Hu Chunming / vpt_ascend_arm

  #include "MultiSourceProcess.h"
  #include "../common/logger.hpp"
  
  #include <string>
  #include <queue>
  #include <mutex>
  #include <chrono>
  #include <thread>
  
  #include "../decoder/interface/DecoderManager.h"
  #include "../decoder/interface/utiltools.hpp"
  #include "../helpers/time_helper.hpp"
  #include "../helpers/os_helper.hpp"
  #include "../helpers/gen_json.hpp"

  #include "../helpers/str_helper.hpp"

  #include "../reprocessing_module/save_snapshot_reprocessing.h"
  
  #include "macro_definition.h"
  #include "ErrorInfo.h"
  #include "SourceSingleton.hpp"
  #include "mvpt_process_assist.h"
  
  #include "../util/vpc_util.h"
  
  // #define VEHICLE_MULTI_BOXES
  
  #define WITH_FACE_DET_SS
  
  using namespace std;
  
  map<int, algo_type> index_to_algo_type = {{0, algorithm_type_t::HUMAN_SNAPSHOT},
                                            {1, algorithm_type_t::NONMOTOR_VEHICLE_SNAPSHOT},
                                            {2, algorithm_type_t::NONMOTOR_VEHICLE_SNAPSHOT},
                                            {3, algorithm_type_t::NONMOTOR_VEHICLE_SNAPSHOT},
                                            {4, algorithm_type_t::VEHICLE_SNAPSHOT},
                                            {5, algorithm_type_t::VEHICLE_SNAPSHOT},
                                            {6, algorithm_type_t::VEHICLE_SNAPSHOT},
                                            {7, algorithm_type_t::VEHICLE_SNAPSHOT},
                                            {8, algorithm_type_t::VEHICLE_SNAPSHOT},
                                            {9, algorithm_type_t::FACE_SNAPSHOT}};
  
  
  struct decode_cbk_userdata{
    string task_id;
    void* opaque;
    void* opaque1;
  };
  
  
  /**
   * 注意： gpuFrame 在解码器设置的显卡上，后续操作要十分注意这一点，尤其是多线程情况
   * */
  void post_decod_cbk(const void * userPtr, DeviceMemory* devFrame){
      decode_cbk_userdata* ptr = (decode_cbk_userdata*)userPtr;
      if (ptr!= nullptr)
      {
          CMultiSourceProcess* _this = (CMultiSourceProcess*)ptr->opaque;
          if(nullptr != _this){
              _this->decoded_cbk(devFrame);
          }
      }
  }
  
  void decode_finished_cbk(const void * userPtr){
      decode_cbk_userdata* ptr = (decode_cbk_userdata*)userPtr;
      if (ptr!= nullptr)
      {
          CMultiSourceProcess* _this = (CMultiSourceProcess*)ptr->opaque;
          if(nullptr != _this){
              _this->task_finished(ptr->task_id);
          }
      }
      delete ptr;
      ptr = nullptr;
  }
  
  CMultiSourceProcess::CMultiSourceProcess(){
    m_timing_snapshot_thread = nullptr;
  }
  
  CMultiSourceProcess::~CMultiSourceProcess(){
  }
  
  int CMultiSourceProcess::InitAlgorthim(tsl_aiplatform_param vptParam){

    if (!CheckTime()) {
      return AUTHOR_ERROR;
    }

    set_default_logger(LogLevel(vptParam.log_level), "multi_source_process", vptParam.log_path, vptParam.log_mem, vptParam.log_mem);
    LOG_INFO("编译时间：{} {}", __DATE__, __TIME__);

    SourceSingleton::getInstance();

    skip_frame_ = 5; 
    m_batch_size = 20;

    m_devId = vptParam.gpuid;

    string models_dir = vptParam.models_dir;

    VPTProcess_PARAM vparam;
    vparam.gpuid = m_devId;
    vparam.max_batch = m_batch_size;
    vparam.threshold = 0.4;
    vparam.model_dir = models_dir;

    aclrtSetDevice(m_devId);

    int ret = vpt_process.init(vparam);
    if (ret < 0){
      return ret;
    }

    //三轮车头肩检测
    if (!tricycle_manned_.init(vptParam.gpuid, models_dir)) {
      LOG_FATAL("Init tricycle_hs failed");
      return -1;
    }

    //货车头肩检测
    if (!truck_manned_.init(vptParam.gpuid, models_dir)) {
      LOG_FATAL("Init truck_hs failed");
      return -1;
    }

    //二轮车头肩检测
    if (!motor_hsprocess_.init(vptParam.gpuid, models_dir)) {
      LOG_FATAL("Init motor_hs failed");
      return -1;
    }

    #ifdef WITH_FACE_DET_SS
        // 人脸检测初始化
        facedet_ai_engine_param fd_param;
        char model_path_yolov5s[100];
        strcpy(model_path_yolov5s, (models_dir + "/models/face_detect/face_det_yolov5s_310p.om").c_str());
        fd_param.sdk_param.det_modelNames = model_path_yolov5s;
        char model_path_ldmk[100];
        strcpy(model_path_ldmk, (models_dir + "/models/face_detect/face_ldmk_310p.om").c_str());
        fd_param.sdk_param.ldmk_modelNames = model_path_ldmk;
        char model_path_pose[100];
        strcpy(model_path_pose, (models_dir + "/models/face_detect/face_pose_310p.om").c_str());
        fd_param.sdk_param.pose_modelNames = model_path_pose;
        char model_path_score[100];
        strcpy(model_path_score, (models_dir + "/models/face_detect/face_score_310p.om").c_str());
        fd_param.sdk_param.score_modelNames = model_path_score;
        char model_path_fuzzy[100];
        strcpy(model_path_fuzzy, (models_dir + "/models/face_detect/face_fuzzy_310p.om").c_str());
        fd_param.sdk_param.fuzzy_modelNames = model_path_fuzzy;
        char model_path_occlusion[100];
        strcpy(model_path_occlusion, (models_dir + "/models/face_detect/face_occlusion_310p.om").c_str());
        fd_param.sdk_param.occlusion_modelNames = model_path_occlusion;
        fd_param.sdk_param.thresld = 0.6;
        fd_param.sdk_param.devId = m_devId;
        fd_param.sdk_param.auth_license = "sy_tongtu_aiplatform_sdk_2023";
        fd_param.sdk_param.facial_fea_point_config = SY_CONFIG_OPEN;		//是否启动关键点检测
        fd_param.sdk_param.pose_config = SY_CONFIG_OPEN;					//是否启动姿态角
        fd_param.sdk_param.quality_config = SY_CONFIG_OPEN;				//是否启动质量检测
        fd_param.sdk_param.score_config = SY_CONFIG_OPEN;				//是否启动人脸置信度  //SY_CONFIG_OPEN  SY_CONFIG_CLOSE
        fd_param.sdk_param.max_result_count = 50;
        ret = m_face_det_ai_engine.init_ai_engine(fd_param);
        if (ret < 0 ) {
          LOG_FATAL("Init face detection failed");
          return ret;
        }
  #endif

    m_task_param_manager = task_param_manager::getInstance();
    m_snapshot_reprocessing = new snapshot_reprocessing(m_devId);
    m_save_snapshot_reprocessing = new save_snapshot_reprocessing(m_devId);

  #ifdef POST_USE_RABBITMQ
      mq_manager_ = new mq::Manager();
  #endif

    VPCUtil* pVpcUtil = VPCUtil::getInstance();
    pVpcUtil->init(m_devId);

    m_pAlgorthimThread = new thread([](void* arg) {
        CMultiSourceProcess* process = (CMultiSourceProcess*)arg ;
            process->algorthim_process_thread();
        return (void*)0;

      }

      , this);

    m_recode_thread = new thread([](void* arg) {
        CMultiSourceProcess* process = (CMultiSourceProcess*)arg ;
            process->recode_thread();
        return (void*)0;
      }
      , this);
  
  
    m_timing_snapshot_thread = new std::thread(
          [](void* arg)
          {
              CMultiSourceProcess* _this=(CMultiSourceProcess*)arg;
              if(_this != nullptr){
                _this->timing_snapshot_thread();
              }else{
                LOG_ERROR("定时抓拍线程启动失败 !");
              }
              return (void*)0;
          }, this);
          
    if(nullptr == m_timing_snapshot_thread){
        LOG_ERROR("定时抓拍线程启动失败 !");

    }

  
    LOG_INFO("InitAlgorthim succeed !");
  
    return 0;

  }
  
  #ifdef POST_USE_RABBITMQ
  /* MQ队列的初始化 */
  int CMultiSourceProcess::AddMqConn(mq_type_t mq_type, rabbitmq_conn_params_t mq_conn_param) {
    /* 初始化MQ队列 */
    LOG_INFO("初始化MQ队列");
    if(mq_manager_ == nullptr){
      LOG_ERROR("mq_manager_ is null");
      return FAILED;
    }
  
    if (!mq_manager_->add_conn(mq_type, mq_conn_param)) {
      LOG_ERROR("Connection MQ failed, ip: {} port: {} uname: {} passwd: {}", mq_conn_param.ip, mq_conn_param.port,
                mq_conn_param.uname, mq_conn_param.passwd);
      return MQ_CONN_ERROR;
    }
  
    LOG_INFO("为报警类 绑定MQ回调");
    /* 为报警类 绑定回调 传入mq_manager_.publish 内部直接调用*/
    if (m_save_snapshot_reprocessing!= nullptr && mq_type_t::ALARM_MQ == mq_type) {
      m_save_snapshot_reprocessing->set_callback(
          std::bind(&mq::Manager::publish, mq_manager_, mq_type, std::placeholders::_1, true));
      LOG_INFO("为报警类 绑定MQ回调 成功！");
    }
  
    LOG_INFO("初始化MQ队列成功！");
  
    return SUCCESS;
  }
  
  /* 获取任务的状态 MQ返回 */
  int CMultiSourceProcess::GetTaskStatus(const string taskID) {
  
    DecoderManager* pDecManager = DecoderManager::getInstance();
  
    std::vector<std::string> taskids;
    std::vector<int> statues;
    if(pDecManager->isPausing(taskID)){
      taskids.emplace_back(taskID);
      statues.emplace_back(2);
    }else if(pDecManager->isRunning(taskID)){
      taskids.emplace_back(taskID);
      statues.emplace_back(1);
    }
  
    if (!taskids.empty()) {
      auto json_str = helpers::gen_json::gen_task_status_json(taskids, statues);
      mq_manager_->publish(mq_type_t::GET_TASK_MQ, json_str.c_str(),true);
    }
  
    return SUCCESS;
  }
  #endif
  
  bool CMultiSourceProcess::AddTask(task_param _cur_task_param){
      DecoderManager* pDecManager = DecoderManager::getInstance();
  
      const char* task_id = _cur_task_param.task_id;
  
      MgrDecConfig config;
      config.name = task_id;
      config.cfg.uri = _cur_task_param.ipc_url;
      config.cfg.post_decoded_cbk = post_decod_cbk;
      config.cfg.decode_finished_cbk = decode_finished_cbk;
      config.cfg.force_tcp = true;  // rtsp用tcp
      config.cfg.gpuid = to_string(m_devId);
      config.cfg.skip_frame = skip_frame_;
  
      if (1 == _cur_task_param.dec_type){
        config.cfg.port = _cur_task_param.port;
        config.dec_type = DECODER_TYPE_GB28181;
        config.cfg.uri = task_id;
        if(_cur_task_param.protocal == 0){
          // 指定用udp协议
          config.cfg.force_tcp = false;
        }
        config.cfg.request_stream_cbk = _cur_task_param.gb28181_request_stream_callback ;
      }else if (2 == _cur_task_param.dec_type){
        config.dec_type = DECODER_TYPE_DVPP;
      }else {
          config.dec_type = DECODER_TYPE_FFMPEG;
      }
      
      AbstractDecoder* dec = pDecManager->createDecoder(config);
      if (!dec){
          return false;
      }
  
      decode_cbk_userdata* userPtr = new decode_cbk_userdata;
      userPtr->task_id = string(task_id);
      userPtr->opaque = this;
      userPtr->opaque1 = dec;
      pDecManager->setPostDecArg(config.name, userPtr);
      pDecManager->setFinishedDecArg(config.name, userPtr);
      
      // pDecManager->setDecKeyframe(config.name, true); // 只对关键帧解码
      
  
      // 保存新添加任务的配置参数
      m_task_param_manager->add_task_param(task_id, _cur_task_param);
  
      int input_image_width = 0;
      int input_image_height = 0;
      pDecManager->getResolution(config.name, input_image_width, input_image_height);
      LOG_INFO("task_id: {} width: {} height:{}", task_id, input_image_width, input_image_height);
  
       // 所有参数都准备好之后再启动解码
      bool bStart = pDecManager->startDecodeByName(config.name);
      if (!bStart){
        LOG_INFO("started task {} failed!", config.name);
        pDecManager->closeDecoderByName(config.name);
        return false;
      }
  

  #ifdef POST_USE_RABBITMQ

      mq_type_t mq_type = mq_type_t::ALARM_MQ;

      pDecManager->set_mq_callback(config.name, std::bind(&mq::Manager::publish, mq_manager_, mq_type, std::placeholders::_1, true));
  #endif
  

      // 人车物跟踪
      if (task_has_vpt_algor(task_id))
        vpt_process.addTaskTracker(task_id, 1, 1, skip_frame_);
  
          // 人脸跟踪
  #ifdef WITH_FACE_DET_SS
      if (task_has_face_algor(task_id))
        m_face_det_ai_engine.add_tracker(task_id, skip_frame_); // 跳帧数暂时写死
  #endif
  
      m_FinishedTaskMtx.lock();
      m_FinishedTaskMap[task_id] = false;
      m_FinishedTaskMtx.unlock();
  
      auto algor_map = m_task_param_manager->get_task_other_param(task_id);
      if (algor_map != nullptr){
        /* 如果开启了行人 机动车非法闯入功能 生成闯入区域mask */
        if (algor_map->find(algorithm_type_t::PEDESTRIAN_TRESPASS) != algor_map->end()) {
          pedestrian_vehicle_trespass_.pedestrianvehicletrespass_init_region(
              task_id, algorithm_type_t::PEDESTRIAN_TRESPASS, input_image_width, input_image_height);
        }
  
        if (algor_map->find(algorithm_type_t::VEHICLE_TRESPASS) != algor_map->end()) {
          pedestrian_vehicle_trespass_.pedestrianvehicletrespass_init_region(
              task_id, algorithm_type_t::VEHICLE_TRESPASS, input_image_width, input_image_height);
        }
  
        // 设置定时截图的时间间隔
        auto algor = algor_map->find(algorithm_type_t::VIDEO_TIMING_SNAPSHOT);
        if(algor != algor_map->end()){
          task_param_manager::algo_param_type_t_* cur_task_params = algor->second;
          if(cur_task_params){
            int frame_stride = ((algor_config_video_timing_snapshot*)cur_task_params->algor_param)->frame_stride;
            LOG_INFO("task {} snap time interval: {} s", config.name, frame_stride);
            // 单位是ms, 乘以 1000 编成s
            dec->setSnapTimeInterval(frame_stride * 1000);
          }
        }

        // 测试代码
        // auto algor_face = algor_map->find(algorithm_type_t::FACE_SNAPSHOT);
        // if(algor_face != algor_map->end()){
        //   const algor_basic_config_param_t *cur_param = ((algor_init_config_param_t *)(algor_face->second))->basic_param;
        //   LOG_INFO("face_snapshot, result_folder: {}  result_folder_little: {}", cur_param->result_folder, cur_param->result_folder_little);
        // }
      }

      LOG_INFO("started task {} successed!", config.name);
  
      return true;
  }
  
  bool CMultiSourceProcess::task_has_vpt_algor(const std::string &task_id){
      //! TODO: create enum iterator.
      auto algor_map = m_task_param_manager->get_task_other_param(task_id);
      if (algor_map == nullptr)
        return false;
  
      return (algor_map->find(algorithm_type_t::HUMAN_GATHER) != algor_map->end() ||
              algor_map->find(algorithm_type_t::HUMAN_SNAPSHOT) != algor_map->end() ||
              algor_map->find(algorithm_type_t::NONMOTOR_VEHICLE_SNAPSHOT) != algor_map->end() ||
              algor_map->find(algorithm_type_t::SMOKING_DET) != algor_map->end() ||
              algor_map->find(algorithm_type_t::NO_REFLECTIVE_CLOTHING) != algor_map->end() ||
              algor_map->find(algorithm_type_t::NO_SAFETY_HELMET) != algor_map->end() ||
              algor_map->find(algorithm_type_t::CALL_PHONE_DET) != algor_map->end() ||
              algor_map->find(algorithm_type_t::VEHICLE_SNAPSHOT) != algor_map->end() ||
              algor_map->find(algorithm_type_t::TAKEAWAY_MEMBER_CLASSIFICATION) != algor_map->end() ||
              algor_map->find(algorithm_type_t::PEDESTRIAN_FALL) != algor_map->end() ||
              algor_map->find(algorithm_type_t::PEDESTRIAN_FIGHT) != algor_map->end() ||
              algor_map->find(algorithm_type_t::PEDESTRIAN_RETROGRADE) != algor_map->end() ||
              algor_map->find(algorithm_type_t::VEHICLE_RETROGRADE) != algor_map->end() ||
              algor_map->find(algorithm_type_t::PEDESTRIAN_TRESPASS) != algor_map->end() ||

              algor_map->find(algorithm_type_t::VEHICLE_TRESPASS) != algor_map->end() ||
              algor_map->find(algorithm_type_t::NONMOTOR_VEHICLE_NOHELMET) != algor_map->end() ||
              algor_map->find(algorithm_type_t::NONMOTOR_VEHICLE_OVERMAN) != algor_map->end() ||
              algor_map->find(algorithm_type_t::TRICYCLE_MANNED) != algor_map->end() ||
              algor_map->find(algorithm_type_t::TRUCK_MANNED) != algor_map->end());

  }
  
  bool CMultiSourceProcess::task_has_face_algor(const std::string &task_id){
      auto algor_map = m_task_param_manager->get_task_other_param(task_id);
      if (nullptr != algor_map){
        return algor_map->find(algorithm_type_t::FACE_SNAPSHOT) != algor_map->end();
      }
      
      return false;
  }
  
  void CMultiSourceProcess::decoded_cbk(DeviceMemory* devFrame){
  
    do{
      if(m_bfinish){
        break;
      }
      m_DataListMtx.lock();
      if(m_RgbDataList.size() >= 30){
        m_DataListMtx.unlock();
        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        continue;
      }
      m_RgbDataList.push_back(devFrame);
      m_DataListMtx.unlock();
      break;
    }while (true);
  }
  
  void CMultiSourceProcess::task_finished(const string task_id){
  
    std::lock_guard<std::mutex> l(m_FinishedTaskMtx);
  
    m_FinishedTaskMap[task_id] = true;
  
    LOG_INFO("task {} finished!", task_id);
  }
  
  bool CMultiSourceProcess::PauseTask(const string taskID){
      DecoderManager* pDecManager = DecoderManager::getInstance();
      return pDecManager->pauseDecoder(taskID);
  }
  
  bool CMultiSourceProcess::RestartTask(const string taskID){
      DecoderManager* pDecManager = DecoderManager::getInstance();
      return pDecManager->resumeDecoder(taskID);
  }
  
  bool CMultiSourceProcess::FinishTask(const string taskID){
      DecoderManager* pDecManager = DecoderManager::getInstance();
      return pDecManager->closeDecoderByName(taskID);
  }
  
  int CMultiSourceProcess::snapshot_task(std::string& uri_or_name, const std::string& file_name, bool bInTask) {
    DecoderManager* pDecManager = DecoderManager::getInstance();
  
    DeviceMemory* devMem = nullptr;
    if(bInTask) {
      LOG_INFO("snap in task");
      devMem = pDecManager->snapshot_in_task(uri_or_name);
    } else {
      LOG_INFO("snap out task");
      devMem = pDecManager->snapshot_out_task(uri_or_name, m_devId);
    }
    if(devMem != nullptr) {
      JpegUtil jpegUtil;
      jpegUtil.jpeg_init(m_devId);
  
      acldvppPicDesc *vpcDesc= acldvppCreatePicDesc();
      acldvppSetPicDescData(vpcDesc, devMem->getMem()); 
      acldvppSetPicDescFormat(vpcDesc, PIXEL_FORMAT_YUV_SEMIPLANAR_420);
      acldvppSetPicDescWidth(vpcDesc, devMem->getWidth());
      acldvppSetPicDescHeight(vpcDesc, devMem->getHeight());
      acldvppSetPicDescWidthStride(vpcDesc, devMem->getWidthStride());
      acldvppSetPicDescHeightStride(vpcDesc, devMem->getHeightStride());
      acldvppSetPicDescSize(vpcDesc, devMem->getSize());
  
      jpegUtil.jpeg_encode(vpcDesc, file_name);
      
      acldvppDestroyPicDesc(vpcDesc);
  
      jpegUtil.jpeg_release();
  
      delete devMem;
      devMem = nullptr;
  

      return SUCCESS;
    }
  

    return FAILED;
  }
  
  int CMultiSourceProcess::SnapShot(task_param _cur_task_param) {
    LOG_INFO("begin SnapShot task: {}", _cur_task_param.task_id);
  
    /* 添加任务参数 */
    auto &algor_config_param = _cur_task_param.algor_config_params[0]; // 默认算法数量为1
    
    /* 拷贝通用的算法参数 */
    auto src_basic_param = algor_config_param.algor_init_config_param->basic_param;
    if (src_basic_param->result_folder) {
      CreateResultFolder(src_basic_param->result_folder, "");
    } else {
      src_basic_param->result_folder = "";
    }
  
    std::string cur_timestamp_ms = std::to_string(helpers::timer::get_timestamp<std::chrono::milliseconds>());
    std::string file_name = std::string(src_basic_param->result_folder) + helpers::os::sep + _cur_task_param.task_id  + "_snap_" + cur_timestamp_ms + ".jpg";
  
    // file_name = "/mnt/data/cmhu/tongtu/Linux_3rdparty/tsl_sdk_20220801/res/snap.jpg";
    string task_id = _cur_task_param.task_id;
    int bSnapShot = snapshot_task(task_id, file_name, true);
    if (FAILED == bSnapShot){
      string url = _cur_task_param.ipc_url;
      bSnapShot = snapshot_task(url, file_name, false);
    }
    if(SUCCESS == bSnapShot){
  #ifdef POST_USE_RABBITMQ
    auto json_str = helpers::gen_json::gen_screen_json(task_id, file_name);
    // mq_manager_->publish(mq_type_t::GET_TASK_MQ, json_str.c_str(), true);
    mq_manager_->publish(mq_type_t::SCREENSHORT_TASK_MQ, json_str.c_str(), true);
  #endif
      LOG_INFO("SnapShot task: {} success", task_id);

    } else {
      LOG_ERROR("SnapShot task: {} failed !", task_id);

    }
  
    return bSnapShot;
  }
  
  void CMultiSourceProcess::CloseAllTask(){
      m_bfinish = true;
  
      DecoderManager* pDecManager = DecoderManager::getInstance();
      pDecManager->closeAllDecoder();
      
      if(m_pAlgorthimThread){
          m_pAlgorthimThread->join();
          m_pAlgorthimThread = nullptr;
      }
  

      if(m_recode_thread){
          m_recode_thread->join();
          m_recode_thread = nullptr;
      }
  

      if(m_timing_snapshot_thread != nullptr && m_timing_snapshot_thread->joinable()){
        m_timing_snapshot_thread->join();
        m_timing_snapshot_thread = nullptr;
      }
  
      m_DataListMtx.lock();
      while (!m_RgbDataList.empty()){
          DeviceMemory* gpuMem = m_RgbDataList.front();
          delete gpuMem;
          gpuMem = nullptr;
          m_RgbDataList.pop_front();
      }
      m_DataListMtx.unlock();
  
      int size = m_RgbDataList.size();
      bool bEmpty = m_RgbDataList.empty();
      
      LOG_INFO("CloseAllTask exit.");
  }
  
  void CMultiSourceProcess::clear_finished_task(){// 清理已经结束的任务
  
    std::lock_guard<std::mutex> l1(m_FinishedTaskMtx);
    std::lock_guard<std::mutex> l2(m_DataListMtx);
  
    for (auto iter_finished = m_FinishedTaskMap.begin(); iter_finished!=m_FinishedTaskMap.end(); ){
      if(iter_finished->second){
        // 解码已经结束
        // 判断数据对列中是否还有数据
        string task_id = iter_finished->first;
        bool bFinished = true;
        for (auto iter = m_RgbDataList.begin(); iter!=m_RgbDataList.end(); ++ iter){
          DeviceMemory* gpuMem = *iter;
          if(task_id == gpuMem->getId()){
            bFinished = false;
            break;
          }
        }
  
        if (bFinished){
          // 解码器已经结束，且数据队列中没有改任务的数据，则做最后任务清理工作
          finish_task(task_id,false);
          iter_finished = m_FinishedTaskMap.erase(iter_finished);
          continue;
        }
      }
  
      ++ iter_finished;
    }
  }
  
  bool CMultiSourceProcess::finish_task(const string taskID, const bool delete_snapshot){
  
    // 任务结束，关闭跟踪
    if (!vpt_process.finishTaskTracker(taskID))
      LOG_ERROR("Finish VPT Tracker failed, task_id: {}", taskID);
  
  #ifdef POST_USE_RABBITMQ
    auto json_str = helpers::gen_json::gen_office_task_heart_beat_json({taskID});
    mq_manager_->publish(mq_type_t::HEART_BEAT_MQ, json_str.c_str(), true);
  #endif
  

  // #ifdef WITH_SECOND_PROCESS

    pedestrian_vehicle_retrograde_.force_release_result(taskID); //221024 byzsh

  // #endif
    tricycle_manned_.force_release_result(taskID);
    truck_manned_.force_release_result(taskID);
    motor_hsprocess_.force_release_result(taskID);

  
    m_task_param_manager->delete_task_param(taskID);
  
    return true;
  }
  
  int CMultiSourceProcess::algorthim_process_thread(){
      LOG_INFO("algorthim_process_thread start...");
  
      ACL_CALL(aclrtSetDevice(m_devId), ACL_ERROR_NONE, 1);
      aclrtContext ctx;
      ACL_CALL(aclrtCreateContext(&ctx, m_devId), ACL_ERROR_NONE, 1);
  
      while (true){

          if (!CheckTime()) {
            LOG_FATAL("authority failed!");
            break;
          }
  

          if(m_bfinish){
              break;
          }
  
          clear_finished_task();
  
          vector<DeviceMemory*> vec_gpuMem;
          m_DataListMtx.lock();
          while (!m_RgbDataList.empty()){
              DeviceMemory* gpuMem = m_RgbDataList.front();
              if(gpuMem->getMem() == nullptr){
                // 错误数据，直接删除
                delete gpuMem;
                gpuMem = nullptr;
                LOG_WARN("mem is null");
              } else {
                vec_gpuMem.push_back(gpuMem);
              }
              m_RgbDataList.pop_front();
              if(vec_gpuMem.size() >= m_batch_size){
                  break;
              }
          }
          m_DataListMtx.unlock();
  
          if(vec_gpuMem.size() <= 0){
              std::this_thread::sleep_for(std::chrono::milliseconds(3));
              continue;
          }
  
          aclrtSetCurrentContext(ctx);
          algorthim_vpt(vec_gpuMem);
  
  #ifdef WITH_FACE_DET_SS
          algorthim_face_detect(vec_gpuMem);
  #endif
  
          for(int i=0;i < vec_gpuMem.size(); i++){
              DeviceMemory* mem = vec_gpuMem[i];
              if(mem->getSize() <= 0){
                continue;
              }
              delete mem;
              mem = nullptr;
          }
          vec_gpuMem.clear();
  
      }
      
      aclrtDestroyContext(ctx);
  
      LOG_INFO("algorthim_process_thread exit.");
  
      return 0;
  }
  
  int CMultiSourceProcess::algorthim_vpt(vector<DeviceMemory*> vec_gpuMem){
  
      vector<string> vpt_interest_task_id;
      vector<sy_img> vpt_interest_imgs;
      vector<DeviceMemory*> vec_vptMem;
      for (int i = 0; i < vec_gpuMem.size(); i++) {
          DeviceMemory* mem = vec_gpuMem[i];
          if (!task_has_vpt_algor(mem->getId())){
              continue;
          }
  
          sy_img img;
          img.w_ = mem->getWidth();
          img.h_ = mem->getHeight();
          img.c_ = mem->getChannel();
          img.data_ = mem->getMem();
          vpt_interest_imgs.push_back(img);
          vpt_interest_task_id.push_back(mem->getId());
          vec_vptMem.push_back(mem);
      }
  
      /* 待检测的图片不为空 开始检测 */
      if (!vpt_interest_imgs.empty()) {
        vector<vector<int>> deleteObjectID;
        deleteObjectID.resize(vpt_interest_task_id.size());
        vector<vector<onelevel_det_result>> unUsedResult;
        vector<onelevel_det_result> vptResult(0);
  
        /* 一级检测器，内部已完成跟踪操作 */
        vpt_process.process_gpu(vpt_interest_imgs.data(), vpt_interest_task_id, vptResult, deleteObjectID, unUsedResult); // do det & track.
  
        m_snapshot_reprocessing->screen_effective_snapshot(vptResult); 
  
  #ifndef VEHICLE_MULTI_BOXES
        /* 快照优选（内部可实现不同的快照优选策略） */
        m_snapshot_reprocessing->update_bestsnapshot(vec_vptMem, vptResult, deleteObjectID);
        /*  for snapshot algorithm. 轨迹结束目标 做最后的结果返回（当前返回算法结果+快照保存路径）*/
        vehicle_snapshot(vpt_interest_task_id, deleteObjectID);
  #else
        algorithm_vehicle_relult(vec_vptMem, vptResult, deleteObjectID);
  
        send_locus_finished_msg(vpt_interest_task_id, deleteObjectID);
  #endif
  
  // #ifdef WITH_SECOND_PROCESS
      /* for pedestrian safety det. 行人安全分析算法模块 */
      // algorthim_pedestrian_safety(vpt_interest_task_id, vpt_interest_imgs,vptResult);
  

      // 逆行
      algorthim_retrograde(vpt_interest_task_id, vec_vptMem, vptResult);
      retrograde_snapshot(vpt_interest_task_id, deleteObjectID);
      // 闯入
      algorthim_trespass(vpt_interest_task_id, vec_vptMem, vptResult, deleteObjectID);
      trespass_snapshot(vpt_interest_task_id, deleteObjectID);
  

  // #endif
  
  #ifdef USE_VILLAGE
      // 农村违法分析的快照缓存
      m_snapshot_reprocessing->update_village_bestsnapshot(vec_vptMem, vptResult, deleteObjectID);

      // 三轮车载人
      algorithm_tricycle_manned(vpt_interest_task_id, vec_vptMem, vptResult);
      // 货车载人
      algorithm_truck_manned(vpt_interest_task_id, vec_vptMem, vptResult);
      // 二轮车超员/未戴盔
      algorithm_motor_hs_process(vpt_interest_task_id, vec_vptMem, vptResult);
      manned_snapshot(vpt_interest_task_id, vec_vptMem, deleteObjectID);

  #endif

        // if(vptResult.size() > 0){
        //     cout << vptResult[0].obj_count<< endl;
        // }

        vptResult.clear();
        unUsedResult.clear();
        deleteObjectID.clear();
      }
  
      vec_vptMem.clear();
      vpt_interest_task_id.clear();
      vpt_interest_imgs.clear();
  
      return 0;
  }
  
  int CMultiSourceProcess::algorithm_vehicle_relult(vector<DeviceMemory*> vec_devMem, vector<onelevel_det_result>& vptResult, vector<vector<int>>& delete_object_id) {
    
    vector<multi_obj_data_t> results = m_snapshot_reprocessing->get_vehicle_snapshot(vec_devMem, vptResult, skip_frame_);
  
    VPCUtil* pVPCUtil = VPCUtil::getInstance();
    for (auto &result : results) {
      if(result.objs.size() <= 0){
        continue;
      }
      auto task_id = result.task_id;
      auto task_other_params = m_task_param_manager->get_task_other_param(task_id);
      const auto &algor_other_params = task_other_params->find(algorithm_type_t::VEHICLE_SNAPSHOT);
      if (algor_other_params == task_other_params->end()) {
        LOG_ERROR("taskId {} not found algor {}", task_id.c_str(), (int)algorithm_type_t::VEHICLE_SNAPSHOT);
        continue;
      }
      const algor_basic_config_param_t *basic_param = algor_other_params->second->basic_param;
  
      std::string cur_timestamp_ms =  std::to_string(helpers::timer::get_cur_time_ms());
      const std::string fpath_origin = basic_param->result_folder + helpers::os::sep + task_id + "_" +
                                    std::to_string(result.objs.size()) + "_" + std::to_string(result.id) + "_" + cur_timestamp_ms + ".jpg";
  
      ImgSaveInfo saveInfo;
      saveInfo.file_path = fpath_origin;
      saveInfo.img_info = VPCUtil::vpc_devMem2vpcImg(result.memPtr);
      m_save_snapshot_reprocessing->reprocessing_process_wo_locus_async(saveInfo);
  
      vector<vpc_img_info> vec_obj_info_list = pVPCUtil->crop_batch(result.memPtr, result.objs);
      if(vec_obj_info_list.size() != result.objs.size()){
        LOG_ERROR("vpc_crop size error !");
        VPCUtil::vpc_imgList_release(vec_obj_info_list);
        continue;
      }
  
      // 保存抠图并发MQ
      for(int i =0; i < result.objs.size(); i++){
        video_object_info obj = result.objs[i];
  
        std::string cur_timestamp_ms = std::to_string(helpers::timer::get_cur_time_ms());
        const std::string fpath_roi = basic_param->result_folder_little + helpers::os::sep + task_id + "_" +
                                std::to_string(obj.object_id) + "_" + cur_timestamp_ms + ".jpg";
          
        video_object_snapshot new_obj_ss_info;
        new_obj_ss_info.analysisRes = nullptr;
        new_obj_ss_info.object_id = obj.object_id;
        new_obj_ss_info.obj_info.set_data(obj.index, obj.confidence, obj.left, obj.top, obj.right, obj.bottom);
        strcpy(new_obj_ss_info.task_id, task_id.c_str());
        strcpy(new_obj_ss_info.video_image_path, fpath_origin.c_str());
        strcpy(new_obj_ss_info.snapshot_image_path, fpath_roi.c_str());
        new_obj_ss_info.nFinished = 0;
        string json_str = helpers::gen_json::gen_multi_obj_json(algorithm_type_t::VEHICLE_SNAPSHOT, new_obj_ss_info);
  
        ImgSaveInfo save_info;
        save_info.file_path = fpath_roi;
        save_info.img_info = vec_obj_info_list[i];
        save_info.json_str = json_str;
        m_save_snapshot_reprocessing->reprocessing_process_wo_locus_async(save_info);
  
        OBJ_KEY obj_key{task_id, obj.object_id};
        // 保存有轨迹的object记录，轨迹结束时需要发消息
        std::lock_guard<std::mutex> l(m_total_mutex);
  			m_total_snapshot_info_multi_object.insert(obj_key);
      }
  
      vec_obj_info_list.clear();
    }
  
    return 0;
  }
  
  void CMultiSourceProcess::send_locus_finished_msg(vector<string>& vpt_interest_task_id, vector<vector<int>> deleteObjectID){
    auto task_iter = vpt_interest_task_id.begin();
  
    for (int i = 0; i < deleteObjectID.size(); i++, ++task_iter) // loop taskId.
    {
      string task_id = *task_iter;
      for (int &j : deleteObjectID[i]) // loop algor type.
      {
        OBJ_KEY obj_key = {task_id, j};
  
        auto task_param_ptr = m_task_param_manager->get_task_algor_param(task_id);
  
        // 该路任务开启了抓拍功能 开始抓拍保存；若未开启抓拍，清空显存资源
        if (task_param_ptr->vehicle_algors.find(algorithm_type_t::VEHICLE_SNAPSHOT) != task_param_ptr->vehicle_algors.end()) {
          std::lock_guard<std::mutex> l(m_total_mutex);
          if (m_total_snapshot_info_multi_object.find(obj_key) != m_total_snapshot_info_multi_object.end()) {
            video_object_snapshot new_obj_ss_info;
            new_obj_ss_info.object_id = j;
            new_obj_ss_info.nFinished = 1;
            strcpy(new_obj_ss_info.task_id, task_id.c_str());
            string json_str = helpers::gen_json::gen_multi_obj_json(algorithm_type_t::VEHICLE_SNAPSHOT, new_obj_ss_info);
            // 通知结束的轨迹
            ImgSaveInfo save_info;
            save_info.json_str = json_str;
            m_save_snapshot_reprocessing->reprocessing_process_wo_locus_async(save_info);
  
            m_total_snapshot_info_multi_object.erase(obj_key);
          }
        }
      }
    }
  }
  
  // for snapshot algorithm. 轨迹结束目标 做最后的结果返回（当前返回算法结果+快照保存路径）
  void CMultiSourceProcess::vehicle_snapshot(vector<string>& vpt_interest_task_id, vector<vector<int>> deleteObjectID) {
    auto task_iter = vpt_interest_task_id.begin();
  
    for (int i = 0; i < deleteObjectID.size(); i++, ++task_iter) // loop taskId.
    {
      for (int &j : deleteObjectID[i]) // loop algor type.
      {
        OBJ_KEY obj_key = {*task_iter, j};
        // 该路任务开启了抓拍功能 开始抓拍保存；若未开启抓拍，清空显存资源
        vehicle_locus_finished(obj_key);
      }
    }
  }
  
  void CMultiSourceProcess::vehicle_locus_finished(const OBJ_KEY obj_key) {
    LOG_DEBUG("vehicle_locus_finished in");
    auto task_param_ptr = m_task_param_manager->get_task_algor_param(obj_key.video_id);
    if (task_param_ptr == nullptr){
      return;
    }
  
    // 该路任务开启了抓拍功能 开始抓拍保存；若未开启抓拍，清空显存资源
    if ((task_param_ptr->human_algors.find(algorithm_type_t::HUMAN_SNAPSHOT) == task_param_ptr->human_algors.end() &&
         task_param_ptr->vehicle_algors.find(algorithm_type_t::VEHICLE_SNAPSHOT) != task_param_ptr->vehicle_algors.end() &&
         task_param_ptr->nonmotor_vehicle_algors.find(algorithm_type_t::NONMOTOR_VEHICLE_SNAPSHOT) != task_param_ptr->nonmotor_vehicle_algors.end())) {
      return;
    }
  
    map<OBJ_KEY, OBJ_VALUE> _total_snapshot_info = m_snapshot_reprocessing->get_total_snapshot_info();
    if(_total_snapshot_info.size() <= 0){
      return;
    }
  
    LOG_DEBUG("_total_snapshot_info size: {}", _total_snapshot_info.size());
  
    auto it = _total_snapshot_info.find(obj_key);
    if (it == _total_snapshot_info.end()) {
      return;
    }
  
    const OBJ_VALUE obj_value = it->second;
  
    auto task_other_param_map = m_task_param_manager->get_task_other_params();
    auto it_other_param = task_other_param_map.find(obj_key.video_id);
    if(it_other_param == task_other_param_map.end()){
      return;
    }
    auto task_other_param = it_other_param->second;
  
    LOG_DEBUG("algor_type");
    auto algor_type = index_to_algo_type[obj_value.index.index];
  
  
  
    LOG_DEBUG("task_other_param");
    auto it_algor_type = task_other_param.find(algor_type);
    if(it_algor_type == task_other_param.end()) {
      return;
    }
    
    LOG_DEBUG("algor_param");
    auto algor_param = (algor_config_param_snapshot *)it_algor_type->second->algor_param;
  
  
  
  
    // auto algor_param = (algor_config_param_snapshot *)task_other_param[algor_type]->algor_param;
    if(algor_param == nullptr) {
      return;
    }
  
    if (obj_value.confidence <= algor_param->threshold) {
      LOG_DEBUG("Snapshot conf filter ({} vs {})", obj_value.confidence, algor_param->threshold);
      // 删除记录，同时释放显存
      m_snapshot_reprocessing->release_finished_locus_snapshot(obj_key.video_id, obj_key.obj_id, true); 
      return;
    }
  
    LOG_DEBUG("cur_param");
    const algor_basic_config_param_t *cur_param = it_algor_type->second->basic_param;
    // const algor_basic_config_param_t *cur_param = task_other_param[algor_type]->basic_param;
    if(cur_param == nullptr) {
      return;
    }
    
    // 原图
    LOG_DEBUG("原图");
    std::string cur_timestamp_ms =  std::to_string(helpers::timer::get_cur_time_ms());
    std::string fpath_origin = std::string(cur_param->result_folder) + helpers::os::sep + obj_key.video_id + "_" +
                                std::to_string(obj_key.obj_id) + "_" + cur_timestamp_ms + ".jpg";
                                  
    ImgSaveInfo origin_save_info;
    origin_save_info.file_path = fpath_origin;
    origin_save_info.img_info = obj_value.snapShot;
    origin_save_info.obj_rect = obj_value.obj_pos;
    m_save_snapshot_reprocessing->reprocessing_process_wo_locus_async(origin_save_info);
  
    {
      LOG_DEBUG("抠图");
      // 抠图
      string json_str = "";
      string object_file_name = std::string(cur_param->result_folder_little) + helpers::os::sep + obj_key.video_id + "_" +
                            std::to_string(obj_key.obj_id) + "_" + cur_timestamp_ms + ".jpg";
  
  #ifdef POST_USE_RABBITMQ
      video_object_snapshot new_obj_ss_info;
      new_obj_ss_info.analysisRes = nullptr;
      new_obj_ss_info.object_id = obj_key.obj_id;
      new_obj_ss_info.obj_info.set_data(obj_value.index.index, obj_value.confidence, obj_value.obj_pos.left_,
                                        obj_value.obj_pos.top_, obj_value.obj_pos.left_ + obj_value.obj_pos.width_,
                                        obj_value.obj_pos.top_ + obj_value.obj_pos.height_);
      strcpy(new_obj_ss_info.task_id, obj_key.video_id.c_str());
      strcpy(new_obj_ss_info.video_image_path, fpath_origin.c_str());
      strcpy(new_obj_ss_info.snapshot_image_path, object_file_name.c_str());
      json_str = helpers::gen_json::gen_snapshot_json(algor_type, new_obj_ss_info);
  #endif
                                    
      ImgSaveInfo obj_save_info;
      obj_save_info.file_path = object_file_name;
      obj_save_info.img_info = obj_value.snapShotLittle;
      obj_save_info.json_str = json_str;
      m_save_snapshot_reprocessing->reprocessing_process_wo_locus_async(obj_save_info);
    }
    
    LOG_DEBUG("仅删除记录，显存会在保存线程中删除");
    // 仅删除记录，显存会在保存线程中删除
    m_snapshot_reprocessing->release_finished_locus_snapshot(obj_key.video_id, obj_key.obj_id, false); 
  
  }
  
  void CMultiSourceProcess::timing_snapshot_thread(){
    LOG_INFO("timing_snapshot_thread start.");
  
    JpegUtil jpegUtil;
    jpegUtil.jpeg_init(m_devId);
  
    DecoderManager* pDecManager = DecoderManager::getInstance();
    while(!m_bfinish){
      vector<DeviceMemory*> vec_devMem = pDecManager->timing_snapshot_all();
      for (auto devMem : vec_devMem){
        auto task_id = devMem->getId();
        auto task_other_params = m_task_param_manager->get_task_other_param(task_id);
        if (task_other_params == nullptr) 
          continue;
        const auto &algor_other_params = task_other_params->find(algorithm_type_t::VIDEO_TIMING_SNAPSHOT);
        if(algor_other_params != task_other_params->end()){
          const algor_basic_config_param_t *basic_param = algor_other_params->second->basic_param;
          std::string cur_timestamp_ms =  std::to_string(devMem->getTimesstamp());
          const std::string fpath_ori = basic_param->result_folder + helpers::os::sep + task_id + "_" + cur_timestamp_ms + ".jpg";
  
          // LOG_DEBUG("snapshot save path: {}", fpath_ori.c_str());
  
          acldvppPicDesc *vpcDesc= acldvppCreatePicDesc();
          acldvppSetPicDescData(vpcDesc, devMem->getMem()); 
          acldvppSetPicDescFormat(vpcDesc, PIXEL_FORMAT_YUV_SEMIPLANAR_420);
          acldvppSetPicDescWidth(vpcDesc, devMem->getWidth());
          acldvppSetPicDescHeight(vpcDesc, devMem->getHeight());
          acldvppSetPicDescWidthStride(vpcDesc, devMem->getWidthStride());
          acldvppSetPicDescHeightStride(vpcDesc, devMem->getHeightStride());
          acldvppSetPicDescSize(vpcDesc, devMem->getSize());
  
          jpegUtil.jpeg_encode(vpcDesc, fpath_ori);
  
          acldvppDestroyPicDesc(vpcDesc);
  
      #ifdef POST_USE_RABBITMQ
          auto json_str = helpers::gen_json::gen_vtsnapshot_json(task_id, fpath_ori);
          mq_manager_->publish(mq_type_t::TIMING_SCREENSHORT_TASK_MQ, json_str.c_str(), true);
      #endif
        }
      }
  
      for(auto devMem : vec_devMem){
        delete devMem;
        devMem = nullptr;
      }
      vec_devMem.clear();
  
      std::this_thread::sleep_for(std::chrono::milliseconds(600));
    }
  
    jpegUtil.jpeg_release();
  
    LOG_INFO("timing_snapshot_thread end.");
  }
  
  // 逆行
  void CMultiSourceProcess::algorthim_retrograde(vector<string>& vpt_interest_task_id, vector<DeviceMemory*> vpt_interest_imgs, 
                                              vector<onelevel_det_result>& vptResult){
    vector<string> interest_task_id;
    vector<onelevel_det_result> interest_vpt_result;
    vector<DeviceMemory*> interest_imgs;  
  
    int _idx = 0;
    for (auto _task_id_iter = vpt_interest_task_id.begin(); _task_id_iter != vpt_interest_task_id.end();
          ++_task_id_iter, ++_idx) // loop task_id;
    {
      auto task_id = *_task_id_iter;
      auto algor_map = m_task_param_manager->get_task_other_param(task_id);
  
      if (algor_map->find(algorithm_type_t::PEDESTRIAN_RETROGRADE) != algor_map->end() ||
          algor_map->find(algorithm_type_t::VEHICLE_RETROGRADE) != algor_map->end()) {
        interest_task_id.emplace_back(task_id);
        interest_imgs.emplace_back(vpt_interest_imgs[_idx]);
        interest_vpt_result.emplace_back(vptResult[_idx]);
      }
    }
  
    // LOG_DEBUG("retrograde interest_vpt_result size: {}", interest_vpt_result.size());
  
    if (!interest_imgs.empty()){
      pedestrian_vehicle_retrograde_.update_mstreams(interest_task_id, interest_imgs, interest_vpt_result);
    }
  }
  
  // 闯入
  void CMultiSourceProcess::algorthim_trespass(vector<string>& vpt_interest_task_id, vector<DeviceMemory*> vpt_interest_imgs, 
                                              vector<onelevel_det_result>& vptResult ,vector<vector<int>>& deleteObjectID){
  
    vector<string> trespass_interest_task_id;
    vector<onelevel_det_result> trespass_interest_vpt_result;
    vector<vector<int>> trespass_interest_deleteobjs;
    vector<DeviceMemory*> trespass_interest_imgs;
  
    int _idx = 0;
    for (auto _task_id_iter = vpt_interest_task_id.begin(); _task_id_iter != vpt_interest_task_id.end();
          ++_task_id_iter, ++_idx) // loop task_id;
    {
      auto task_id = *_task_id_iter;
      auto algor_map = m_task_param_manager->get_task_other_param(task_id);
  
      if (algor_map->find(algorithm_type_t::PEDESTRIAN_TRESPASS) != algor_map->end() ||
          algor_map->find(algorithm_type_t::VEHICLE_TRESPASS) != algor_map->end()) {
        trespass_interest_task_id.emplace_back(task_id);
        trespass_interest_imgs.emplace_back(vpt_interest_imgs[_idx]);
        trespass_interest_vpt_result.emplace_back(vptResult[_idx]);
        trespass_interest_deleteobjs.emplace_back(deleteObjectID[_idx]);
      }
    }
  
    // LOG_DEBUG("trespass interest_vpt_result size: {}", trespass_interest_vpt_result.size());
  
    if (!trespass_interest_imgs.empty()) {
      pedestrian_vehicle_trespass_.update_mstreams( trespass_interest_task_id, trespass_interest_imgs, 
                                                        trespass_interest_vpt_result, trespass_interest_deleteobjs);
    }
  }
  
  

  // 三轮车载人
  void CMultiSourceProcess::algorithm_tricycle_manned(vector<string>& vpt_interest_task_id, vector<DeviceMemory*> vpt_interest_imgs, 
                                              vector<onelevel_det_result>& vptResult) {
  
    vector<string> interest_task_id;
    vector<onelevel_det_result> interest_vpt_result;
    vector<DeviceMemory*> interest_imgs;  
  
    int _idx = 0;
    for (auto _task_id_iter = vpt_interest_task_id.begin(); _task_id_iter != vpt_interest_task_id.end();
          ++_task_id_iter, ++_idx) // loop task_id;
    {
      auto task_id = *_task_id_iter;
      auto algor_map = m_task_param_manager->get_task_other_param(task_id);
  
      if (algor_map->find(algorithm_type_t::TRICYCLE_MANNED) != algor_map->end()) {
        interest_task_id.emplace_back(task_id);
        interest_imgs.emplace_back(vpt_interest_imgs[_idx]);
        interest_vpt_result.emplace_back(vptResult[_idx]);
      }
    }
  
    // LOG_DEBUG("tricycle_manned interest_vpt_result size: {}", interest_vpt_result.size());
  
    if (!interest_imgs.empty()){
      tricycle_manned_.update_mstreams(interest_task_id, interest_imgs, interest_vpt_result);
    }
  }
  
  
  // 货车载人
  void CMultiSourceProcess::algorithm_truck_manned(vector<string>& vpt_interest_task_id, vector<DeviceMemory*> vpt_interest_imgs, 
                                              vector<onelevel_det_result>& vptResult) {
  
    vector<string> interest_task_id;
    vector<onelevel_det_result> interest_vpt_result;
    vector<DeviceMemory*> interest_imgs;  
  
    int _idx = 0;
    for (auto _task_id_iter = vpt_interest_task_id.begin(); _task_id_iter != vpt_interest_task_id.end();
          ++_task_id_iter, ++_idx) // loop task_id;
    {
      auto task_id = *_task_id_iter;
      auto algor_map = m_task_param_manager->get_task_other_param(task_id);
  
      if (algor_map->find(algorithm_type_t::TRUCK_MANNED) != algor_map->end()) {
        interest_task_id.emplace_back(task_id);
        interest_imgs.emplace_back(vpt_interest_imgs[_idx]);
        interest_vpt_result.emplace_back(vptResult[_idx]);
      }
    }
  
    // LOG_DEBUG("truck_manned interest_vpt_result size: {}", interest_vpt_result.size());
  
    if (!interest_imgs.empty()){
      truck_manned_.update_mstreams(interest_task_id, interest_imgs, interest_vpt_result);
    }
  }
  
  
  // 二轮车超员/未戴盔
  void CMultiSourceProcess::algorithm_motor_hs_process(vector<string>& vpt_interest_task_id, vector<DeviceMemory*> vpt_interest_imgs, 
                                              vector<onelevel_det_result>& vptResult) {
  
    vector<string> interest_task_id;
    vector<onelevel_det_result> interest_vpt_result;
    vector<DeviceMemory*> interest_imgs;  
  
    int _idx = 0;
    for (auto _task_id_iter = vpt_interest_task_id.begin(); _task_id_iter != vpt_interest_task_id.end();
          ++_task_id_iter, ++_idx) // loop task_id;
    {
      auto task_id = *_task_id_iter;
      auto algor_map = m_task_param_manager->get_task_other_param(task_id);
  
      if (algor_map->find(algorithm_type_t::NONMOTOR_VEHICLE_NOHELMET) != algor_map->end() || 
          algor_map->find(algorithm_type_t::NONMOTOR_VEHICLE_OVERMAN) != algor_map->end()) {
        interest_task_id.emplace_back(task_id);
        interest_imgs.emplace_back(vpt_interest_imgs[_idx]);
        interest_vpt_result.emplace_back(vptResult[_idx]);
      }
    }
  
    // LOG_DEBUG("motor_hsprocess interest_vpt_result size: {}", interest_vpt_result.size());
  
    if (!interest_imgs.empty()){
      motor_hsprocess_.update_mstreams(interest_task_id, interest_imgs, interest_vpt_result);
    }
  }
  
  // for snapshot algorithm. 轨迹结束目标 做最后的结果返回（当前返回算法结果+快照保存路径）
  void CMultiSourceProcess::manned_snapshot(vector<string>& vpt_interest_task_id, vector<DeviceMemory*> vec_vptMem, vector<vector<int>> deleteObjectID) {
    auto task_iter = vpt_interest_task_id.begin();
    for (int i = 0; i < deleteObjectID.size(); i++, ++task_iter) // loop taskId.
    {
      auto task_id = *task_iter;
      for (int &j : deleteObjectID[i]) // loop algor type.
      {
        OBJ_KEY obj_key = {*task_iter, j};
        auto task_param_ptr = m_task_param_manager->get_task_algor_param(obj_key.video_id);
        bool tricycle_manned_alarm = false, truck_manned_alarm = false, motor_overman_alarm = false, motor_nohelmet_alarm = false;