lpmsqt-ui
/
httpserverobject.cpp

#include "httpserverobject.h"
#include "SensorDataType.h"
#include <QByteArray>
#include <QDebug>
#include <QJsonObject>
#include <QJsonDocument>

#define IMAGE_W 640
#define IMAGE_H 480

#include <QImage>

// 转换函数，将 YUYV 数据转换为 RGB 数据
void yuyvToRgb(const unsigned char* yuyvData, unsigned char* rgbData, int width, int height) {
    int size = width * height * 2;
    int rgbIndex = 0;
    for (int i = 0; i < size; i += 4) {
        int y0 = yuyvData[i];
        int u = yuyvData[i + 1] - 128;
        int y1 = yuyvData[i + 2];
        int v = yuyvData[i + 3] - 128;

        int c = y0 - 16;
        int d = u;
        int e = v;

        rgbData[rgbIndex++] = qBound(0, (298 * c + 516 * d + 128) >> 8, 255); // R
        rgbData[rgbIndex++] = qBound(0, (298 * c - 100 * d - 208 * e + 128) >> 8, 255); // G
        rgbData[rgbIndex++] = qBound(0, (298 * c + 409 * e + 128) >> 8, 255); // B

        c = y1 - 16;
        rgbData[rgbIndex++] = qBound(0, (298 * c + 516 * d + 128) >> 8, 255); // R
        rgbData[rgbIndex++] = qBound(0, (298 * c - 100 * d - 208 * e + 128) >> 8, 255); // G
        rgbData[rgbIndex++] = qBound(0, (298 * c + 409 * e + 128) >> 8, 255); // B
    }
}

// 将 YUYV 数据转换为 QImage
QImage yuyvToQImage(const unsigned char* yuyvData, int width, int height) {
    // 创建 RGB 数据缓冲区
    int rgbSize = width * height * 3;
    unsigned char* rgbData = new unsigned char[rgbSize];

    // 执行 YUYV 到 RGB 的转换
    yuyvToRgb(yuyvData, rgbData, width, height);

    // 创建 QImage
    QImage image(rgbData, width, height, QImage::Format_RGB888);

    // 释放缓冲区内存
    delete[] rgbData;

    return image;
}


HttpServerObject::HttpServerObject(QObject *parent) : QObject{parent}
{
    qDebug() << "Creating HttpServerObject instance...";
    this->sensorServer = new QHttpServer();
    std::function<QString(const QHttpServerRequest &)> handler = std::bind(&HttpServerObject::sensorRequestHandle, this, std::placeholders::_1);
    sensorServer->route("/sensorData/", handler);

    // this->videoServer = new QHttpServer();
    // std::function<QString(const QHttpServerRequest &)> handler2 = std::bind(&HttpServerObject::videoRequestHandle, this, std::placeholders::_1);
    // videoServer->route("/videoData/", handler2);
}

HttpServerObject::~HttpServerObject()
{
    this->sensorServer->disconnect();
    delete this->sensorServer;
}

bool HttpServerObject::startSensorServer(int post)
{
    bool success = this->sensorServer->listen(QHostAddress::Any, post);
    if (!success)
    {
        qDebug() << "Failed to start server!";
    }
    else
    {
        qDebug() << "Listening on port 8080...";
    }
    return success;
}

QString HttpServerObject::sensorRequestHandle(const QHttpServerRequest &request)
{
    QByteArray requestData = request.body();
    sensorPostDataHandle(requestData);
    qDebug() << requestData;
    // 下面仅仅是举例，要根据实际情况，给客户端回复
    QJsonObject obj;
    obj.insert("name", QJsonValue("zhangsan"));
    QJsonDocument doc(obj);
    QString s = doc.toJson(QJsonDocument::Compact);
    return s;
}

void HttpServerObject::sensorPostDataHandle(const QByteArray &postData)
{
    // 在此处处理 POST 数据
    int temp = 0;
    int buffer_length = postData.size();
    int index_start = 0;
    struct SensorData myData;
    if (((postData.at(0) & 0x000000FF) == 0x3A) && ((postData.at(1) & 0x000000FF) == 0x01) && ((postData.at(2) & 0x000000FF) == 0x00) && ((postData.at(3) & 0x000000FF) == 0x09) && ((postData.at(4) & 0x000000FF) == 0x00) && ((postData.at(5) & 0x000000FF) == 0x9C) && ((postData.at(6) & 0x000000FF) == 0x00))
    {
        if (buffer_length >= 11)
        {
            index_start = 7;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.time = temp * 0.002;
        }
        if (buffer_length >= 15)
        {
            index_start = 11;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.initialAccelerationX = *(float *)&*(float *)&temp * 1.0;
        }
        if (buffer_length >= 19)
        {
            index_start = 15;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.initialAccelerationY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 23)
        {
            index_start = 19;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.initialAccelerationZ = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 27)
        {
            index_start = 23;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cAccelerationX = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 31)
        {
            index_start = 27;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cAccelerationY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 35)
        {
            index_start = 31;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cAccelerationZ = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 39)
        {
            index_start = 35;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.oGyroscopeIX = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 43)
        {
            index_start = 39;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.oGyroscopeIY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 47)
        {
            index_start = 43;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.oGyroscopeIZ = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 51)
        {
            index_start = 47;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.oGyroscopeIIX = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 55)
        {
            index_start = 51;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.oGyroscopeIIY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 59)
        {
            index_start = 55;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.oGyroscopeIIZ = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 63)
        {
            index_start = 59;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.sSCGyroscopeIX = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 67)
        {
            index_start = 63;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.sSCGyroscopeIY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 71)
        {
            index_start = 67;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.sSCGyroscopeIZ = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 75)
        {
            index_start = 71;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.sSCGyroscopeIIX = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 79)
        {
            index_start = 75;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.sSCGyroscopeIIY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 83)
        {
            index_start = 79;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.sSCGyroscopeIIZ = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 87)
        {
            index_start = 83;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cACGyroscopeIX = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 91)
        {
            index_start = 87;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cACGyroscopeIY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 95)
        {
            index_start = 91;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cACGyroscopeIZ = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 99)
        {
            index_start = 95;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cACGyroscopeIIX = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 103)
        {
            index_start = 99;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cACGyroscopeIIY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 107)
        {
            index_start = 103;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cACGyroscopeIIZ = *(float *)&temp * 1.0;
        }

        if (buffer_length >= 111)
        {
            index_start = 107;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.oMagnetometerX = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 115)
        {
            index_start = 111;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.oMagnetometerY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 119)
        {
            index_start = 115;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.oMagnetometerZ = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 123)
        {
            index_start = 119;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cMagnetometerX = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 127)
        {
            index_start = 123;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cMagnetometerY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 131)
        {
            index_start = 127;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.cMagnetometerZ = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 151)
        {
            index_start = 147;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.eulerianAnglesX = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 155)
        {
            index_start = 151;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.eulerianAnglesY = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 159)
        {
            index_start = 155;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.eulerianAnglesZ = *(float *)&temp * 1.0;
        }
        if (buffer_length >= 163)
        {
            index_start = 159;
            temp = (postData.at(index_start) & 0xFF) | ((postData.at(index_start + 1) & 0xFF) << 8) | ((postData.at(index_start + 2) & 0xFF) << 16) | ((postData.at(index_start + 3) & 0xFF) << 24);
            myData.temputer = *(float *)&temp * 1.0;
        }
        // 处理好数据后，使用信号发送走
        emit sendSensorDataToUISignal(QVariant::fromValue(myData));
    }
}

// void HttpServerObject::videoPostDataHandle(const QByteArray &postData)
// {
//     // 使用方法：
//     // 构建pixmap
//     const unsigned char *yuyv_data = (const unsigned char *)postData.constData();
//     QImage pixmap = yuyvToQImage(yuyv_data,IMAGE_W,IMAGE_H);

//     // 发送图片
//     emit sendImageToUISignal(pixmap);
// }
// QString HttpServerObject::videoRequestHandle(const QHttpServerRequest &request)
// {
//     QByteArray requestData = request.body();
//     videoPostDataHandle(requestData);
//     qDebug() << requestData;
//     // 下面仅仅是举例，要根据实际情况，给客户端回复
//     QJsonObject obj;
//     obj.insert("name", QJsonValue("lisi"));
//     QJsonDocument doc(obj);
//     QString s = doc.toJson(QJsonDocument::Compact);
//     return s;
// }

// bool HttpServerObject::startVideoServer(int post)
// {
//     bool success = this->videoServer->listen(QHostAddress::Any, post);
//     if (!success)
//     {
//         qDebug() << "Failed to start server!";
//     }
//     else
//     {
//         qDebug() << "Listening on port 8080...";
//     }
//     return success;
// }