add，计划采集3：
实现部分计划采集功能
This commit is contained in:
tangchao0503
@ -1,4 +1,4 @@
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#include "TimedDataCollectionDataStructures.h"
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#include "TimedDataCollectionDataStructures.h"
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#include <QJsonDocument>
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#include <QJsonObject>
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#include <QJsonArray>
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@ -194,3 +194,337 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO
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return true;
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}
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// ==================== TaskExecutor 实现 ====================
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TaskExecutor::TaskExecutor(TwoMotorControl* motorControl, QObject* parent)
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: QObject(parent)
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, m_motorControl(motorControl)
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, m_currentSubTaskIndex(0)
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, m_isRunning(false)
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{
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if (m_motorControl) {
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connect(m_motorControl, &TwoMotorControl::broadcastLocationSignal,
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this, &TaskExecutor::onMotorLocationUpdate);
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//connect(m_motorControl, &TwoMotorControl::sequenceComplete,
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// this, &TaskExecutor::onSequenceComplete);
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//connect(m_motorControl, &TwoMotorControl::errorOccurred,
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// this, &TaskExecutor::onError);
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}
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}
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TaskExecutor::~TaskExecutor()
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{
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stop();
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}
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void TaskExecutor::execute(const TimedTask& task)
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{
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if (m_isRunning) {
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qWarning() << "TaskExecutor: Already running, ignoring execute request";
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return;
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}
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m_task = task;
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m_currentSubTaskIndex = 0;
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m_isRunning = true;
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qDebug() << "TaskExecutor: Starting task" << task.id;
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// 开始执行第一个子任务
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executeNextSubTask();
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}
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void TaskExecutor::stop()
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{
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if (!m_isRunning) return;
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qDebug() << "TaskExecutor: Stopping task" << m_task.id;
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if (m_motorControl) {
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m_motorControl->stop();
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}
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m_isRunning = false;
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emit finished(false);
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}
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void TaskExecutor::onSequenceComplete(int status)
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{
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if (!m_isRunning) return;
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qDebug() << "TaskExecutor: Sequence complete, status:" << status;
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// 更新当前子任务状态
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if (m_currentSubTaskIndex < m_task.subTasks.size()) {
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SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
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subTask.status = (status == 0) ? TaskStatus::Finished : TaskStatus::Waiting;
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emit subTaskFinished(m_currentSubTaskIndex, subTask.type, (status == 0));
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}
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// 检查是否还有更多子任务
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m_currentSubTaskIndex++;
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if (m_currentSubTaskIndex < m_task.subTasks.size()) {
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// 执行下一个子任务
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QTimer::singleShot(100, this, &TaskExecutor::executeNextSubTask);
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} else {
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// 所有子任务完成
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m_isRunning = false;
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qDebug() << "TaskExecutor: All subtasks completed";
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emit finished(true);
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}
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}
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void TaskExecutor::onMotorLocationUpdate(std::vector<double> loc)
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{
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if (loc.size() >= 2) {
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emit motorPositionUpdated(loc[0], loc[1]);
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}
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}
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void TaskExecutor::onError(const QString& error)
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{
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if (!m_isRunning) return;
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qWarning() << "TaskExecutor: Error occurred:" << error;
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m_isRunning = false;
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emit errorOccurred(error);
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emit finished(false);
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}
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void TaskExecutor::executeNextSubTask()
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{
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if (!m_isRunning || m_currentSubTaskIndex >= m_task.subTasks.size()) {
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return;
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}
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SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
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subTask.status = TaskStatus::Running;
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subTask.startTime = QDateTime::currentDateTime();
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qDebug() << "TaskExecutor: Starting subtask" << m_currentSubTaskIndex
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<< "type:" << static_cast<int>(subTask.type);
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emit subTaskStarted(m_currentSubTaskIndex, subTask.type);
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//根据任务类型切换相机类型，还需要考虑相关信号和槽
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// 如果有路径线文件，加载路径线并启动马达
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if (!subTask.pathLineFilePath.isEmpty()) {
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loadPathLinesFromFile(subTask.pathLineFilePath);
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} else {
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qDebug() << "TaskExecutor: No path line file for subtask";
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}
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}
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void TaskExecutor::loadPathLinesFromFile(const QString& filePath)
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{
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// 从 .RecordLine3 文件加载路径线
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QFile file(filePath);
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if (!file.open(QIODevice::ReadOnly)) {
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qWarning() << "TaskExecutor: Failed to open path line file:" << filePath;
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emit errorOccurred("Failed to open path line file: " + filePath);
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return;
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}
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double number;
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file.read(reinterpret_cast<char*>(&number), sizeof(double));
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QVector<PathLine> pathLines;
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for (int i = 0; i < static_cast<int>(number) / 6; ++i) {
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PathLine line;
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for (int j = 0; j < 6; ++j) {
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double value;
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file.read(reinterpret_cast<char*>(&value), sizeof(double));
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switch (j) {
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case 0: line.targetYPosition = value; break;
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case 1: line.speedTargetYPosition = value; break;
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case 2: line.targetXMinPosition = value; break;
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case 3: line.speedTargetXMinPosition = value; break;
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case 4: line.targetXMaxPosition = value; break;
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case 5: line.speedTargetXMaxPosition = value; break;
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}
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}
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pathLines.append(line);
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}
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file.close();
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qDebug() << "TaskExecutor: Loaded" << pathLines.size() << "path lines from" << filePath;
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// 通知马达控制器开始执行
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if (m_motorControl) {
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emit m_motorControl->start(pathLines);
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}
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}
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// ==================== TaskScheduler 实现 ====================
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TaskScheduler::TaskScheduler(QObject* parent)
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: QObject(parent)
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, m_timer(nullptr)
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, m_motorControl(nullptr)
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, m_currentExecutor(nullptr)
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, m_currentTaskId(-1)
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{
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}
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TaskScheduler::~TaskScheduler()
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{
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stop();
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}
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void TaskScheduler::setMotorControl(TwoMotorControl* motorControl)
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{
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m_motorControl = motorControl;
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}
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void TaskScheduler::loadTasks(const QVector<TimedTask>& tasks)
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{
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m_tasks = tasks;
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qDebug() << "TaskScheduler: Loaded" << tasks.size() << "tasks";
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}
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void TaskScheduler::start()
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{
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if (m_timer) {
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qDebug() << "TaskScheduler: Already running";
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return;
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}
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qDebug() << "TaskScheduler: Starting";
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m_timer = new QTimer(this);
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connect(m_timer, &QTimer::timeout, this, &TaskScheduler::checkTasks);
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m_timer->start(1000); // 每秒检查一次
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emit schedulerStateChanged(true);
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}
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void TaskScheduler::stop()
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{
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if (m_timer) {
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m_timer->stop();
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delete m_timer;
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m_timer = nullptr;
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}
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if (m_currentExecutor) {
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m_currentExecutor->stop();
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m_currentExecutor->deleteLater();
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m_currentExecutor = nullptr;
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}
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qDebug() << "TaskScheduler: Stopped";
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emit schedulerStateChanged(false);
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}
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void TaskScheduler::checkTasks()
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{
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if (!m_motorControl) return;
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QDateTime now = QDateTime::currentDateTime();
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for (auto& task : m_tasks) {
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if (task.status != TaskStatus::Waiting) continue;
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if (task.scheduledTime > now) continue;
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// 到达计划时间，启动任务
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executeTask(task);
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break; // 一次只执行一个任务
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}
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}
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void TaskScheduler::onTaskFinished(bool success)
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{
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if (m_currentTaskId > 0) {
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TaskStatus status = success ? TaskStatus::Finished : TaskStatus::Waiting;
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updateTaskStatus(m_currentTaskId, status);
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emit taskFinished(m_currentTaskId, success);
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}
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// 清理执行器
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if (m_currentExecutor) {
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m_currentExecutor->deleteLater();
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m_currentExecutor = nullptr;
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}
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m_currentTaskId = -1;
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}
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void TaskScheduler::onSubTaskStarted(int subTaskIndex, SubTaskType type)
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{
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if (m_currentTaskId > 0) {
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emit subTaskStarted(m_currentTaskId, subTaskIndex);
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}
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}
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void TaskScheduler::onSubTaskFinished(int subTaskIndex, SubTaskType type, bool success)
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{
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if (m_currentTaskId > 0) {
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emit subTaskFinished(m_currentTaskId, subTaskIndex);
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}
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}
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void TaskScheduler::onExecutorError(const QString& error)
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{
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emitError(error);
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}
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void TaskScheduler::onExecutorMotorPositionUpdated(double x, double y)
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{
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emit motorPositionUpdated(x, y);
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}
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void TaskScheduler::executeTask(TimedTask& task)
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{
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if (!m_motorControl) {
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emitError("Motor control not set");
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return;
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}
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qDebug() << "TaskScheduler: Executing task" << task.id;
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updateTaskStatus(task.id, TaskStatus::Running);
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m_currentTaskId = task.id;
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emit taskStarted(task.id);
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// 创建任务执行器
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m_currentExecutor = new TaskExecutor(m_motorControl, this);
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// 连接信号
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connect(m_currentExecutor, &TaskExecutor::finished,
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this, &TaskScheduler::onTaskFinished);
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connect(m_currentExecutor, &TaskExecutor::subTaskStarted,
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this, &TaskScheduler::onSubTaskStarted);
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connect(m_currentExecutor, &TaskExecutor::subTaskFinished,
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this, &TaskScheduler::onSubTaskFinished);
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connect(m_currentExecutor, &TaskExecutor::errorOccurred,
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this, &TaskScheduler::onExecutorError);
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connect(m_currentExecutor, &TaskExecutor::motorPositionUpdated,
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this, &TaskScheduler::onExecutorMotorPositionUpdated);
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// 开始执行
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m_currentExecutor->execute(task);
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}
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void TaskScheduler::updateTaskStatus(int taskId, TaskStatus status)
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{
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for (auto& task : m_tasks) {
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if (task.id == taskId) {
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task.status = status;
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if (status == TaskStatus::Running) {
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task.startTime = QDateTime::currentDateTime();
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} else if (status == TaskStatus::Finished) {
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task.endTime = QDateTime::currentDateTime();
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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 TaskScheduler::emitError(const QString& error)
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{
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qWarning() << "TaskScheduler: Error:" << error;
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emit errorOccurred(error);
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}
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