From e552dc2ed556b90d51670340d50070293066126b Mon Sep 17 00:00:00 2001 From: tangchao0503 <735056338@qq.com> Date: Mon, 7 Sep 2026 09:39:08 +0800 Subject: [PATCH] =?UTF-8?q?add=EF=BC=8C=E5=B1=B1=E5=9C=B0=E6=89=80?= =?UTF-8?q?=E8=B4=A1=E5=98=8E=E5=B1=B19=EF=BC=9A=201=E3=80=81=E8=A7=A3?= =?UTF-8?q?=E6=9E=90gps=E6=95=B0=E6=8D=AE=EF=BC=9B=202=E3=80=81=E5=B8=A7?= =?UTF-8?q?=E7=8E=87=E4=B8=8E=E6=97=8B=E8=BD=AC=E9=80=9F=E5=BA=A6=E8=AE=A1?= =?UTF-8?q?=E7=AE=97=E5=99=A8=EF=BC=9A=E7=BB=99=E5=AE=9A=E5=B8=A7=E7=8E=87?= =?UTF-8?q?=E3=80=81=E9=AB=98=E5=BA=A6=E3=80=81FOV=E3=80=81=E4=BC=A0?= =?UTF-8?q?=E6=84=9F=E5=99=A8=E5=83=8F=E5=85=83=E6=95=B0=EF=BC=8C=E8=AE=A1?= =?UTF-8?q?=E7=AE=97=E6=97=8B=E8=BD=AC=E9=80=9F=E5=BA=A6=EF=BC=9B=203?= =?UTF-8?q?=E3=80=81=E4=BF=AE=E6=94=B9=E9=87=87=E9=9B=86=E9=80=BB=E8=BE=91?= =?UTF-8?q?=EF=BC=9A=EF=BC=881=EF=BC=89=E9=87=87=E9=9B=86gps=EF=BC=882?= =?UTF-8?q?=EF=BC=89=E9=AB=98=E5=85=89=E8=B0=B1=E6=9B=9D=E5=85=89=EF=BC=9A?= =?UTF-8?q?=E4=BB=A510hz=E4=B8=BA=E4=B8=8B=E9=99=90=EF=BC=8C=E5=9C=A8?= =?UTF-8?q?=E4=BF=9D=E8=AF=81=E6=9B=9D=E5=85=89=E8=B4=A8=E9=87=8F=E7=9A=84?= =?UTF-8?q?=E5=89=8D=E6=8F=90=E4=B8=8B=E6=8F=90=E9=AB=98=E5=B8=A7=E7=8E=87?= =?UTF-8?q?=EF=BC=9B=EF=BC=883=EF=BC=89fodis=E6=9B=9D=E5=85=89=EF=BC=9B?= =?UTF-8?q?=EF=BC=884=EF=BC=89=E4=BB=A5=E6=AD=A5=E9=AA=A42=E4=B8=AD?= =?UTF-8?q?=E7=9A=84=E5=B8=A7=E7=8E=87=E4=B8=BA=E5=9F=BA=E7=A1=80=EF=BC=8C?= =?UTF-8?q?=E7=BB=93=E5=90=88=E9=AB=98=E5=BA=A6FOV=E7=AD=89=E4=BF=A1?= =?UTF-8?q?=E6=81=AF=E8=AE=A1=E7=AE=97=E6=97=8B=E8=BD=AC=E9=80=9F=E5=BA=A6?= =?UTF-8?q?=EF=BC=9B=EF=BC=885=EF=BC=89=E9=87=87=E9=9B=86=E6=95=B0?= =?UTF-8?q?=E6=8D=AE=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HPPA/CaptureCoordinator.cpp | 65 ++- HPPA/CaptureCoordinator.h | 11 +- HPPA/GonggaShanRecordCtl.cpp | 791 ++++++++++++++++++++++++++++++----- HPPA/GonggaShanRecordCtl.h | 246 +++++++++-- HPPA/HPPA.cpp | 20 +- HPPA/HPPA.h | 2 +- HPPA/OneMotorControl.h | 2 +- 7 files changed, 968 insertions(+), 169 deletions(-) diff --git a/HPPA/CaptureCoordinator.cpp b/HPPA/CaptureCoordinator.cpp index 51f260d..91496f8 100644 --- a/HPPA/CaptureCoordinator.cpp +++ b/HPPA/CaptureCoordinator.cpp @@ -1,4 +1,5 @@ #include "CaptureCoordinator.h" +#include TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator( IrisMultiMotorController* motorCtrl, @@ -1021,11 +1022,11 @@ OneMotorMultiPosCoordinator::OneMotorMultiPosCoordinator( //connect(m_motorCtrl, &IrisMultiMotorController::moveFailed, // this, &OneMotorMultiPosCoordinator::handleError); - connect(this, &OneMotorMultiPosCoordinator::getFocusIndexSobel, + connect(this, &OneMotorMultiPosCoordinator::startAutoExposureSignal, m_cameraCtrl, &ImagerOperationBase::auto_exposure); connect(m_cameraCtrl, &ImagerOperationBase::autoExposureSignal, - this, &OneMotorMultiPosCoordinator::handleCaptureComplete); + this, &OneMotorMultiPosCoordinator::onAutoExposureFinished); //connect(m_cameraCtrl, &ImagerOperationBase::captureFailed, // this, &OneMotorMultiPosCoordinator::handleError); } @@ -1146,31 +1147,49 @@ void OneMotorMultiPosCoordinator::handlePositionReached(int motorID, double pos) data.targetPosition = m_currentPos; data.actualPosition = pos; data.timestamp = QDateTime::currentDateTime(); + data.frameRate = 10; m_positionData.append(data); - // 开始采集 - emit getFocusIndexSobel(); + // 开始自动曝光 + m_cameraCtrl->setFramerate(m_positionData.last().frameRate); + emit startAutoExposureSignal(); } -void OneMotorMultiPosCoordinator::handleCaptureComplete(double index) +void OneMotorMultiPosCoordinator::onAutoExposureFinished(double exposureTime) { if (!m_isRunning) return; QMutexLocker locker(&m_dataMutex); - // 更新最近一条记录的相机指数 - //if (!m_positionData.isEmpty() && - // m_positionData.last().targetPosition == m_positionData.last().actualPosition) - //{ - // m_positionData.last().cameraIndex = index; - //} - m_positionData.last().exposureTime = index; + // 在保证曝光质量的前提下，尽量提高帧率，帧率下限为10hz + + m_positionData.last().exposureTime = exposureTime; std::cout << "第" << m_counter << "次曝光：" << std::endl; std::cout << "目标位置：" << m_positionData.last().targetPosition << std::endl; std::cout << "实际位置：" << m_positionData.last().actualPosition << std::endl; std::cout << "曝光时间：" << m_positionData.last().exposureTime << std::endl; + // 如果曝光时间过低（< 2ms），基于曝光时间计算新的帧率并重新进行自动曝光 + if (exposureTime < 2.0) { + int currentFrameRate = m_positionData.last().frameRate; + + // 基于曝光时间计算理论最大帧率：fps = 1000 / exposureTime(ms) + // 乘以0.8作为安全系数，确保不会达到极限 + int newFrameRate = static_cast((1000.0 / exposureTime) * 0.8); + + // 设置合理的帧率范围：[currentFrameRate + 10, min(200, newFrameRate)] + newFrameRate = std::max(currentFrameRate + 10, newFrameRate); + newFrameRate = std::min(newFrameRate, 200); + + m_positionData.last().frameRate = newFrameRate; + + std::cout << "曝光时间过低，基于曝光时间计算新帧率：" << currentFrameRate << " -> " << newFrameRate << std::endl; + std::cout << "（曝光时间 " << exposureTime << "ms -> 理论最大帧率 " << (1000.0 / exposureTime) << "fps）" << std::endl; + + m_cameraCtrl->setFramerate(newFrameRate); + } + processNextPosition(); } @@ -1190,17 +1209,23 @@ void OneMotorMultiPosCoordinator::processNextPosition() m_isRunning = false; emit sequenceComplete(0); - // 计算平均曝光时间 - double avgExposureTime = 0.0; + // 找到曝光时间最大的那组数据 + double maxExposureTime = 0.0; + double maxFrameRate = 10; for (const auto& data : m_positionData) { - avgExposureTime += data.exposureTime; - } - if (!m_positionData.isEmpty()) { - avgExposureTime /= m_positionData.size(); + if (data.exposureTime > maxExposureTime) { + maxExposureTime = data.exposureTime; + maxFrameRate = data.frameRate; + } } - emit hyperAutoExposureDoneSignal(avgExposureTime); - m_cameraCtrl->setIntegrationTime(avgExposureTime); + std::cout << "自动曝光完成，使用最大曝光时间参数：" << std::endl; + std::cout << " 曝光时间：" << maxExposureTime << "ms" << std::endl; + std::cout << " 帧率：" << maxFrameRate << "Hz" << std::endl; + + emit hyperAutoExposureDoneSignal(maxExposureTime, maxFrameRate); + m_cameraCtrl->setIntegrationTime(maxExposureTime); + m_cameraCtrl->setFramerate(maxFrameRate); return; } diff --git a/HPPA/CaptureCoordinator.h b/HPPA/CaptureCoordinator.h index 5ac5d85..1b97a1c 100644 --- a/HPPA/CaptureCoordinator.h +++ b/HPPA/CaptureCoordinator.h @@ -308,11 +308,12 @@ struct PositionsLogData { double targetPosition; // 目标位置 double actualPosition; // 实际马达位置 + double frameRate; // 帧率 double exposureTime; // QDateTime timestamp; // 时间戳 - PositionsLogData(double target = 0, double actual = 0.0, double exposure = 0.0) - : targetPosition(target), actualPosition(actual), + PositionsLogData(double target = 0, double actual = 0.0, double exposure = 0.0, double frameRate = 10.0) + : targetPosition(target), actualPosition(actual), frameRate(frameRate), exposureTime(exposure ), timestamp(QDateTime::currentDateTime()) { } }; @@ -340,14 +341,14 @@ signals: void sequenceStopped(); void errorOccurred(const QString& error); void moveTo(int, double, double, int); - void getFocusIndexSobel(); + void startAutoExposureSignal(); void zeroStart(int motorID); - void hyperAutoExposureDoneSignal(double exposureTime); + void hyperAutoExposureDoneSignal(double exposureTime, double frameRate); private slots: void handlePositionReached(int motorID, double pos); - void handleCaptureComplete(double index); + void onAutoExposureFinished(double exposureTime); void handleError(const QString& error); void handleZeroComplete(int motorID, double pos); diff --git a/HPPA/GonggaShanRecordCtl.cpp b/HPPA/GonggaShanRecordCtl.cpp index b98e0ff..c71da1e 100644 --- a/HPPA/GonggaShanRecordCtl.cpp +++ b/HPPA/GonggaShanRecordCtl.cpp @@ -1,60 +1,9 @@ #include "GonggaShanRecordCtl.h" -GonggashanTaskScheduler::GonggashanTaskScheduler(QObject* parent) - : QObject(parent) - , m_taskState(TaskState::Idle) -{ -} - -GonggashanTaskScheduler::~GonggashanTaskScheduler() -{ -} - -bool GonggashanTaskScheduler::isTaskRunning() const -{ - return m_taskState == TaskState::Running; -} - -void GonggashanTaskScheduler::setTaskRunning(bool running) -{ - m_taskState = running ? TaskState::Running : TaskState::Idle; - Q_EMIT taskStateChanged(m_taskState); -} - -void GonggaShanRecordCtl::logStatus(const QString& message, bool isHearderBlankLine, bool isTailBlankLine) -{ - QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss"); - - if (isHearderBlankLine) - { - ui.status_textEdit->append("\n"); - } - ui.status_textEdit->append(QString("[%1] %2").arg(timestamp, message)); - if (isTailBlankLine) - { - ui.status_textEdit->append("\n"); - } - - if (m_logStream.device()) - { - if (isHearderBlankLine) - { - m_logStream << "\n"; - } - m_logStream << "[" << timestamp << "] " << message << "\n"; - if (isTailBlankLine) - { - m_logStream << "\n"; - } - - m_logStream.flush(); - m_logFile.flush(); - } -} +#include GonggaShanRecordCtl::GonggaShanRecordCtl(QWidget* parent) : QDialog(parent) - , m_taskScheduler(new GonggashanTaskScheduler(this)) , m_taskExecutor(new GonggashanTaskExecutor(this)) { ui.setupUi(this); @@ -68,19 +17,40 @@ GonggaShanRecordCtl::GonggaShanRecordCtl(QWidget* parent) AppSettings::instance().setGonggaShanRecordPort(value); }); + // 初始化GPS读取器（内部包含解析器） + m_gpsReader = new GsbGpsReader(this); + m_gpsReader->gpsParser()->setMinSatelliteCount(4); + // 连接 GonggashanTaskExecutor 信号 - connect(m_taskExecutor, &GonggashanTaskExecutor::finished, - this, &GonggaShanRecordCtl::onTaskExecutorFinished); + connect(m_taskExecutor, &GonggashanTaskExecutor::gpsAcquisitionSignal, + this, &GonggaShanRecordCtl::onGpsAcquisition); + connect(this, &GonggaShanRecordCtl::gpsAcquisitionDoneSignal_gonggashan, + m_taskExecutor, &GonggashanTaskExecutor::onGpsAcquired); connect(m_taskExecutor, &GonggashanTaskExecutor::hyperAutoExposureSignal_gonggashan, this, &GonggaShanRecordCtl::hyperAutoExposureSignal_gonggashan); connect(this, &GonggaShanRecordCtl::hyperAutoExposureDoneSignal_gonggashan, m_taskExecutor, &GonggashanTaskExecutor::onHyperExposureComplete); - connect(m_taskExecutor, &GonggashanTaskExecutor::fiberExposureSignal, - this, &GonggaShanRecordCtl::fiberExposureSignal_gonggashan); + connect(m_taskExecutor, &GonggashanTaskExecutor::fiberExposureRecordSignal, + this, &GonggaShanRecordCtl::fiberExposureRecordSignal_gonggashan); connect(this, &GonggaShanRecordCtl::fiberExposureDoneSignal_gonggashan, m_taskExecutor, &GonggashanTaskExecutor::onFiberExposureComplete); + + connect(m_taskExecutor, &GonggashanTaskExecutor::calculateMotorSpeedSignal, + this, &GonggaShanRecordCtl::onCalculateMotorSpeed); + connect(this, &GonggaShanRecordCtl::calculateMotorSpeedDoneSignal_gonggashan, + m_taskExecutor, &GonggashanTaskExecutor::onMotorSpeedCalculated); + + connect(m_taskExecutor, &GonggashanTaskExecutor::startCollectionSignal, + this, &GonggaShanRecordCtl::startRcordSignal_gonggashan); + connect(this, &GonggaShanRecordCtl::recordFinishedSignal_gonggashan, + m_taskExecutor, &GonggashanTaskExecutor::onRcordComplete); + + connect(m_taskExecutor, &GonggashanTaskExecutor::finished, + this, &GonggaShanRecordCtl::onTaskExecutorFinished); + + //onCalculateMotorSpeed();//测试用 } GonggaShanRecordCtl::~GonggaShanRecordCtl() @@ -90,6 +60,133 @@ GonggaShanRecordCtl::~GonggaShanRecordCtl() m_logFile.close(); } tcpServer6005->deleteLater(); + + if (m_gpsReader) { + m_gpsReader->closePort(); + m_gpsReader->deleteLater(); + } +} + +void GonggaShanRecordCtl::onGpsAcquisition() +{ + logStatus(QStringLiteral("开始GPS定位采集..."), true, false); + + // 如果已有GPS读取器，先关闭 + if (m_gpsReader) { + m_gpsReader->closePort(); + m_gpsReader->deleteLater(); + m_gpsReader = nullptr; + } + + // 创建GPS读取器并打开COM17端口 + m_gpsReader = new GsbGpsReader(this); + + // 连接GPS数据就绪信号 + connect(m_gpsReader, &GsbGpsReader::gpsDataReady, this, [this](const GsbGpsParse::GpsData& data) { + if (data.isValid) { + // 格式化时间 + QString timeStr; + if (data.utcTime.length() >= 6) { + timeStr = QString("%1:%2:%3") + .arg(data.utcTime.mid(0, 2)) + .arg(data.utcTime.mid(2, 2)) + .arg(data.utcTime.mid(4, 2)); + } + + // 格式化日期 + QString dateStr; + if (data.utcDate.length() == 6) { + dateStr = QString("20%1-%2-%3") + .arg(data.utcDate.mid(4, 2)) + .arg(data.utcDate.mid(2, 2)) + .arg(data.utcDate.mid(0, 2)); + } + + QString info = QStringLiteral("GPS数据已获取:") + + QStringLiteral("\n 时间: %1") + + QStringLiteral("\n 日期: %2") + + QStringLiteral("\n 纬度: %3°") + + QStringLiteral("\n 经度: %4°") + + QStringLiteral("\n 高程: %5m") + + QStringLiteral("\n 卫星数: %6") + + QStringLiteral("\n 状态: %7"); + + logStatus(info + .arg(timeStr) + .arg(dateStr) + .arg(data.latitude, 0, 'f', 6) + .arg(data.longitude, 0, 'f', 6) + .arg(data.altitude, 0, 'f', 2) + .arg(data.satelliteCount) + .arg(data.status == GsbGpsParse::GpsStatus::Valid ? QStringLiteral("已定位") : + data.status == GsbGpsParse::GpsStatus::Differential ? QStringLiteral("差分定位") : QStringLiteral("未定位")), + false, true); + + // 发送GPS数据给任务执行器 + emit gpsAcquisitionDoneSignal_gonggashan(data.latitude, data.longitude, data.altitude); + } + }); + + // 连接端口错误信号 + connect(m_gpsReader, &GsbGpsReader::portError, this, [this](const QString& error) { + logStatus(QStringLiteral("GPS端口错误: %1").arg(error), true, true); + }); + + // 尝试打开串口 (G6301 USB GPS, 默认波特率4800) + QString portName = "COM19"; + if (m_gpsReader->openPort(portName, 4800)) { + logStatus(QStringLiteral("已打开GPS端口: %1 (波特率: 4800)").arg(portName)); + + // 等待有效GPS数据 (最多等待30秒) + if (m_gpsReader->waitForValidData(30000)) { + logStatus(QStringLiteral("GPS定位成功!"), false, true); + } else { + logStatus(QStringLiteral("GPS定位超时(30s)，未能获取有效数据"), false, true); + logStatus(QStringLiteral("提示: 请检查GPS天线是否放置在开阔区域，卫星信号可能需要1-2分钟稳定"), false, true); + } + } else { + logStatus(QStringLiteral("无法打开GPS端口: %1").arg(portName), true, true); + } +} + +void GonggaShanRecordCtl::onCalculateMotorSpeed(double hyperFrameRate) +{ + FramerateRotateSpeedCal tmp; + double rotationSpeed = tmp.calculate(300, 17.6, 900, hyperFrameRate); + double rotationSpeed2 = tmp.calculate(300, 17.6, 900, 60); + + int a; +} + +void GonggaShanRecordCtl::logStatus(const QString& message, bool isHearderBlankLine, bool isTailBlankLine) +{ + QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss"); + + if (isHearderBlankLine) + { + ui.status_textEdit->append("\n"); + } + ui.status_textEdit->append(QString("[%1] %2").arg(timestamp, message)); + if (isTailBlankLine) + { + ui.status_textEdit->append("\n"); + } + + if (m_logStream.device()) + { + if (isHearderBlankLine) + { + m_logStream << "\n"; + } + m_logStream << "[" << timestamp << "] " << message << "\n"; + if (isTailBlankLine) + { + m_logStream << "\n"; + } + + m_logStream.flush(); + m_logFile.flush(); + } } void GonggaShanRecordCtl::startListen() @@ -130,7 +227,6 @@ void GonggaShanRecordCtl::startRecord(int position) QString pos = QString::number(position); logStatus("Reach pos: " + pos, true); - m_taskScheduler->setTaskRunning(true); m_taskExecutor->start("pos_" + pos); } @@ -148,8 +244,6 @@ void GonggaShanRecordCtl::onFiberImagerExposureCompleteSignal(int exposureTime) void GonggaShanRecordCtl::onRcordFinished() { - m_taskScheduler->setTaskRunning(false); - logStatus("Record Finished."); } @@ -161,7 +255,6 @@ void GonggaShanRecordCtl::onTaskExecutorFinished(bool success) } else { logStatus("Task failed or stopped."); } - m_taskScheduler->setTaskRunning(false); } // ==================== GonggashanTaskExecutor 实现 ==================== @@ -183,24 +276,37 @@ GonggashanTaskExecutor::~GonggashanTaskExecutor() void GonggashanTaskExecutor::buildStateMachine() { // ---- 创建所有状态 ---- + m_gpsAcquisitionState = new QState(QState::ExclusiveStates);//1、获取当前gps位置高度和时间；2、是否同步电脑系统时间 + m_gpsAcquisitionState->setObjectName("GpsAcquisition"); + m_hyperExposureState = new QState(QState::ExclusiveStates); m_hyperExposureState->setObjectName("HyperExposure"); m_fiberExposureState = new QState(QState::ExclusiveStates); m_fiberExposureState->setObjectName("FiberExposure"); - m_gpsAcquisitionState = new QState(QState::ExclusiveStates); - m_gpsAcquisitionState->setObjectName("GpsAcquisition"); - - m_motorCalcState = new QState(QState::ExclusiveStates); + m_motorCalcState = new QState(QState::ExclusiveStates);//根据高度计算电机转速，和高光谱帧率 m_motorCalcState->setObjectName("MotorCalc"); - m_dataCollectionState = new QState(QState::ExclusiveStates); + m_dataCollectionState = new QState(QState::ExclusiveStates);//高光谱数据采集完成后，将gps信息写入hdr文件 m_dataCollectionState->setObjectName("DataCollection"); m_finalState = new QFinalState(); m_finalState->setObjectName("Completed"); + // ---- GpsAcquisition 状态：等待外部硬件回调 ---- + connect(m_gpsAcquisitionState, &QState::entered, this, [this]() { + qDebug() << "GonggashanTaskExecutor: Enter m_gpsAcquisitionState"; + emit gpsAcquisitionSignal(); + }); + connect(m_gpsAcquisitionState, &QState::exited, this, [this]() { + qDebug() << "GonggashanTaskExecutor: Exit m_gpsAcquisitionState"; + leavePhase(m_gpsAcquisitionState); + }); + QSignalTransition* gpsDone = new QSignalTransition(this, &GonggashanTaskExecutor::gpsAcquisitionDone); + gpsDone->setTargetState(m_hyperExposureState); + m_gpsAcquisitionState->addTransition(gpsDone); + // ---- HyperExposure 状态：等待外部硬件回调 ---- connect(m_hyperExposureState, &QState::entered, this, [this]() { qDebug() << "GonggashanTaskExecutor: Enter m_hyperExposureState"; @@ -219,37 +325,25 @@ void GonggashanTaskExecutor::buildStateMachine() // ---- FiberExposure 状态：等待外部硬件回调 ---- connect(m_fiberExposureState, &QState::entered, this, [this]() { qDebug() << "GonggashanTaskExecutor: Enter m_fiberExposureState"; - emit fiberExposureSignal(); + emit fiberExposureRecordSignal(m_posInfo); }); connect(m_fiberExposureState, &QState::exited, this, [this]() { qDebug() << "GonggashanTaskExecutor: Exit m_fiberExposureState"; leavePhase(m_fiberExposureState); }); QSignalTransition* fiberDone = new QSignalTransition(this, &GonggashanTaskExecutor::fiberExposureDone); - fiberDone->setTargetState(m_gpsAcquisitionState); + fiberDone->setTargetState(m_motorCalcState); m_fiberExposureState->addTransition(fiberDone); - // ---- GpsAcquisition 状态：等待外部硬件回调 ---- - connect(m_gpsAcquisitionState, &QState::entered, this, [this]() { - qDebug() << "GonggashanTaskExecutor: Enter m_gpsAcquisitionState"; - emit gpsAcquisitionSignal(); - }); - connect(m_gpsAcquisitionState, &QState::exited, this, [this]() { - qDebug() << "GonggashanTaskExecutor: Exit m_gpsAcquisitionState"; - leavePhase(m_gpsAcquisitionState); - }); - QSignalTransition* gpsDone = new QSignalTransition(this, &GonggashanTaskExecutor::gpsAcquisitionDone); - gpsDone->setTargetState(m_motorCalcState); - m_gpsAcquisitionState->addTransition(gpsDone); - // ---- MotorCalc 状态：等待外部硬件回调 ---- connect(m_motorCalcState, &QState::entered, this, [this]() { qDebug() << "GonggashanTaskExecutor: Enter m_motorCalcState"; - }); + emit calculateMotorSpeedSignal(m_hyperFrameRate); + }); connect(m_motorCalcState, &QState::exited, this, [this]() { qDebug() << "GonggashanTaskExecutor: Exit m_motorCalcState"; leavePhase(m_motorCalcState); - }); + }); QSignalTransition* motorDone = new QSignalTransition(this, &GonggashanTaskExecutor::motorSpeedDone); motorDone->setTargetState(m_dataCollectionState); m_motorCalcState->addTransition(motorDone); @@ -257,9 +351,7 @@ void GonggashanTaskExecutor::buildStateMachine() // ---- DataCollection 状态：同步阶段 ---- connect(m_dataCollectionState, &QState::entered, this, [this]() { qDebug() << "GonggashanTaskExecutor: Enter m_dataCollectionState"; - if (dataCollectionImpl()) { - QTimer::singleShot(0, this, &GonggashanTaskExecutor::dataCollectionDone); - } + emit startCollectionSignal(m_posInfo, m_gpsData); }); connect(m_dataCollectionState, &QState::exited, this, [this]() { qDebug() << "GonggashanTaskExecutor: Exit m_dataCollectionState"; @@ -284,15 +376,14 @@ void GonggashanTaskExecutor::buildStateMachine() } // ---- 设置状态机 ---- - m_machine->addState(m_hyperExposureState); - m_machine->addState(m_fiberExposureState); m_machine->addState(m_gpsAcquisitionState); m_machine->addState(m_motorCalcState); + m_machine->addState(m_hyperExposureState); + m_machine->addState(m_fiberExposureState); m_machine->addState(m_dataCollectionState); m_machine->addState(m_finalState); - m_machine->setInitialState(m_hyperExposureState); - + m_machine->setInitialState(m_gpsAcquisitionState); } QState* GonggashanTaskExecutor::currentState() const @@ -341,15 +432,16 @@ void GonggashanTaskExecutor::stop() emit stopRequested(); } -void GonggashanTaskExecutor::onHyperExposureComplete(int exposureTime) +void GonggashanTaskExecutor::onHyperExposureComplete(double exposureTime, double frameRate) { if (currentState() != m_hyperExposureState) return; m_hyperExposureTime = exposureTime; + m_hyperFrameRate = frameRate; hyperExposureImpl(exposureTime); emit hyperExposureDone(); } -void GonggashanTaskExecutor::onFiberExposureComplete(int exposureTime) +void GonggashanTaskExecutor::onFiberExposureComplete(double exposureTime) { if (currentState() != m_fiberExposureState) return; m_fiberExposureTime = exposureTime; @@ -375,6 +467,12 @@ void GonggashanTaskExecutor::onMotorSpeedCalculated(double speed) } } +void GonggashanTaskExecutor::onRcordComplete() +{ + if (currentState() != m_dataCollectionState) return; + emit dataCollectionDone(); +} + bool GonggashanTaskExecutor::preparationImpl() { qDebug() << "GonggashanTaskExecutor: Enter m_preparationState\n"; @@ -405,9 +503,514 @@ bool GonggashanTaskExecutor::motorCalcImpl() return true; } -bool GonggashanTaskExecutor::dataCollectionImpl() +// ==================== GsbGpsParse 实现 ==================== + +GsbGpsParse::GsbGpsParse(QObject* parent) + : QObject(parent) { - qDebug() << "GonggashanTaskExecutor: Start data collection"; - emit startCollectionSignal(m_posInfo, m_gpsData); + m_gpsData.hasGga = false; + m_gpsData.hasRmc = false; +} + +bool GsbGpsParse::parseNmeaSentence(const QString& sentence) +{ + QString trimmed = sentence.trimmed(); + if (trimmed.isEmpty() || !trimmed.startsWith('$')) { + return false; + } + + // NMEA校验 + if (!validateNmeaChecksum(trimmed)) { + qDebug() << "GsbGpsParse: Invalid NMEA checksum:" << trimmed; + return false; + } + + QStringList fields = trimmed.split(','); + if (fields.size() < 3) { + return false; + } + + QString talkerId = fields[0].mid(1, 2); // GP, GL, GA, etc. + QString sentenceType = fields[0].mid(3); + + if (sentenceType == "GGA") { + return parseGpgga(fields); + } else if (sentenceType == "RMC") { + return parseGprmc(fields); + } + + return false; +} + +bool GsbGpsParse::parseGpgga(const QStringList& fields) +{ + // $GPGGA 格式: + // 0: $GPGGA + // 1: UTC时间 HHMMSS.SSS + // 2: 纬度 DDMM.MMMM + // 3: N/S + // 4: 经度 DDDMM.MMMM + // 5: E/W + // 6: GPS质量指示 (0=无效, 1=GPS定位, 2=差分GPS定位) + // 7: 卫星数目 + // 8: HDOP + // 9: 海拔高度 (米) + // 10: 海拔高度单位 (M) + // 11: 大地水准面差 + // 12: 大地水准面差单位 (M) + // 13: 差分GPS数据龄期 + // 14: 差分参考站ID + + if (fields.size() < 12) { + return false; + } + + bool ok = false; + m_gpsData.rawNmea = fields.join(','); + + // 保存时间 + m_pendingTime = fields[1]; + + // 解析纬度 + double lat = convertLatitude(fields[2], fields[3]); + if (lat != 0.0) { + m_gpsData.latitude = lat; + } + + // 解析经度 + double lon = convertLongitude(fields[4], fields[5]); + if (lon != 0.0) { + m_gpsData.longitude = lon; + } + + // 解析GPS定位质量指示 + int quality = fields[6].toInt(&ok); + if (ok) { + switch (quality) { + case 0: + m_gpsData.status = GpsStatus::Invalid; + break; + case 1: + m_gpsData.status = GpsStatus::Valid; + break; + case 2: + m_gpsData.status = GpsStatus::Differential; + break; + default: + m_gpsData.status = GpsStatus::Invalid; + } + } + + // 解析卫星数目 + int satCount = fields[7].toInt(&ok); + if (ok) { + m_gpsData.satelliteCount = satCount; + } + + // 解析高程 + double altitude = fields[9].toDouble(&ok); + if (ok) { + m_gpsData.altitude = altitude; + } + + // 应用暂存的时间（从RMC获取的日期） + if (!m_pendingTime.isEmpty() && m_pendingTime.length() >= 6) { + m_gpsData.utcTime = m_pendingTime; + } + if (!m_pendingDate.isEmpty()) { + m_gpsData.utcDate = m_pendingDate; + } + + // 标记已收到GPGGA + m_gpsData.hasGga = true; + + // 只有当GPGGA和GPRMC都收到后才发送信号 + if (m_gpsData.hasRmc) { + bool wasValid = m_gpsData.isValid; + validateData(); + emit gpsDataUpdated(m_gpsData); + if (wasValid != m_gpsData.isValid) { + emit gpsStatusChanged(m_gpsData.isValid); + } + } + return true; } + +bool GsbGpsParse::parseGprmc(const QStringList& fields) +{ + // $GPRMC 格式: + // 0: $GPRMC + // 1: UTC时间 HHMMSS.SSS + // 2: 状态 (A=有效, V=无效) + // 3: 纬度 DDMM.MMMMM + // 4: N/S + // 5: 经度 DDDMM.MMMMM + // 6: E/W + // 7: 速度 (节) + // 8: 航向 (度) + // 9: UTC日期 DDMMYY + // 10: 磁偏角 + // 11: 磁偏角方向 E/W + + if (fields.size() < 10) { + return false; + } + + // 检查状态 - V表示无效，A表示有效 + QString status = fields[2]; + if (status != "A") { + // 数据无效，清除之前的状态 + m_gpsData.status = GpsStatus::Invalid; + m_gpsData.isValid = false; + m_gpsData.hasRmc = false; // 清除RMC标记，等待下次有效数据 + return false; + } + + // 解析纬度 (DDMM.MMMMM -> DD.DDDDD) + // 公式: DD + MM/60 + MMMMM/600000 + double lat = convertLatitude(fields[3], fields[4]); + if (lat != 0.0) { + m_gpsData.latitude = lat; + } + + // 解析经度 (DDDMM.MMMMM -> DDD.DDDDD) + // 公式: DDD + MM/60 + MMMMM/600000 + double lon = convertLongitude(fields[5], fields[6]); + if (lon != 0.0) { + m_gpsData.longitude = lon; + } + + // 保存日期 + m_pendingDate = fields[9]; + m_gpsData.utcDate = fields[9]; + + // 保存时间 + QString time = fields[1]; + if (time.length() >= 6) { + m_pendingTime = time; + m_gpsData.utcTime = time; + } + + // 标记已收到RMC + m_gpsData.hasRmc = true; + + // 只有当GPGGA和GPRMC都收到后才发送信号 + if (m_gpsData.hasGga) { + bool wasValid = m_gpsData.isValid; + validateData(); + emit gpsDataUpdated(m_gpsData); + if (wasValid != m_gpsData.isValid) { + emit gpsStatusChanged(m_gpsData.isValid); + } + } + + return true; +} + +bool GsbGpsParse::validateNmeaChecksum(const QString& sentence) +{ + // NMEA语句格式: $...*HH + // HH是$和*之间所有字符的XOR校验和 + + int starIndex = sentence.indexOf('*'); + if (starIndex < 0 || starIndex + 2 > sentence.length()) { + return true; // 没有校验和字段，假设有效 + } + + QString checksumStr = sentence.mid(starIndex + 1, 2); + bool ok; + int expectedChecksum = checksumStr.toInt(&ok, 16); + if (!ok) { + return false; + } + + // 计算实际校验和 + int actualChecksum = 0; + for (int i = 1; i < starIndex; ++i) { + actualChecksum ^= sentence[i].toLatin1(); + } + + return actualChecksum == expectedChecksum; +} + +double GsbGpsParse::convertLatitude(const QString& degMin, const QString& direction) +{ + if (degMin.isEmpty()) { + return 0.0; + } + + // 格式: DDMM.MMMMM (度分格式) + // 公式: DD + MM/60 + MMMMM/3600000 + // 例如: 3150.34850 -> 31 + 50/60 + 34850/3600000 = 31.839141 + + bool ok; + double value = degMin.toDouble(&ok); + if (!ok) { + return 0.0; + } + + int degrees = static_cast(value / 100); + int minutesInt = static_cast(value) % 100; + double fractionalMinutes = value - static_cast(value); + + // 按用户指定公式: DD + MM/60 + MMMMM/3600000 + double decimal = degrees + (minutesInt / 60.0) + (fractionalMinutes * 100.0) / 600000.0; + + if (direction == "S") { + decimal = -decimal; + } + + return decimal; +} + +double GsbGpsParse::convertLongitude(const QString& degMin, const QString& direction) +{ + if (degMin.isEmpty()) { + return 0.0; + } + + // 格式: DDDMM.MMMMM (度分格式) + // 公式: DDD + MM/60 + MMMMM/3600000 + // 例如: 11707.94287 -> 117 + 07/60 + 94287/3600000 = 117.132381 + + bool ok; + double value = degMin.toDouble(&ok); + if (!ok) { + return 0.0; + } + + int degrees = static_cast(value / 100); + int minutesInt = static_cast(value) % 100; + double fractionalMinutes = value - static_cast(value); + + // 按用户指定公式: DDD + MM/60 + MMMMM/3600000 + double decimal = degrees + (minutesInt / 60.0) + (fractionalMinutes * 100.0) / 600000.0; + + if (direction == "W") { + decimal = -decimal; + } + + return decimal; +} + +void GsbGpsParse::validateData() +{ + // GPS数据有效性判定条件: + // 1. GPS状态为Valid或Differential (status != Invalid) + // 2. 卫星数目 >= 最小要求 + // 3. 经纬度不为0 + + bool isValid = (m_gpsData.status != GpsStatus::Invalid) && + (m_gpsData.satelliteCount >= m_minSatelliteCount) && + (m_gpsData.latitude != 0.0 || m_gpsData.longitude != 0.0); + + m_gpsData.isValid = isValid; +} + +bool GsbGpsParse::isGpsDataValid() const +{ + return m_gpsData.isValid; +} + +QString GsbGpsParse::toDisplayString() const +{ + if (!m_gpsData.isValid) { + return QString("GPS数据无效 - %1 (卫星: %2)") + .arg(statusDescription()) + .arg(m_gpsData.satelliteCount); + } + + QString timeStr; + if (m_gpsData.utcTime.length() >= 6) { + timeStr = QString("%1:%2:%3") + .arg(m_gpsData.utcTime.mid(0, 2)) + .arg(m_gpsData.utcTime.mid(2, 2)) + .arg(m_gpsData.utcTime.mid(4, 2)); + } + + QString dateStr; + if (m_gpsData.utcDate.length() == 6) { + dateStr = QString("20%1-%2-%3") + .arg(m_gpsData.utcDate.mid(4, 2)) + .arg(m_gpsData.utcDate.mid(2, 2)) + .arg(m_gpsData.utcDate.mid(0, 2)); + } + + return QString("GPS: 时间=%1 日期=%2 纬度=%3 经度=%4 高程=%5m 卫星=%6 %7") + .arg(timeStr) + .arg(dateStr) + .arg(m_gpsData.latitude, 0, 'f', 6) + .arg(m_gpsData.longitude, 0, 'f', 6) + .arg(m_gpsData.altitude, 0, 'f', 2) + .arg(m_gpsData.satelliteCount) + .arg(statusDescription()); +} + +QString GsbGpsParse::statusDescription() const +{ + switch (m_gpsData.status) { + case GpsStatus::Invalid: + return QStringLiteral("未定位"); + case GpsStatus::Valid: + return QStringLiteral("已定位"); + case GpsStatus::Differential: + return QStringLiteral("差分定位"); + default: + return QStringLiteral("未知"); + } +} + +// ==================== GsbGpsReader 实现 ==================== + +GsbGpsReader::GsbGpsReader(QObject* parent) + : QObject(parent) + , m_parser(this) + , m_serialPort(new QSerialPort(this)) +{ + connect(m_serialPort, &QSerialPort::readyRead, this, &GsbGpsReader::onReadyRead); + connect(m_serialPort, &QSerialPort::errorOccurred, this, [this](QSerialPort::SerialPortError error) { + if (error != QSerialPort::NoError) { + emit portError(m_serialPort->errorString()); + } + }); + // 连接parser的gpsDataUpdated信号，当GPGGA和GPRMC都收到后发送gpsDataReady + connect(&m_parser, &GsbGpsParse::gpsDataUpdated, this, &GsbGpsReader::gpsDataReady); +} + +GsbGpsReader::~GsbGpsReader() +{ + closePort(); +} + +bool GsbGpsReader::openPort(const QString& portName, qint32 baudRate) +{ + if (m_serialPort->isOpen()) { + m_serialPort->close(); + } + + m_serialPort->setPortName(portName); + m_serialPort->setBaudRate(baudRate); + m_serialPort->setDataBits(QSerialPort::Data8); + m_serialPort->setParity(QSerialPort::NoParity); + m_serialPort->setStopBits(QSerialPort::OneStop); + m_serialPort->setFlowControl(QSerialPort::NoFlowControl); + + if (m_serialPort->open(QIODevice::ReadWrite)) { + emit portOpened(); + return true; + } + + emit portError(m_serialPort->errorString()); + return false; +} + +void GsbGpsReader::closePort() +{ + if (m_serialPort->isOpen()) { + m_serialPort->close(); + emit portClosed(); + } +} + +bool GsbGpsReader::isPortOpen() const +{ + return m_serialPort->isOpen(); +} + +GsbGpsParse::GpsData GsbGpsReader::currentGpsData() const +{ + return m_parser.gpsData(); +} + +bool GsbGpsReader::waitForValidData(int timeoutMs) +{ + QElapsedTimer timer; + timer.start(); + + while (!m_parser.isGpsDataValid() && timer.elapsed() < timeoutMs) { + QThread::msleep(100); + QCoreApplication::processEvents(); + } + + return m_parser.isGpsDataValid(); +} + +void GsbGpsReader::onReadyRead() +{ + QByteArray data = m_serialPort->readAll(); + QString text = QString::fromLatin1(data); + + // 按行分割处理NMEA语句 + static QString buffer; + buffer += text; + + QStringList lines = buffer.split('\n', QString::SkipEmptyParts); + buffer = lines.takeLast(); + + for (const QString& line : lines) { + QString trimmed = line.trimmed(); + if (trimmed.startsWith('$')) { + // 只调用解析，GPGGA和GPRMC都收到后parse内部会发送gpsDataUpdated信号 + m_parser.parseNmeaSentence(trimmed); + } + } +} + +// ============ FramerateRotateSpeedCal 实现 ============ +FramerateRotateSpeedCal::FramerateRotateSpeedCal(QObject* parent) + : QObject(parent) +{ +} + +double FramerateRotateSpeedCal::calculateVerticalGroundResolution() +{ + if (m_verticalPixels <= 0) { + return 0.0; + } + // 将角度转换为弧度 + double fovRadians = m_verticalFov * m_pi / 180.0; + // 计算地面覆盖宽度，然后除以像素数得到分辨率 + double groundWidth = 2.0 * m_altitude * std::tan(fovRadians / 2.0); + m_groundResolution = groundWidth / m_verticalPixels; + return m_groundResolution; +} + +double FramerateRotateSpeedCal::calculateSpeed() +{ + if (m_framerate <= 0.0 || m_groundResolution <= 0.0) { + return 0.0; + } + m_speed = m_framerate * m_groundResolution; + return m_speed; +} + +double FramerateRotateSpeedCal::calculateRotationSpeed() +{ + if (m_altitude <= 0.0 || m_speed <= 0.0) { + return 0.0; + } + // 旋转一周的周长 = 2 * PI * altitude + // rotation_speed = speed / circumference + double circumference = 2.0 * m_pi * m_altitude; + double m_rotationSpeed = m_speed / circumference;// 单位: 转/秒 + + m_rotationSpeedDegPerSec = m_speed / m_altitude * 180.0 / m_pi; + return m_rotationSpeedDegPerSec; +} + +double FramerateRotateSpeedCal::calculate(double altitude, double verticalFov, int verticalPixels, double framerate) +{ + m_altitude = altitude; + m_verticalFov = verticalFov; + m_verticalPixels = verticalPixels; + m_framerate = framerate; + + calculateVerticalGroundResolution(); + calculateSpeed(); + calculateRotationSpeed(); + + emit calculationCompleted(m_groundResolution, m_speed, m_rotationSpeedDegPerSec); + + return m_rotationSpeedDegPerSec; +} diff --git a/HPPA/GonggaShanRecordCtl.h b/HPPA/GonggaShanRecordCtl.h index ca51bbf..95caba0 100644 --- a/HPPA/GonggaShanRecordCtl.h +++ b/HPPA/GonggaShanRecordCtl.h @@ -14,12 +14,17 @@ #include #include #include +#include +#include #include "ui_gonggashanCtl.h" #include "CommunicationViaTCP.h" #include "AppSettings.h" +class GsbGpsParse; +class GsbGpsReader; + // ============ 执行阶段枚举 ============ enum class GonggaShanExecPhase { Idle, // 空闲 @@ -32,31 +37,6 @@ enum class GonggaShanExecPhase { Completed // 完成 }; -// ============ 任务调度器 ============ -class GonggashanTaskScheduler : public QObject -{ - Q_OBJECT - -public: - enum class TaskState - { - Idle, - Running - }; - - explicit GonggashanTaskScheduler(QObject* parent = nullptr); - ~GonggashanTaskScheduler(); - - bool isTaskRunning() const; - void setTaskRunning(bool running); - -Q_SIGNALS: - void taskStateChanged(TaskState state); - -private: - TaskState m_taskState; -}; - // ============ 任务执行器 ============ class GonggashanTaskExecutor : public QObject { @@ -72,18 +52,21 @@ public slots: void start(const QString& posInfo); void stop(); - void onHyperExposureComplete(int exposureTime); - void onFiberExposureComplete(int exposureTime); + void onHyperExposureComplete(double exposureTime, double frameRate); + void onFiberExposureComplete(double exposureTime); void onGpsAcquired(double latitude, double longitude, double altitude); void onMotorSpeedCalculated(double speed); + void onRcordComplete(); signals: void hyperAutoExposureSignal_gonggashan(); - void fiberExposureSignal(); + void fiberExposureRecordSignal(QString posInfo); void gpsAcquisitionSignal(); void motorSpeedSignal(double speed); void startCollectionSignal(const QString& posInfo, const QString& gpsData); + void calculateMotorSpeedSignal(double hyperFrameRate); + void finished(bool success); void errorOccurred(const QString& error); @@ -103,7 +86,6 @@ protected: virtual bool fiberExposureImpl(int exposureTime); virtual bool gpsAcquisitionImpl(double lat, double lon, double alt); virtual bool motorCalcImpl(); - virtual bool dataCollectionImpl(); private slots: void onFinalStateEntered(); @@ -116,8 +98,9 @@ private: QString m_posInfo; QString m_gpsData; double m_motorSpeed = 0.0; - int m_hyperExposureTime = 0; - int m_fiberExposureTime = 0; + double m_hyperExposureTime = 0; + double m_hyperFrameRate = 0; + double m_fiberExposureTime = 0; bool m_stopRequested = false; // Qt State Machine @@ -145,14 +128,18 @@ public Q_SLOTS: void onFiberImagerExposureCompleteSignal(int exposureTime); Q_SIGNALS: - void hyperAutoExposureSignal_gonggashan(); - void hyperAutoExposureDoneSignal_gonggashan(double exposureTime); + void gpsAcquisitionDoneSignal_gonggashan(double lat, double lon, double alt); - void fiberExposureSignal_gonggashan(); + void calculateMotorSpeedDoneSignal_gonggashan(double speed); + + void hyperAutoExposureSignal_gonggashan(); + void hyperAutoExposureDoneSignal_gonggashan(double exposureTime, double frameRate); + + void fiberExposureRecordSignal_gonggashan(QString posInfo); void fiberExposureDoneSignal_gonggashan(double exposureTime); - // Emitted when user changes any of the R/G/B wavelength values - void startRcordSignal(QString posInfo); + void startRcordSignal_gonggashan(QString posInfo); + void recordFinishedSignal_gonggashan(); private Q_SLOTS: void startListen(); @@ -163,14 +150,199 @@ private Q_SLOTS: // GonggashanTaskExecutor 反馈槽 void onTaskExecutorFinished(bool success); + void onGpsAcquisition(); + void onCalculateMotorSpeed(double hyperFrameRate); + private: void logStatus(const QString& message, bool isHearderBlankLine = false, bool isTailBlankLine = false); Ui::gongga_control ui; QPointer tcpServer6005; - GonggashanTaskScheduler* m_taskScheduler; GonggashanTaskExecutor* m_taskExecutor; // 新增 QString m_logFilePath; QFile m_logFile; QTextStream m_logStream; + + // GPS 串口读取器 + GsbGpsReader* m_gpsReader = nullptr; +}; + +// ============ USB GPS NMEA-0183 解析器 (G6301, COM17) ============ +class GsbGpsParse : public QObject +{ + Q_OBJECT + +public: + // GPS数据有效性状态 + enum class GpsStatus { + Invalid, // 无效或未定位 + Valid, // 有效定位 + Differential // 差分定位 + }; + + // GPS解析数据结构 + struct GpsData { + QString rawNmea; // 原始NMEA语句 + QString utcTime; // UTC时间 (HHMMSS.SSS) + QString utcDate; // UTC日期 (DDMMYY) + double latitude = 0.0; // 纬度 (十进制度) + double longitude = 0.0; // 经度 (十进制度) + double altitude = 0.0; // 高程 (米) + int satelliteCount = 0; // 卫星数目 + GpsStatus status = GpsStatus::Invalid; // 定位状态 + bool isValid = false; // 综合有效性 + bool hasGga = false; // 是否已收到GPGGA语句 + bool hasRmc = false; // 是否已收到GPRMC语句 + }; + + explicit GsbGpsParse(QObject* parent = nullptr); + ~GsbGpsParse() = default; + + // 设置最小卫星数目要求 (默认4颗) + void setMinSatelliteCount(int count) { m_minSatelliteCount = count; } + int minSatelliteCount() const { return m_minSatelliteCount; } + + // 解析单条NMEA语句 + bool parseNmeaSentence(const QString& sentence); + + // 获取当前解析的GPS数据 + const GpsData& gpsData() const { return m_gpsData; } + + // 检查GPS数据是否有效 + bool isGpsDataValid() const; + + // 格式化输出 + QString toDisplayString() const; + + // 获取状态描述 + QString statusDescription() const; + +signals: + void gpsDataUpdated(const GpsData& data); + void gpsStatusChanged(bool isValid); + +private: + // 解析 $GPGGA - GPS定位数据 + bool parseGpgga(const QStringList& fields); + + // 解析 $GPRMC - 推荐最小定位数据 + bool parseGprmc(const QStringList& fields); + + // NMEA校验 + bool validateNmeaChecksum(const QString& sentence); + + // 转换纬度格式 (DDMM.MMMM -> DD.DDDDD) + double convertLatitude(const QString& degMin, const QString& direction); + + // 转换经度格式 (DDDMM.MMMM -> DDD.DDDDD) + double convertLongitude(const QString& degMin, const QString& direction); + + // 检查数据有效性 + void validateData(); + + GpsData m_gpsData; + int m_minSatelliteCount = 4; // 默认要求至少4颗卫星 + QString m_pendingTime; + QString m_pendingDate; +}; + +// ============ USB GPS 串口读取器 (G6301, COM17) ============ +class GsbGpsReader : public QObject +{ + Q_OBJECT + +public: + explicit GsbGpsReader(QObject* parent = nullptr); + ~GsbGpsReader(); + + // 打开指定串口 + bool openPort(const QString& portName, qint32 baudRate = 4800); + + // 关闭串口 + void closePort(); + + // 串口是否打开 + bool isPortOpen() const; + + // 获取GPS解析器（用于设置参数如最小卫星数） + GsbGpsParse* gpsParser() { return &m_parser; } + const GsbGpsParse* gpsParser() const { return &m_parser; } + + // 获取GPS数据 + GsbGpsParse::GpsData currentGpsData() const; + + // 等待有效GPS数据 (带超时) + bool waitForValidData(int timeoutMs = 30000); + +signals: + void gpsDataReady(const GsbGpsParse::GpsData& data); + void portOpened(); + void portClosed(); + void portError(const QString& error); + +private slots: + void onReadyRead(); + +private: + GsbGpsParse m_parser; + QSerialPort* m_serialPort; +}; + +// ============ 帧率与旋转速度计算器 ============ +class FramerateRotateSpeedCal : public QObject +{ + Q_OBJECT + +public: + explicit FramerateRotateSpeedCal(QObject* parent = nullptr); + ~FramerateRotateSpeedCal() = default; + + // 设置参数 + void setAltitude(double altitude) { m_altitude = altitude; } + void setVerticalFov(double fovDegrees) { m_verticalFov = fovDegrees; } + void setVerticalPixels(int pixels) { m_verticalPixels = pixels; } + void setFramerate(double framerate) { m_framerate = framerate; } + + // 获取参数 + double altitude() const { return m_altitude; } + double verticalFov() const { return m_verticalFov; } + int verticalPixels() const { return m_verticalPixels; } + double framerate() const { return m_framerate; } + + // 计算垂直航向分辨率（地面分辨率） + // 基于高度、视场角和像素个数 + // 公式: resolution = 2 * altitude * tan(FOV/2) / pixels + double calculateVerticalGroundResolution(); + + // 计算速度 + // 基于帧率和垂直航向分辨率 + // 公式: speed = framerate * ground_resolution + double calculateSpeed(); + + // 计算旋转速度 + // 基于高度和计算出的速度 + // 公式: rotation_speed = speed / (2 * PI * altitude) + double calculateRotationSpeed(); + + // 一站式计算：设置参数后一次性计算所有结果 + double calculate(double altitude, double verticalFov, int verticalPixels, double framerate); + + // 获取计算结果 + double groundResolution() const { return m_groundResolution; } + double speed() const { return m_speed; } + double rotationSpeed() const { return m_rotationSpeedDegPerSec; } + +signals: + void calculationCompleted(double groundResolution, double speed, double rotationSpeed); + +private: + double m_pi = 3.14159265358979323846; // 圆周率 + double m_altitude = 0.0; // 高度（米） + double m_verticalFov = 0.0; // 垂直视场角（度） + int m_verticalPixels = 0; // 垂直方向像素个数 + double m_framerate = 0.0; // 帧率（Hz） + + double m_groundResolution = 0.0; // 垂直航向分辨率（米/像素） + double m_speed = 0.0; // 速度（米/秒） + double m_rotationSpeedDegPerSec = 0.0; // 旋转速度（度/秒） }; diff --git a/HPPA/HPPA.cpp b/HPPA/HPPA.cpp index 45c7188..53e7417 100644 --- a/HPPA/HPPA.cpp +++ b/HPPA/HPPA.cpp @@ -1115,16 +1115,14 @@ void HPPA::setupGonggashanAutoRecordConnection() connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::hyperAutoExposureSignal_gonggashan, this, &HPPA::onGonggashanHyperAutoExposure); connect(m_omc, &OneMotorControl::hyperAutoExposureDoneSignal_gonggashan, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::hyperAutoExposureDoneSignal_gonggashan); - connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::fiberExposureSignal_gonggashan, this, &HPPA::onGonggashanFiberAutoExposure); + connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::fiberExposureRecordSignal_gonggashan, this, &HPPA::onGonggashanFiberAutoExposureRecord); + connect(m_fodisWindow, &FodisWindow::startExposureSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onFiberImagerStartExposureSignal); + connect(m_fodisWindow, &FodisWindow::exposureCompleteSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onFiberImagerExposureCompleteSignal); connect(m_fodisWindow, &FodisWindow::exposureCompleteSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::fiberExposureDoneSignal_gonggashan); - connect(m_fodisWindow, &FodisWindow::startExposureSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onFiberImagerStartExposureSignal); - connect(m_fodisWindow, &FodisWindow::exposureCompleteSignal, this, &HPPA::onStartRecordStep1); - connect(m_fodisWindow, &FodisWindow::exposureCompleteSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onFiberImagerExposureCompleteSignal); - - connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::startRcordSignal, this, &HPPA::onGonggashanRecord); + connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::startRcordSignal_gonggashan, this, &HPPA::onGonggashanRecord); connect(m_omc, &OneMotorControl::sequenceComplete, m_fodisWindow, &FodisWindow::closeFiberImager); - connect(m_omc, &OneMotorControl::sequenceComplete, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onRcordFinished); + connect(m_omc, &OneMotorControl::sequenceComplete, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::recordFinishedSignal_gonggashan); } void HPPA::onGonggashanHyperAutoExposure() @@ -1141,9 +1139,9 @@ void HPPA::onGonggashanHyperAutoExposure() m_omc->multiPosHyperAutoExposure(); } -void HPPA::onGonggashanFiberAutoExposure() +void HPPA::onGonggashanFiberAutoExposureRecord(QString posInfo) { - //m_fodisWindow->openFiberImager_expose_record(posInfo); + m_fodisWindow->openFiberImager_expose_record(posInfo); } void HPPA::onGonggashanRecord(QString posInfo) @@ -1166,8 +1164,8 @@ void HPPA::onGonggashanRecord(QString posInfo) { onconnect(); } - - m_fodisWindow->openFiberImager_expose_record(posInfo); + + onStartRecordStep1(); } void HPPA::recordFromRobotArm(int fileCounter) diff --git a/HPPA/HPPA.h b/HPPA/HPPA.h index 3c52ec2..5f78393 100644 --- a/HPPA/HPPA.h +++ b/HPPA/HPPA.h @@ -459,7 +459,7 @@ public Q_SLOTS: void onGonggashanRecord(QString posInfo); void onGonggashanHyperAutoExposure(); - void onGonggashanFiberAutoExposure(); + void onGonggashanFiberAutoExposureRecord(QString posInfo); protected: void closeEvent(QCloseEvent* event) override; diff --git a/HPPA/OneMotorControl.h b/HPPA/OneMotorControl.h index 7a02235..0a285b7 100644 --- a/HPPA/OneMotorControl.h +++ b/HPPA/OneMotorControl.h @@ -68,7 +68,7 @@ signals: void broadcastLocationSignal(std::vector); - void hyperAutoExposureDoneSignal_gonggashan(double exposureTime); + void hyperAutoExposureDoneSignal_gonggashan(double exposureTime, double frameRate); private: Ui::OneMotorControl_UI ui;