src/controllers/ProcessingController.h - master - klischa/AstraScanner2

src/controllers/ProcessingController.h
60 строк3 KB
k k
fix(critical): destructor deadlock and ProcessingController connect race
13 июл 2026, 23:17
13 июл 2026, 23:17f9520be
#ifndef PROCESSINGCONTROLLER_H
#define PROCESSINGCONTROLLER_H

#include <QObject>
#include <QFuture>
#include <functional>
#include <vector>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PolygonMesh.h>
#include "../filters/ProcessingTypes.h"

class PointCloudFilters;

class ProcessingController : public QObject
{
    Q_OBJECT
public:
    using CloudOperation = std::function<pcl::PointCloud<pcl::PointXYZRGB>::Ptr(PointCloudFilters*)>;
    using MeshOperation = std::function<pcl::PolygonMesh(PointCloudFilters*)>;

    explicit ProcessingController(QObject *parent = nullptr);

    PointCloudFilters *filters() const { return m_filters; }
    void runCloudOperation(QObject *receiver,
                           const CloudOperation &operation,
                           const std::function<void(pcl::PointCloud<pcl::PointXYZRGB>::Ptr)> &onFinished,
                           const std::function<void()> &onCanceled = {});
    void runMeshOperation(QObject *receiver,
                          const MeshOperation &operation,
                          const std::function<void(const pcl::PolygonMesh &)> &onFinished,
                          const std::function<void()> &onCanceled = {});
    void runReconstruction(QObject *receiver,
                           const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &snapshot,
                           const AstraPoissonParams &params,
                           const std::function<void(const pcl::PolygonMesh &)> &onFinished,
                           const std::function<void()> &onCanceled = {});
    void runMergeScans(QObject *receiver,
                       const std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> &scans,
                       const AstraMergeParams &params,
                       const std::function<void(pcl::PointCloud<pcl::PointXYZRGB>::Ptr)> &onFinished,
                       const std::function<void()> &onCanceled = {});
    bool isReconstructionRunning() const { return m_reconstructionFuture.isRunning(); }
    bool isMergeRunning() const { return m_mergeFuture.isRunning(); }
    void cancelAll();
    void waitForOperations();

signals:
    void progressUpdated(int percentage);
    void filterCompleted(const QString &filterName, int pointsBefore, int pointsAfter);

private:
    PointCloudFilters *m_filters = nullptr;
    QFuture<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> m_pendingCloudFuture;
    QFuture<pcl::PolygonMesh> m_pendingMeshFuture;
    QFuture<pcl::PolygonMesh> m_reconstructionFuture;
    QFuture<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> m_mergeFuture;
};

#endif // PROCESSINGCONTROLLER_H