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add，计划采集18，上海农科院3D植物表型：

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1、任务类型ObtainingDepthInformation兼容功能：获取植被和升降台的平均深度信息并写入文件：3DPlantPhenotypeScenario\plant_depth_values.txt和3DPlantPhenotypeScenario\LiftingPlatform_depth_values.txt
This commit is contained in:
tangchao0503
2026-08-11 16:52:32 +08:00
parent 64cdc7591d
commit abdb27b228
12 changed files with 552 additions and 4 deletions
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19
HPPA/TwoMotorControl.cpp
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@ -210,8 +210,10 @@ void TwoMotorControl::onBack2Origin2()
emit back2OriginSignal_TimedDataCollection();
}
void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea)
void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, int depthType, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea)
{
m_depthType = depthType;
window->m_DepthCameraOperation->setAverageNumberOfTimes(averageNumberOfTimes);
window->m_DepthCameraOperation->setPercentageOfEffectiveArea(percentageOfEffectiveArea);
@ -219,7 +221,8 @@ void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, doub
connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, window, &DepthCameraWindow::OpenDepthCamera_getDepthValue);
connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2origin);
connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::sequenceComplete);//关灯
connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::sequenceComplete, Qt::UniqueConnection);//关灯
connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::saveDepthValue, Qt::UniqueConnection);//控制白板平台升降
connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin3);
@ -229,6 +232,18 @@ void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, doub
m_ObtainTargetDepthInfoCoordinator->moveToTarget(depthInfoX, depthInfoY, xmotor_move_speed, ymotor_move_speed);
}
void TwoMotorControl::saveDepthValue(double depthValue)
{
if (m_depthType == 0)//0表示植被深度，1表示白板/调焦版深度
{
DepthValueLogger::instance().appendPlantDepthValue(depthValue);
}
else if (m_depthType == 1)
{
DepthValueLogger::instance().appendLiftingPlatformDepthValue(depthValue);
}
}
void TwoMotorControl::onBack2Origin3()
{
m_ObtainTargetDepthInfoCoordinator->deleteLater();