完成新的二轴采集：二轴采集逻辑控制器

HPPA/CaptureCoordinator.h

@@ -0,0 +1,107 @@
+#pragma once
+#include <QDateTime>
+#include <QObject>
+#include <QMutex>
+#include <QMetaType>
+
+#include "ImagerOperationBase.h"
+#include "IrisMultiMotorController.h"
+
+struct PathLine
+{
+	double targetYPosition;
+	double actualYPosition;
+	double speedTargetYPosition;
+	
+	double targetXMinPosition;
+	double actualXMinPosition;
+	double speedTargetXMinPosition;
+
+	double targetXMaxPosition;
+	double actualXMaxPosition;
+	double speedTargetXMaxPosition;
+
+	QDateTime timestamp1;//开始航线
+	QDateTime timestamp2;//开始采集高光谱
+	QDateTime timestamp3;//结束采集高光谱
+
+	PathLine(double targetYPosition_=0, double targetXMinPosition_ = 0, double targetXMaxPosition_ = 0)
+		: targetYPosition(targetYPosition_), actualYPosition(0), speedTargetYPosition(0), 
+		targetXMinPosition(targetXMinPosition_), actualXMinPosition(0), speedTargetXMinPosition(0),
+		targetXMaxPosition(targetXMaxPosition_), actualXMaxPosition(0), speedTargetXMaxPosition(0),
+		timestamp1(QDateTime::currentDateTime()), timestamp2(QDateTime::currentDateTime()), timestamp3(QDateTime::currentDateTime()) {}
+};
+Q_DECLARE_METATYPE(PathLine);
+//Q_DECLARE_METATYPE(QVector<PathLine>);
+
+class TwoMotionCaptureCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
+		ImagerOperationBase* cameraCtrl,
+		QObject* parent = nullptr);
+	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
+		QObject* parent = nullptr);
+	~TwoMotionCaptureCoordinator();
+
+	QVector<PathLine> pathLines() const;
+
+signals:
+	void sequenceComplete(int);//0：所有采集线正常运行完成，1：用户主动取消采集
+	void startRecordLineNumSignal(int lineNum);
+	void finishRecordLineNumSignal(int lineNum);
+
+	void startRecordHSISignal(int lineNum);
+	void stopRecordHSISignal(int lineNum);
+
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void moveTo(const std::vector<double>, const std::vector<double>, int);
+	void stopMotorSignal(int axis);
+
+	void recordState(bool state);
+
+private slots:
+	void start(QVector<PathLine> pathLines);
+	void stop();
+	void getRecordState();
+
+	void handlePositionReached(int motorID, double pos);
+	void handleCaptureCompleteWhenFrameNumberMeet();
+	void handleError(const QString& error);
+
+	void move2LocBeforeStart();
+
+private:
+	void processNextPathLine();
+	void startRecordHsi();
+	void getLocBeforeStart();
+	double getThre(double targetLoc, double actualLoc);
+
+	double getTimeDiffMinutes(QDateTime startTime, QDateTime endTime);
+	bool savePathLinesToCsv(QString filename= QString());
+
+	IrisMultiMotorController* m_motorCtrl;
+	ImagerOperationBase* m_cameraCtrl=nullptr;
+	QVector<PathLine> m_pathLines;
+	mutable QMutex m_dataMutex;
+
+	bool m_isRunning;
+	bool m_isMoving2YTargeLoc;
+	bool m_isMoving2XMin;
+	bool m_isMoving2XMax;
+	
+	int m_retryLimit = 3;
+	int m_retryTimesMoving2YTargeLoc;
+	int m_retryTimesMoving2XMin;
+	int m_retryTimesMoving2XMax;
+
+	bool m_isImagerFrameNumberMeet;//光谱仪帧数限制到了，主动停止采集
+	std::vector<double> m_locBeforeStart;
+
+	bool m_isMoving2XStartLoc;
+	bool m_isMoving2YStartLoc;
+
+	int m_numCurrentPathLine;
+};