add，计划采集5：
实现部分计划采集功能：
This commit is contained in:
tangchao0503
@ -41,11 +41,21 @@ void DepthCameraWindow::onSelectDataFolder()
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QString::fromLocal8Bit("选择数据保存路径"),
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ui.dataFolderLineEdit->text());
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if (!dir.isEmpty())
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{
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ui.dataFolderLineEdit->setText(dir);
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AppSettings::instance().setDepthCameraDataFolder(dir);
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}
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setDataFolder(dir);
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}
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void DepthCameraWindow::setDataFolder(QString dir)
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{
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if (!dir.isEmpty())
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{
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ui.dataFolderLineEdit->setText(dir);
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AppSettings::instance().setDepthCameraDataFolder(dir);
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}
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}
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void DepthCameraWindow::setCaptureInterval(int captureIntervalSeconds)
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{
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m_DepthCameraOperation->setCaptureInterval(captureIntervalSeconds);
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}
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void DepthCameraWindow::openDepthCamera()
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@ -83,6 +93,8 @@ DepthCameraOperation::DepthCameraOperation()
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m_pipe = nullptr;
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m_func = nullptr;
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record = false;
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m_captureIntervalMilliseconds = 3000;
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}
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DepthCameraOperation::~DepthCameraOperation()
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@ -96,6 +108,11 @@ DepthCameraOperation::~DepthCameraOperation()
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}
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}
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void DepthCameraOperation::setCaptureInterval(int captureIntervalSeconds)
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{
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m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
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}
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void DepthCameraOperation::OpenDepthCamera()
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{
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if (m_pipe)
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@ -142,14 +159,14 @@ void DepthCameraOperation::OpenDepthCamera()
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// Drop several frames
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for (int i = 0; i < 15; ++i) {
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auto lost = m_pipe->waitForFrameset(100);
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auto lost = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
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}
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auto pointCloud = std::make_shared<ob::PointCloudFilter>();
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int frameIndex = 0;
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record = true;
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QString fileNamePrefix = AppSettings::instance().depthCameraDataFolder() + QDir::separator() + AppSettings::instance().fileName();
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QString fileNamePrefix = AppSettings::instance().depthCameraDataFolder() + QDir::separator() + "Gemini336L";
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QString imuFilePath = fileNamePrefix + "_IMU.txt";
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std::ofstream imuFile(imuFilePath.toStdString(), std::ios::out | std::ios::trunc);
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while (record)
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@ -160,7 +177,7 @@ void DepthCameraOperation::OpenDepthCamera()
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std::cout << "Start recording..." << std::endl;
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}
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auto frameSet = m_pipe->waitForFrameset(100);
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auto frameSet = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
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if (frameSet == nullptr)
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{
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std::cout << "No frames received in 100ms..." << std::endl;
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@ -218,7 +235,7 @@ void DepthCameraOperation::OpenDepthCamera()
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pointCloud->setCreatePointFormat(OB_FORMAT_RGB_POINT);
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std::shared_ptr<ob::Frame> frame = pointCloud->process(frameSet);
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QString plyPath = fileNamePrefix + "_"+ QString::number(frameIndex) + ".ply";
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QString plyPath = fileNamePrefix + "_PointCloud_"+ QString::number(frameIndex) + ".ply";
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ob::PointCloudHelper::savePointcloudToPly(plyPath.toStdString().c_str(), frame, false, false, 50);
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//惯导数据
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@ -33,6 +33,8 @@ public:
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void setCallback(void(*func)());
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bool getRecordStatus() const { return record; }
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void setCaptureInterval(int captureIntervalSeconds);
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private:
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ob::Pipeline* m_pipe;
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cv::Mat frame;
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@ -46,6 +48,8 @@ private:
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bool record;
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int m_captureIntervalMilliseconds;
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public slots:
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void OpenDepthCamera();
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void OpenDepthCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
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@ -68,6 +72,9 @@ public:
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DepthCameraOperation* m_DepthCameraOperation;
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void setDataFolder(QString dir);
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void setCaptureInterval(int captureIntervalSeconds);
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public Q_SLOTS:
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void openDepthCamera();
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void onCamOpened();
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114
HPPA/HPPA.cpp
114
HPPA/HPPA.cpp
@ -576,8 +576,7 @@ HPPA::HPPA(QWidget* parent)
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initMapTools();
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//定时采集
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connect(this->ui.mActionTimedDataCollection, SIGNAL(triggered()), this, SLOT(onTimedDataCollection()));
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mTimedDataCollectionWindow = new TimedDataCollection(m_tmc);
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initTimedDataCollection();
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QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
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QFile file(strPath);
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@ -592,6 +591,114 @@ HPPA::HPPA(QWidget* parent)
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this->showMaximized();
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}
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void HPPA::initTimedDataCollection()
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{
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connect(this->ui.mActionTimedDataCollection, SIGNAL(triggered()), this, SLOT(onTimedDataCollection()));
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mTimedDataCollectionWindow = new TimedDataCollection();
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// 定时采集控制器 → 相机/马达
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connect(mTimedDataCollectionWindow, &TimedDataCollection::hyperCamParm, this, &HPPA::setTimedDataCollectionHyperCamParm);
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connect(mTimedDataCollectionWindow, &TimedDataCollection::camParm, this, &HPPA::setTimedDataCollectionCamParm);
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connect(mTimedDataCollectionWindow, &TimedDataCollection::motorParm, this, &HPPA::setTimedDataCollectionMotorParm);
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connect(mTimedDataCollectionWindow, &TimedDataCollection::startRecordSignal, this, &HPPA::onStartTimedDataCollection);
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// 相机/马达 → 定时采集控制器
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connect(m_tmc, &TwoMotorControl::sequenceComplete, mTimedDataCollectionWindow, &TimedDataCollection::subTaskCompleted);
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//连接马达控制和单反/深度
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}
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void HPPA::setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName)
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{
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switch (camType)
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{
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case 0:
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{
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disconnectImagerAndCleanup();
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ui.mActionPica_L->setChecked(true);
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AppSettings::instance().setFrameRate(f);
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AppSettings::instance().setIntegrationTime(e);
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AppSettings::instance().setDataFolder(filePath);
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AppSettings::instance().setFileName(fileName);
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this->frame_number->setText("100000");
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onconnect();
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break;
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}
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case 1:
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{
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disconnectImagerAndCleanup();
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ui.mActionPica_NIR->setChecked(true);
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AppSettings::instance().setFrameRate(f);
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AppSettings::instance().setIntegrationTime(e);
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AppSettings::instance().setDataFolder(filePath);
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AppSettings::instance().setFileName(fileName);
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this->frame_number->setText("100000");
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onconnect();
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break;
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}
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}
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}
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void HPPA::setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder)
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{
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switch (camType)
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{
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case 2:
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{
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m_singleLensReflexCameraWindow->setDataFolder(folder);
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m_singleLensReflexCameraWindow->setCaptureInterval(captureIntervalSeconds);
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break;
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}
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case 3:
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{
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m_depthCameraWindow->setDataFolder(folder);
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m_depthCameraWindow->setCaptureInterval(captureIntervalSeconds);
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break;
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}
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}
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}
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void HPPA::setTimedDataCollectionMotorParm(QString pathLineFilePath)
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{
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m_tmc->readRecordLineFile(pathLineFilePath);
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//m_tmc->onConnectMotor();
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//QThread::msleep(1000);
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}
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void HPPA::onStartTimedDataCollection(int camType)
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{
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switch (camType)
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{
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case 0:
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{
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onStartRecordStep1();
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break;
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}
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case 1:
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{
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onStartRecordStep1();
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break;
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}
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case 2:
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{
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break;
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}
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case 3:
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{
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break;
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}
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}
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}
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void HPPA::onTimedDataCollection()
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{
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QAction* checkedScenario = m_ScenarioActionGroup->checkedAction();
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@ -609,6 +716,7 @@ void HPPA::onTimedDataCollection()
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}
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}
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void HPPA::initMenubarToolbar()
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{
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//自定义菜单栏和工具栏
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@ -868,7 +976,7 @@ void HPPA::initControlTabwidget()
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//2轴马达控制
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m_tmc = new TwoMotorControl(this);
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//connect(m_tmc, SIGNAL(startLineNumSignal(int)), this, SLOT(onCreateTab(int)));
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connect(m_tmc, SIGNAL(sequenceComplete()), this, SLOT(onsequenceComplete()));
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connect(m_tmc, &TwoMotorControl::sequenceComplete, this, &HPPA::onsequenceComplete);
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m_tmc->setWindowFlags(Qt::Widget);
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ui.controlTabWidget->addTab(m_tmc, QString::fromLocal8Bit("2轴控制"));
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@ -319,6 +319,7 @@ private:
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void disconnectImagerAndCleanup();
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TimedDataCollection* mTimedDataCollectionWindow;
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void initTimedDataCollection();
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public Q_SLOTS:
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void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
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@ -399,6 +400,10 @@ public Q_SLOTS:
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void onMapToolSpectralTriggered();
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void onTimedDataCollection();
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void setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
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void setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder);
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void setTimedDataCollectionMotorParm(QString pathLineFilePath);
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void onStartTimedDataCollection(int camType);
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protected:
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void closeEvent(QCloseEvent* event) override;
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@ -81,6 +81,11 @@ void SingleLensReflexCameraWindow::onSelectDataFolder()
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QString::fromLocal8Bit("选择数据保存路径"),
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ui.dataFolderLineEdit->text());
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setDataFolder(dir);
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}
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void SingleLensReflexCameraWindow::setDataFolder(QString dir)
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{
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if (!dir.isEmpty())
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{
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ui.dataFolderLineEdit->setText(dir);
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@ -92,6 +97,11 @@ void SingleLensReflexCameraWindow::onSelectDataFolder()
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}
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}
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void SingleLensReflexCameraWindow::setCaptureInterval(int captureIntervalSeconds)
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{
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m_SingleLensReflexCameraOperation->setCaptureInterval(captureIntervalSeconds);
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}
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void SingleLensReflexCameraWindow::openSLRCamera()
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{
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if (!m_SingleLensReflexCameraOperation->getRecordStatus())
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@ -200,6 +210,7 @@ SingleLensReflexCameraOperation::SingleLensReflexCameraOperation()
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m_isSessionOpen = false;
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m_isLiveViewActive = false;
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m_imageCounter = 0;
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m_captureIntervalMilliseconds = 3000;
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// 设置保存路径（从 AppSettings 获取，如果为空则使用默认的 CapturedImages 目录）
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m_savePath = AppSettings::instance().slrDataFolder();
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@ -780,13 +791,18 @@ void SingleLensReflexCameraOperation::takePhoto()
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// 启动拍照定时器（每3秒拍一张）
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if (m_captureTimer && !m_captureTimer->isActive())
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{
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m_captureTimer->start(3000);
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std::cout << "capture timer started (1 photo 3 second)" << std::endl;
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m_captureTimer->start(m_captureIntervalMilliseconds);
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//std::cout << "capture timer started (1 photo 3 second)" << std::endl;
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emit CaptureStartedSignal();
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}
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}
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void SingleLensReflexCameraOperation::setCaptureInterval(int captureIntervalSeconds)
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{
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m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
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}
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void SingleLensReflexCameraOperation::stopTakePhoto()
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{
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if (m_captureTimer && m_captureTimer->isActive())
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@ -46,6 +46,8 @@ public:
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// 获取当前实时取景图像
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QImage getCurrentLiveViewImage();
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void setCaptureInterval(int captureIntervalSeconds);
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private:
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cv::Mat frame;
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func m_func;
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@ -62,6 +64,7 @@ private:
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QString m_savePath;
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int m_imageCounter;
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int m_captureIntervalMilliseconds;
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QMutex m_mutex;
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QMutex m_liveViewMutex;
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@ -127,6 +130,8 @@ public:
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~SingleLensReflexCameraWindow();
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SingleLensReflexCameraOperation* m_SingleLensReflexCameraOperation;
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void setDataFolder(QString dir);
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void setCaptureInterval(int captureIntervalSeconds);
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public Q_SLOTS:
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void onSelectDataFolder();
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@ -1,11 +1,9 @@
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#include "TimedDataCollection.h"
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#include <QDateTime>
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#include <QDebug>
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#include "TwoMotorControl.h"
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TimedDataCollection::TimedDataCollection(TwoMotorControl* motorControl, QWidget* parent)
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TimedDataCollection::TimedDataCollection(QWidget* parent)
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: QDialog(parent)
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, m_motorControl(nullptr)
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, m_scheduler(nullptr)
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{
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ui.setupUi(this);
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@ -23,9 +21,16 @@ TimedDataCollection::TimedDataCollection(TwoMotorControl* motorControl, QWidget*
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connect(m_scheduler, &TaskScheduler::taskFinished, this, &TimedDataCollection::taskFinished);
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connect(m_scheduler, &TaskScheduler::subTaskStarted, this, &TimedDataCollection::subTaskStarted);
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connect(m_scheduler, &TaskScheduler::subTaskFinished, this, &TimedDataCollection::subTaskFinished);
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connect(m_scheduler, &TaskScheduler::motorPositionUpdated, this, &TimedDataCollection::motorPositionUpdated);
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connect(m_scheduler, &TaskScheduler::errorOccurred, this, &TimedDataCollection::errorOccurred);
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// 采集相关信号透传
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connect(m_scheduler, &TaskScheduler::hyperCamParm, this, &TimedDataCollection::hyperCamParm);
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connect(m_scheduler, &TaskScheduler::camParm, this, &TimedDataCollection::camParm);
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connect(m_scheduler, &TaskScheduler::motorParm, this, &TimedDataCollection::motorParm);
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connect(m_scheduler, &TaskScheduler::startRecordSignal, this, &TimedDataCollection::startRecordSignal);
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connect(this, &TimedDataCollection::sequenceCompleteSignal, m_scheduler, &TaskScheduler::sequenceCompleteSignal);
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//writeRead();
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readTimedTaskFromFile("D:/0tmp/3Dtest/task.json");
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@ -33,6 +38,8 @@ TimedDataCollection::TimedDataCollection(TwoMotorControl* motorControl, QWidget*
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m_scheduler->loadTasks(m_loadedTasks);
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connect(ui.run_btn, &QPushButton::clicked, this, &TimedDataCollection::startScheduler);
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startScheduler();
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}
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TimedDataCollection::~TimedDataCollection()
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@ -42,6 +49,11 @@ TimedDataCollection::~TimedDataCollection()
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}
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}
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void TimedDataCollection::subTaskCompleted(int status)
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{
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emit sequenceCompleteSignal(status);
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}
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void TimedDataCollection::startScheduler()
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{
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if (m_scheduler) {
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@ -56,13 +68,6 @@ void TimedDataCollection::stopScheduler()
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}
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}
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void TimedDataCollection::setMotorControl(TwoMotorControl* motorControl)
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{
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if (m_scheduler) {
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m_scheduler->setMotorControl(motorControl);
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}
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}
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void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
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{
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// 从文件读取
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@ -8,36 +8,40 @@
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#include "ui_TimedDataCollection_ui.h"
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#include "TimedDataCollectionDataStructures.h"
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class TwoMotorControl;
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class TimedDataCollection : public QDialog
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{
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Q_OBJECT
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public:
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TimedDataCollection(TwoMotorControl* motorControl, QWidget* parent = nullptr);
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TimedDataCollection(QWidget* parent = nullptr);
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~TimedDataCollection();
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void readTimedTaskFromFile(const QString& filePath);
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// 设置马达控制器供调度器使用
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void setMotorControl(TwoMotorControl* motorControl);
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public Q_SLOTS:
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void startScheduler();
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void stopScheduler();
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void subTaskCompleted(int status);
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Q_SIGNALS:
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void taskStarted(int taskId);
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void taskFinished(int taskId, bool success);
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void subTaskStarted(int taskId, int subTaskIndex);
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void subTaskFinished(int taskId, int subTaskIndex);
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void motorPositionUpdated(double x, double y);
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void errorOccurred(const QString& error);
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// 采集相关信号 (透传 TaskScheduler)
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void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
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void camParm(int camType, int captureIntervalSeconds, QString folder);
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void motorParm(QString pathLineFilePath);
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void startRecordSignal(int camType);
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// 马达反馈的信号
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void sequenceCompleteSignal(int status);
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||||
private:
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Ui::TimedDataCollection_ui ui;
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TwoMotorControl* m_motorControl;
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void writeRead();
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||||
@ -197,20 +197,11 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO
|
||||
|
||||
// ==================== TaskExecutor 实现 ====================
|
||||
|
||||
TaskExecutor::TaskExecutor(TwoMotorControl* motorControl, QObject* parent)
|
||||
TaskExecutor::TaskExecutor(QObject* parent)
|
||||
: QObject(parent)
|
||||
, m_motorControl(motorControl)
|
||||
, m_currentSubTaskIndex(0)
|
||||
, m_isRunning(false)
|
||||
{
|
||||
if (m_motorControl) {
|
||||
connect(m_motorControl, &TwoMotorControl::broadcastLocationSignal,
|
||||
this, &TaskExecutor::onMotorLocationUpdate);
|
||||
//connect(m_motorControl, &TwoMotorControl::sequenceComplete,
|
||||
// this, &TaskExecutor::onSequenceComplete);
|
||||
//connect(m_motorControl, &TwoMotorControl::errorOccurred,
|
||||
// this, &TaskExecutor::onError);
|
||||
}
|
||||
}
|
||||
|
||||
TaskExecutor::~TaskExecutor()
|
||||
@ -232,6 +223,7 @@ void TaskExecutor::execute(const TimedTask& task)
|
||||
qDebug() << "TaskExecutor: Starting task" << task.id;
|
||||
|
||||
// 开始执行第一个子任务
|
||||
makeFolder(m_task.savePath);
|
||||
executeNextSubTask();
|
||||
}
|
||||
|
||||
@ -241,14 +233,33 @@ void TaskExecutor::stop()
|
||||
|
||||
qDebug() << "TaskExecutor: Stopping task" << m_task.id;
|
||||
|
||||
if (m_motorControl) {
|
||||
m_motorControl->stop();
|
||||
}
|
||||
|
||||
m_isRunning = false;
|
||||
emit finished(false);
|
||||
}
|
||||
|
||||
void TaskExecutor::makeFolder(QString savePath)
|
||||
{
|
||||
QDir dir(savePath);
|
||||
if (!dir.exists()) {
|
||||
if (dir.mkpath(".")) {
|
||||
qDebug() << "TaskExecutor: Created data folder:" << savePath;
|
||||
} else {
|
||||
qWarning() << "TaskExecutor: Failed to create data folder:" << savePath;
|
||||
}
|
||||
} else {
|
||||
qDebug() << "TaskExecutor: Data folder already exists:" << savePath;
|
||||
}
|
||||
}
|
||||
|
||||
QString TaskExecutor::makeSubTaskDataFolder(QString suffix)
|
||||
{
|
||||
QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
|
||||
QString folderPath = m_task.savePath + QDir::separator() + dateStr + "_" + suffix;
|
||||
makeFolder(folderPath);
|
||||
|
||||
return folderPath;
|
||||
}
|
||||
|
||||
void TaskExecutor::onSequenceComplete(int status)
|
||||
{
|
||||
if (!m_isRunning) return;
|
||||
@ -276,13 +287,6 @@ void TaskExecutor::onSequenceComplete(int status)
|
||||
}
|
||||
}
|
||||
|
||||
void TaskExecutor::onMotorLocationUpdate(std::vector<double> loc)
|
||||
{
|
||||
if (loc.size() >= 2) {
|
||||
emit motorPositionUpdated(loc[0], loc[1]);
|
||||
}
|
||||
}
|
||||
|
||||
void TaskExecutor::onError(const QString& error)
|
||||
{
|
||||
if (!m_isRunning) return;
|
||||
@ -299,6 +303,8 @@ void TaskExecutor::executeNextSubTask()
|
||||
return;
|
||||
}
|
||||
|
||||
std::cerr << "TaskExecutor::executeNextSubTask，执行子任务" << std::endl;
|
||||
|
||||
SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
|
||||
subTask.status = TaskStatus::Running;
|
||||
subTask.startTime = QDateTime::currentDateTime();
|
||||
@ -308,54 +314,42 @@ void TaskExecutor::executeNextSubTask()
|
||||
|
||||
emit subTaskStarted(m_currentSubTaskIndex, subTask.type);
|
||||
|
||||
//根据任务类型切换相机类型，还需要考虑相关信号和槽
|
||||
emit motorParm(subTask.pathLineFilePath);
|
||||
|
||||
// 如果有路径线文件，加载路径线并启动马达
|
||||
if (!subTask.pathLineFilePath.isEmpty()) {
|
||||
loadPathLinesFromFile(subTask.pathLineFilePath);
|
||||
} else {
|
||||
qDebug() << "TaskExecutor: No path line file for subtask";
|
||||
}
|
||||
}
|
||||
int camType;
|
||||
switch (subTask.type)
|
||||
{
|
||||
case SubTaskType::HyperSpectual400_1000nm:
|
||||
{
|
||||
camType = 0;
|
||||
emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("L"), "test");
|
||||
|
||||
void TaskExecutor::loadPathLinesFromFile(const QString& filePath)
|
||||
{
|
||||
// 从 .RecordLine3 文件加载路径线
|
||||
QFile file(filePath);
|
||||
if (!file.open(QIODevice::ReadOnly)) {
|
||||
qWarning() << "TaskExecutor: Failed to open path line file:" << filePath;
|
||||
emit errorOccurred("Failed to open path line file: " + filePath);
|
||||
return;
|
||||
}
|
||||
|
||||
double number;
|
||||
file.read(reinterpret_cast<char*>(&number), sizeof(double));
|
||||
|
||||
QVector<PathLine> pathLines;
|
||||
for (int i = 0; i < static_cast<int>(number) / 6; ++i) {
|
||||
PathLine line;
|
||||
for (int j = 0; j < 6; ++j) {
|
||||
double value;
|
||||
file.read(reinterpret_cast<char*>(&value), sizeof(double));
|
||||
switch (j) {
|
||||
case 0: line.targetYPosition = value; break;
|
||||
case 1: line.speedTargetYPosition = value; break;
|
||||
case 2: line.targetXMinPosition = value; break;
|
||||
case 3: line.speedTargetXMinPosition = value; break;
|
||||
case 4: line.targetXMaxPosition = value; break;
|
||||
case 5: line.speedTargetXMaxPosition = value; break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
pathLines.append(line);
|
||||
}
|
||||
file.close();
|
||||
case SubTaskType::HyperSpectual1000_1700nm:
|
||||
{
|
||||
camType = 1;
|
||||
emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("NIR"), "test");
|
||||
|
||||
qDebug() << "TaskExecutor: Loaded" << pathLines.size() << "path lines from" << filePath;
|
||||
break;
|
||||
}
|
||||
case SubTaskType::SingleLensReflex:
|
||||
{
|
||||
camType = 2;
|
||||
emit camParm(camType, 3, makeSubTaskDataFolder("SLR"));
|
||||
|
||||
// 通知马达控制器开始执行
|
||||
if (m_motorControl) {
|
||||
emit m_motorControl->start(pathLines);
|
||||
break;
|
||||
}
|
||||
case SubTaskType::DepthCamera:
|
||||
{
|
||||
camType = 3;
|
||||
emit camParm(camType, 3, makeSubTaskDataFolder("DepthCamera"));
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
emit startRecordSignal(camType);
|
||||
}
|
||||
|
||||
// ==================== TaskScheduler 实现 ====================
|
||||
@ -363,7 +357,6 @@ void TaskExecutor::loadPathLinesFromFile(const QString& filePath)
|
||||
TaskScheduler::TaskScheduler(QObject* parent)
|
||||
: QObject(parent)
|
||||
, m_timer(nullptr)
|
||||
, m_motorControl(nullptr)
|
||||
, m_currentExecutor(nullptr)
|
||||
, m_currentTaskId(-1)
|
||||
{
|
||||
@ -374,11 +367,6 @@ TaskScheduler::~TaskScheduler()
|
||||
stop();
|
||||
}
|
||||
|
||||
void TaskScheduler::setMotorControl(TwoMotorControl* motorControl)
|
||||
{
|
||||
m_motorControl = motorControl;
|
||||
}
|
||||
|
||||
void TaskScheduler::loadTasks(const QVector<TimedTask>& tasks)
|
||||
{
|
||||
m_tasks = tasks;
|
||||
@ -421,15 +409,22 @@ void TaskScheduler::stop()
|
||||
|
||||
void TaskScheduler::checkTasks()
|
||||
{
|
||||
if (!m_motorControl) return;
|
||||
|
||||
QDateTime now = QDateTime::currentDateTime();
|
||||
|
||||
for (auto& task : m_tasks) {
|
||||
if (task.status != TaskStatus::Waiting) continue;
|
||||
|
||||
// 超过计划时间1分钟以上，认为任务已过时，跳过
|
||||
if (task.scheduledTime.addSecs(60) < now) {
|
||||
std::cerr << "TaskScheduler::checkTasks，任务已过时，跳过:" << task.id << std::endl;
|
||||
task.status = TaskStatus::Finished;
|
||||
continue;
|
||||
}
|
||||
|
||||
if (task.scheduledTime > now) continue;
|
||||
|
||||
// 到达计划时间，启动任务
|
||||
std::cerr << "TaskScheduler::checkTasks，到达计划时间，启动任务" << std::endl;
|
||||
executeTask(task);
|
||||
break; // 一次只执行一个任务
|
||||
}
|
||||
@ -470,18 +465,8 @@ void TaskScheduler::onExecutorError(const QString& error)
|
||||
emitError(error);
|
||||
}
|
||||
|
||||
void TaskScheduler::onExecutorMotorPositionUpdated(double x, double y)
|
||||
{
|
||||
emit motorPositionUpdated(x, y);
|
||||
}
|
||||
|
||||
void TaskScheduler::executeTask(TimedTask& task)
|
||||
{
|
||||
if (!m_motorControl) {
|
||||
emitError("Motor control not set");
|
||||
return;
|
||||
}
|
||||
|
||||
qDebug() << "TaskScheduler: Executing task" << task.id;
|
||||
|
||||
updateTaskStatus(task.id, TaskStatus::Running);
|
||||
@ -490,7 +475,7 @@ void TaskScheduler::executeTask(TimedTask& task)
|
||||
emit taskStarted(task.id);
|
||||
|
||||
// 创建任务执行器
|
||||
m_currentExecutor = new TaskExecutor(m_motorControl, this);
|
||||
m_currentExecutor = new TaskExecutor(this);
|
||||
|
||||
// 连接信号
|
||||
connect(m_currentExecutor, &TaskExecutor::finished,
|
||||
@ -501,8 +486,18 @@ void TaskScheduler::executeTask(TimedTask& task)
|
||||
this, &TaskScheduler::onSubTaskFinished);
|
||||
connect(m_currentExecutor, &TaskExecutor::errorOccurred,
|
||||
this, &TaskScheduler::onExecutorError);
|
||||
connect(m_currentExecutor, &TaskExecutor::motorPositionUpdated,
|
||||
this, &TaskScheduler::onExecutorMotorPositionUpdated);
|
||||
|
||||
// 采集相关信号透传
|
||||
connect(m_currentExecutor, &TaskExecutor::hyperCamParm,
|
||||
this, &TaskScheduler::hyperCamParm);
|
||||
connect(m_currentExecutor, &TaskExecutor::camParm,
|
||||
this, &TaskScheduler::camParm);
|
||||
connect(m_currentExecutor, &TaskExecutor::motorParm,
|
||||
this, &TaskScheduler::motorParm);
|
||||
connect(m_currentExecutor, &TaskExecutor::startRecordSignal,
|
||||
this, &TaskScheduler::startRecordSignal);
|
||||
|
||||
connect(this, &TaskScheduler::sequenceCompleteSignal, m_currentExecutor, &TaskExecutor::onSequenceComplete);
|
||||
|
||||
// 开始执行
|
||||
m_currentExecutor->execute(task);
|
||||
|
||||
@ -6,7 +6,6 @@
|
||||
#include <QMetaType>
|
||||
#include <QTimer>
|
||||
|
||||
#include "TwoMotorControl.h"
|
||||
#include "CaptureCoordinator.h"
|
||||
|
||||
// ==================== 枚举定义 ====================
|
||||
@ -107,10 +106,6 @@ private:
|
||||
static SubTaskType stringToSubTaskType(const QString& str);
|
||||
};
|
||||
|
||||
// ==================== 前向声明 ====================
|
||||
|
||||
class TwoMotorControl;
|
||||
|
||||
// ==================== 任务执行器 ====================
|
||||
|
||||
class TaskExecutor : public QObject
|
||||
@ -118,11 +113,13 @@ class TaskExecutor : public QObject
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit TaskExecutor(TwoMotorControl* motorControl, QObject* parent = nullptr);
|
||||
explicit TaskExecutor(QObject* parent = nullptr);
|
||||
~TaskExecutor();
|
||||
|
||||
// 执行任务
|
||||
void execute(const TimedTask& task);
|
||||
void makeFolder(QString savePath);
|
||||
QString makeSubTaskDataFolder(QString suffix);
|
||||
|
||||
// 获取当前执行的子任务索引
|
||||
int currentSubTaskIndex() const { return m_currentSubTaskIndex; }
|
||||
@ -140,19 +137,21 @@ signals:
|
||||
void finished(bool success); // 任务完成
|
||||
void subTaskStarted(int subTaskIndex, SubTaskType type); // 子任务开始
|
||||
void subTaskFinished(int subTaskIndex, SubTaskType type, bool success); // 子任务完成
|
||||
void motorPositionUpdated(double x, double y); // 马达位置更新
|
||||
void errorOccurred(const QString& error); // 错误发生
|
||||
|
||||
private slots:
|
||||
// 采集相关信号
|
||||
void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
|
||||
void camParm(int camType, int captureIntervalSeconds, QString folder);
|
||||
void motorParm(QString pathLineFilePath);
|
||||
void startRecordSignal(int camType);
|
||||
|
||||
public slots:
|
||||
void onSequenceComplete(int status);
|
||||
void onMotorLocationUpdate(std::vector<double> loc);
|
||||
void onError(const QString& error);
|
||||
|
||||
private:
|
||||
void executeNextSubTask();
|
||||
void loadPathLinesFromFile(const QString& filePath);
|
||||
|
||||
TwoMotorControl* m_motorControl;
|
||||
TimedTask m_task;
|
||||
int m_currentSubTaskIndex;
|
||||
bool m_isRunning;
|
||||
@ -168,9 +167,6 @@ public:
|
||||
explicit TaskScheduler(QObject* parent = nullptr);
|
||||
~TaskScheduler();
|
||||
|
||||
// 设置马达控制器
|
||||
void setMotorControl(TwoMotorControl* motorControl);
|
||||
|
||||
// 加载任务列表
|
||||
void loadTasks(const QVector<TimedTask>& tasks);
|
||||
|
||||
@ -189,19 +185,28 @@ public:
|
||||
signals:
|
||||
void taskStarted(int taskId); // 任务开始
|
||||
void taskFinished(int taskId, bool success); // 任务完成
|
||||
|
||||
// 子任务的信号
|
||||
void subTaskStarted(int taskId, int subTaskIndex); // 子任务开始
|
||||
void subTaskFinished(int taskId, int subTaskIndex); // 子任务完成
|
||||
void motorPositionUpdated(double x, double y); // 马达位置更新
|
||||
void errorOccurred(const QString& error); // 错误发生
|
||||
void schedulerStateChanged(bool running); // 调度器状态变化
|
||||
|
||||
// 采集相关信号 (透传 TaskExecutor)
|
||||
void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
|
||||
void camParm(int camType, int captureIntervalSeconds, QString folder);
|
||||
void motorParm(QString pathLineFilePath);
|
||||
void startRecordSignal(int camType);
|
||||
|
||||
// 马达反馈的信号
|
||||
void sequenceCompleteSignal(int status);
|
||||
|
||||
private slots:
|
||||
void checkTasks(); // 检查任务是否该启动
|
||||
void onTaskFinished(bool success);
|
||||
void onSubTaskStarted(int subTaskIndex, SubTaskType type);
|
||||
void onSubTaskFinished(int subTaskIndex, SubTaskType type, bool success);
|
||||
void onExecutorError(const QString& error);
|
||||
void onExecutorMotorPositionUpdated(double x, double y);
|
||||
|
||||
private:
|
||||
void executeTask(TimedTask& task);
|
||||
@ -210,7 +215,6 @@ private:
|
||||
|
||||
QTimer* m_timer;
|
||||
QVector<TimedTask> m_tasks;
|
||||
TwoMotorControl* m_motorControl;
|
||||
TaskExecutor* m_currentExecutor;
|
||||
int m_currentTaskId;
|
||||
};
|
||||
|
||||
@ -116,7 +116,7 @@ void TwoMotorControl::run()
|
||||
{
|
||||
QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
|
||||
|
||||
emit sequenceComplete();
|
||||
emit sequenceComplete(0);
|
||||
return;
|
||||
}
|
||||
|
||||
@ -129,7 +129,7 @@ void TwoMotorControl::run()
|
||||
connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
|
||||
connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
|
||||
connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
|
||||
connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
|
||||
connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
|
||||
|
||||
connect(m_coordinator, &TwoMotionCaptureCoordinator::startRecordHSISignal, m_Imager, &ImagerOperationBase::start_record);
|
||||
connect(m_coordinator, &TwoMotionCaptureCoordinator::stopRecordHSISignal, this, &TwoMotorControl::stop_record);
|
||||
@ -263,7 +263,7 @@ void TwoMotorControl::receiveFinishRecordLineNum(int lineNum)
|
||||
}
|
||||
}
|
||||
|
||||
void TwoMotorControl::onSequenceComplete()
|
||||
void TwoMotorControl::onSequenceComplete(int status)
|
||||
{
|
||||
isWritePosFile = false;
|
||||
fclose(m_posFileHandle);
|
||||
@ -272,7 +272,7 @@ void TwoMotorControl::onSequenceComplete()
|
||||
m_coordinatorThread.wait();
|
||||
m_coordinator = nullptr;
|
||||
|
||||
emit sequenceComplete();
|
||||
emit sequenceComplete(status);
|
||||
}
|
||||
|
||||
bool TwoMotorControl::getMotorsConnectionStatus()
|
||||
@ -551,7 +551,10 @@ void TwoMotorControl::onReadRecordLineFile_btn()
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
readRecordLineFile(RecordLineFilePath);
|
||||
}
|
||||
void TwoMotorControl::readRecordLineFile(QString RecordLineFilePath)
|
||||
{
|
||||
FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
|
||||
double number;
|
||||
|
||||
|
||||
@ -28,6 +28,8 @@ public:
|
||||
|
||||
bool getMotorsConnectionStatus();
|
||||
|
||||
void readRecordLineFile(QString RecordLineFilePath);
|
||||
|
||||
private:
|
||||
ImagerOperationBase* m_Imager;
|
||||
bool getState();
|
||||
@ -68,7 +70,7 @@ public Q_SLOTS:
|
||||
void stop();
|
||||
void receiveStartRecordLineNum(int lineNum);
|
||||
void receiveFinishRecordLineNum(int lineNum);
|
||||
void onSequenceComplete();
|
||||
void onSequenceComplete(int status);
|
||||
|
||||
void stop_record();
|
||||
|
||||
@ -86,7 +88,7 @@ signals:
|
||||
void stopSignal();
|
||||
|
||||
void startLineNumSignal(int lineNum);
|
||||
void sequenceComplete();//所有采集线正常运行完成
|
||||
void sequenceComplete(int status);//所有采集线正常运行完成
|
||||
|
||||
void broadcastLocationSignal(std::vector<double>);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user