USB_UVC_DETECT/AIManager/RKNNManager.cpp

#include "RKNNManager.h"
#include "PPYOLOE.hpp"
#include "../DataManager/DataManager.h"
#include "../DataManager/DataPackage.h"

// Image test
#include "../ImageTest/ImageTest.h"
#include "../GrpcTransfer/GrpcTransfer.h"

void RKNNManager::addRknnTask(std::string modelData)
{
    m_threads.emplace_back(&RKNNManager::taskThread, this, modelData);
    m_threads.emplace_back(&RKNNManager::taskThread, this, modelData);
    m_threads.emplace_back(&RKNNManager::taskThread, this, modelData);
}

void RKNNManager::taskThread(std::string modelpath)
{
    std::string target_str = "192.168.211.20:50051";
    grpc::ChannelArguments channel_args;
    channel_args.SetInt(GRPC_ARG_MAX_SEND_MESSAGE_LENGTH, 100 * 1024 * 1024);    // 设置最大发送消息大小为100MB
    channel_args.SetInt(GRPC_ARG_MAX_RECEIVE_MESSAGE_LENGTH, 100 * 1024 * 1024); // 设置最大接收消息大小为100MB

    MessageServiceClient client(grpc::CreateCustomChannel(target_str, grpc::InsecureChannelCredentials(), channel_args));

    PPYOLOE infer;
    if (!infer.initialize(modelpath))
    {
        std::cerr << "initialize rknn infer failed" << std::endl;
        return;
    }
    m_threadSwitch = true;
    int index = infer.get_index();
    DataPackagePtr dataPackage;
    std::string pipeName = "rknn" + std::to_string(index);
    DataManager::getInstance().addDataPipe<DataPackage>(pipeName);

    // time test
    ImageTest::HighResolutionTimer timer;

    while (m_threadSwitch)
    {
        if (DataManager::getInstance().popData("resized" + std::to_string(index), dataPackage))
        {

            timer.start();

            infer.infer(index, (unsigned char *)dataPackage->pResizeData, dataPackage->nResizeWidth, dataPackage->nResizeHeight, dataPackage);

            timer.stop();

            std::cout << "infer time: " << timer.elapsed_milliseconds() << " ms" << std::endl;

            // ImageTest::saveImageFromData((unsigned char *)dataPackage->pResizeData, dataPackage->nResizeWidth, dataPackage->nResizeHeight);

            // MessageServiceClient client(grpc::CreateChannel(target_str, grpc::InsecureChannelCredentials()));
            client.R360SendMessage(dataPackage);

            // MemoryPool<DataPackage> *dataPool = DataManager::getInstance().getDataBuffer<DataPackage>();
            DataManager::getInstance().releaseDataBuffer<DataPackage>(dataPackage);

            continue;
        }

        std::this_thread::sleep_for(std::chrono::milliseconds(20));
    }
}