|
||
task->future->reportFinished(&status);
|
||
}
|
||
}
|
||
requestNetworkInfomation();
|
||
LOG(info) << replyText;
|
||
} else if (function == "a22devicefirmware_setdata") {
|
||
LOG(warning) << "ota reply: " << replyText;
|
||
auto &data = reply.at("data").as_object();
|
||
auto &value = data.at("value").as_string();
|
||
if (value == "1") {
|
||
m_otaProgress = 1;
|
||
emit otaProgressChanged(true, m_otaProgress, "设备已进入升级状态......");
|
||
QTimer::singleShot(0, this, [this]() { transferBinContent(); });
|
||
} else if (value == "2") {
|
||
bool isWireConnect = true;
|
||
if (data.contains("is_eth")) {
|
||
isWireConnect = data.at("is_eth").as_int64() >= 1;
|
||
}
|
||
LOG(info) << "md5 check finished";
|
||
m_otaProgress = 99;
|
||
QTimer::singleShot(0, this, [this]() {
|
||
m_commandSocket->close(); // 等待设备重新上线后，发起广播。由搜索服务触发重连
|
||
m_h264Socket->close();
|
||
});
|
||
if (isWireConnect) {
|
||
emit otaProgressChanged(true, m_otaProgress, "设备正在升级中,请稍后......");
|
||
} else {
|
||
m_otaTimer->stop(); // 这里不需要再超时了
|
||
emit otaProgressChanged(true, 100, "设备正在升级中，请于一分钟后重新连接wifi搜索设备");
|
||
}
|
||
} else {
|
||
const char *message = nullptr;
|
||
if (value == "3") {
|
||
message = "升级固件MD5校验错误(3)";
|
||
} else if (value == "4") {
|
||
message = "升级固件大小错误(4)";
|
||
} else if (value == "5") {
|
||
message = "升级固件太大(5)";
|
||
} else if (value == "6") {
|
||
message = "升级固件版本不匹配(6)";
|
||
}
|
||
QString tip;
|
||
if (message == nullptr) {
|
||
tip = QString("升级失败,错误码: %1").arg(value.c_str());
|
||
} else {
|
||
tip = QString("升级失败: %1").arg(message);
|
||
}
|
||
emit otaProgressChanged(false, m_otaProgress, tip);
|
||
}
|
||
} else {
|
||
LOG(warning) << "unknown reply: " << replyText;
|
||
}
|
||
return QString::fromStdString(std::string(std::move(function)));
|
||
}
|
||
|
||
void DeviceConnection::onConnected() {
|
||
auto socket = dynamic_cast<QTcpSocket *>(sender());
|
||
if (socket == m_commandSocket) {
|
||
requestVersion();
|
||
requestOpenDoorArea();
|
||
requestShieldedArea();
|
||
requestAntiClipArea();
|
||
requestNetworkInfomation();
|
||
emit connected();
|
||
m_timerId = startTimer(2500);
|
||
if (m_otaProgress == 99) {
|
||
m_otaProgress = -1;
|
||
emit otaProgressChanged(true, 100, "设备升级成功!");
|
||
}
|
||
if (m_otaTimer != nullptr) {
|
||
m_otaTimer->stop();
|
||
}
|
||
} else if (socket == m_h264Socket) {
|
||
if (m_videoEnabled) {
|
||
setLiveStreamEnabled(true);
|
||
}
|
||
}
|
||
}
|
||
|
||
void DeviceConnection::onDisconnected() {
|
||
auto socket = dynamic_cast<QTcpSocket *>(sender());
|
||
if (socket == m_commandSocket) {
|
||
if (m_timerId > 0) {
|
||
killTimer(m_timerId);
|
||
m_timerId = -1;
|
||
}
|
||
emit disconnected();
|
||
if ((m_otaProgress >= 0) && (m_otaProgress <= 98)) {
|
||
m_otaProgress = -1;
|
||
emit otaProgressChanged(false, m_otaProgress, "网络断开,设备升级失败!");
|
||
}
|
||
m_h264Socket->close();
|
||
}
|
||
}
|
||
|
||
void DeviceConnection::setH264FrameCallback(H264FrameCallback &&callback) {
|
||
m_frameCallback = std::move(callback);
|
||
}
|
||
|
||
void DeviceConnection::onH264ReadyRead() {
|
||
auto data = m_h264Socket->readAll();
|
||
|
||
m_h264Buffer.push_back(data);
|
||
|
||
while (!m_h264Buffer.isEmpty()) {
|
||
auto packageSize = ntohl(*reinterpret_cast<uint32_t *>(m_h264Buffer.data()));
|
||
if (m_h264Buffer.size() < (packageSize + sizeof(uint32_t))) break;
|
||
// LOG(info) << "onH264ReadyRead " << data.size() << " " << packageSize;
|
||
if (m_receivedFirstJsonReply) {
|
||
if (m_frameCallback) {
|
||
m_frameCallback(m_h264Buffer.data() + sizeof(uint32_t), packageSize);
|
||
}
|
||
} else {
|
||
LOG(info) << "h264 reply: " << m_h264Buffer.data() + sizeof(uint32_t);
|
||
m_receivedFirstJsonReply = true;
|
||
}
|
||
m_h264Buffer.remove(0, packageSize + sizeof(uint32_t));
|
||
}
|
||
}
|
||
|
||
void DeviceConnection::onCommandReadyRead() {
|
||
auto data = m_commandSocket->readAll();
|
||
m_commandBuffer.push_back(data);
|
||
|
||
while (!m_commandBuffer.isEmpty()) {
|
||
auto packageSize = ntohl(*reinterpret_cast<uint32_t *>(m_commandBuffer.data()));
|
||
if (m_commandBuffer.size() < (packageSize + sizeof(uint32_t))) break;
|
||
auto command = handleCommand(std::string_view(m_commandBuffer.data() + sizeof(uint32_t), packageSize),
|
||
m_requests.empty() ? nullptr : &m_requests.front());
|
||
m_commandBuffer.remove(0, packageSize + sizeof(uint32_t));
|
||
|
||
if (!m_requests.empty()) {
|
||
auto &task = m_requests.front();
|
||
if (task.command == command) {
|
||
m_requests.pop();
|
||
}
|
||
if (!m_requests.empty()) {
|
||
m_requests.front().task();
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
void DeviceConnection::onErrorOccurred(QAbstractSocket::SocketError socketError) {
|
||
auto socket = dynamic_cast<QTcpSocket *>(sender());
|
||
LOG(info) << "DeviceConnection::onErrorOccurred" << socketError;
|
||
}
|
||
|
||
void DeviceConnection::timerEvent(QTimerEvent *event) {
|
||
if (isConnected()) {
|
||
int index = heartbeats % 3;
|
||
if (index == 0) {
|
||
requestOpenDoorArea();
|
||
} else if (index == 1) {
|
||
requestShieldedArea();
|
||
} else if (index == 2) {
|
||
requestAntiClipArea();
|
||
}
|
||
heartbeats++;
|
||
}
|
||
}
|