add，山地所贡嘎山8：
1、在类GonggashanTaskExecutor中状态机协调控制整个采集流程；
This commit is contained in:
tangchao0503
@ -972,3 +972,241 @@ double OneMotionCoordinator::getErrorRate(double targetLoc, double actualLoc)
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return errorRate;
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}
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//---------------------------------------------------------------------------------------------------------------------------------------------
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OneMotorMultiPosCoordinator::OneMotorMultiPosCoordinator(
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IrisMultiMotorController* motorCtrl,
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ImagerOperationBase* cameraCtrl,
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QObject* parent)
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: QObject(parent)
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, m_motorCtrl(motorCtrl)
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, m_cameraCtrl(cameraCtrl)
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, m_currentPos(0)
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, m_isRunning(false)
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, m_isZeroing(false)
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{
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//这些信号槽是按照逻辑顺序的
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connect(this, SIGNAL(moveTo(int, double, double, int)),
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m_motorCtrl, SLOT(moveTo(int, double, double, int)));
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connect(this, &OneMotorMultiPosCoordinator::zeroStart,
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m_motorCtrl, &IrisMultiMotorController::zeroStart);
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connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
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this, &OneMotorMultiPosCoordinator::handlePositionReached);
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//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
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// this, &OneMotorMultiPosCoordinator::handleError);
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connect(this, &OneMotorMultiPosCoordinator::getFocusIndexSobel,
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m_cameraCtrl, &ImagerOperationBase::auto_exposure);
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connect(m_cameraCtrl, &ImagerOperationBase::autoExposureSignal,
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this, &OneMotorMultiPosCoordinator::handleCaptureComplete);
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//connect(m_cameraCtrl, &ImagerOperationBase::captureFailed,
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// this, &OneMotorMultiPosCoordinator::handleError);
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}
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OneMotorMultiPosCoordinator::~OneMotorMultiPosCoordinator()
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{
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}
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void OneMotorMultiPosCoordinator::startStepMotion(double speed, std::vector<double> locations)
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{
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QMutexLocker locker(&m_dataMutex);
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if (locations.empty())
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{
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emit sequenceComplete(1);
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return;
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}
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if (m_isRunning)
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{
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emit errorOccurred("Sequence already running");
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return;
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}
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m_locations = locations;
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m_counter = 0;
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m_positionData.clear();
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m_speed = speed;
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m_iStepIntervalRealTime = 1;
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m_isRunning = true;
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m_isZeroing = true;
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// 先执行归零操作
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emit zeroStart(0);
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qDebug() << "OneMotorMultiPosCoordinator::startStepMotion: Zeroing started.";
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}
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void OneMotorMultiPosCoordinator::startMotionSequence()
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{
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QMutexLocker locker(&m_dataMutex);
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m_isZeroing = false;
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qDebug() << "OneMotorMultiPosCoordinator::startMotionSequence: Zeroing complete. Starting motion sequence.";
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processNextPosition();
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}
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void OneMotorMultiPosCoordinator::handleZeroComplete(int motorID, double pos)
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{
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if (!m_isRunning || !m_isZeroing) return;
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// 归零完成，开始分步运动
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startMotionSequence();
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}
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void OneMotorMultiPosCoordinator::stopStepMotion()
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{
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QMutexLocker locker(&m_dataMutex);
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m_isRunning = false;
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emit sequenceStopped();
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}
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QVector<PositionsLogData> OneMotorMultiPosCoordinator::getAllPositionData() const
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{
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//QMutexLocker locker(&m_dataMutex);
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return m_positionData;
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}
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bool OneMotorMultiPosCoordinator::saveToCsv(const QString& filename)
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{
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//QMutexLocker locker(&m_dataMutex);
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QFile file(filename);
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if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
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{
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return false;
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}
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QTextStream out(&file);
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out << "Timestamp,targetPosition,ActualPosition,exposureTime\n";
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for (const auto& data : m_positionData)
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{
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out << data.timestamp.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
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<< QString::number(data.targetPosition, 'f', 4) << ","
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<< QString::number(data.actualPosition, 'f', 4) << ","
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<< QString::number(data.exposureTime, 'f', 4) << "\n";
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}
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file.close();
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return true;
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}
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void OneMotorMultiPosCoordinator::handlePositionReached(int motorID, double pos)
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{
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if (!m_isRunning) return;
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// 如果正在等待归零完成，调用归零完成处理
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if (m_isZeroing)
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{
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handleZeroComplete(motorID, pos);
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return;
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}
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QMutexLocker locker(&m_dataMutex);
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//验证马达运动位置是否到达指定位置
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//if (pos != m_currentPos) return;
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// 记录位置信息
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PositionsLogData data;
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data.targetPosition = m_currentPos;
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data.actualPosition = pos;
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data.timestamp = QDateTime::currentDateTime();
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m_positionData.append(data);
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// 开始采集
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emit getFocusIndexSobel();
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}
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void OneMotorMultiPosCoordinator::handleCaptureComplete(double index)
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{
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if (!m_isRunning) return;
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QMutexLocker locker(&m_dataMutex);
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// 更新最近一条记录的相机指数
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//if (!m_positionData.isEmpty() &&
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// m_positionData.last().targetPosition == m_positionData.last().actualPosition)
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//{
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// m_positionData.last().cameraIndex = index;
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//}
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m_positionData.last().exposureTime = index;
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std::cout << "第" << m_counter << "次曝光：" << std::endl;
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std::cout << "目标位置：" << m_positionData.last().targetPosition << std::endl;
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std::cout << "实际位置：" << m_positionData.last().actualPosition << std::endl;
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std::cout << "曝光时间：" << m_positionData.last().exposureTime << std::endl;
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processNextPosition();
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}
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void OneMotorMultiPosCoordinator::handleError(const QString& error)
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{
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QMutexLocker locker(&m_dataMutex);
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m_isRunning = false;
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emit errorOccurred(error);
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}
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void OneMotorMultiPosCoordinator::processNextPosition()
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{
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if (!m_isRunning) return;
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if (m_locations.empty())
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{
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m_isRunning = false;
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emit sequenceComplete(0);
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// 计算平均曝光时间
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double avgExposureTime = 0.0;
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for (const auto& data : m_positionData) {
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avgExposureTime += data.exposureTime;
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}
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if (!m_positionData.isEmpty()) {
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avgExposureTime /= m_positionData.size();
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}
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emit hyperAutoExposureDoneSignal(avgExposureTime);
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m_cameraCtrl->setIntegrationTime(avgExposureTime);
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return;
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}
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m_currentPos = m_locations.front();
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m_locations.erase(m_locations.begin());
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emit moveTo(0, m_currentPos, m_speed, 1000);
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}
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@ -300,3 +300,74 @@ private:
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int m_retryTimes;
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bool m_reached;
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};
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// 数据记录结构体
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struct PositionsLogData
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{
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double targetPosition; // 目标位置
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double actualPosition; // 实际马达位置
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double exposureTime; //
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QDateTime timestamp; // 时间戳
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PositionsLogData(double target = 0, double actual = 0.0, double exposure = 0.0)
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: targetPosition(target), actualPosition(actual),
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exposureTime(exposure ), timestamp(QDateTime::currentDateTime()) {
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}
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};
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// 协调控制器
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class OneMotorMultiPosCoordinator : public QObject
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{
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Q_OBJECT
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public:
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OneMotorMultiPosCoordinator(IrisMultiMotorController* motorCtrl,
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ImagerOperationBase* cameraCtrl,
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QObject* parent = nullptr);
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~OneMotorMultiPosCoordinator();
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QVector<PositionsLogData> getAllPositionData() const;
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bool saveToCsv(const QString& filename);
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public slots:
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void startStepMotion(double speed, std::vector<double> locations);
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void stopStepMotion();
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signals:
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void progressChanged(int progress);
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void sequenceComplete(int status);
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void sequenceStopped();
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void errorOccurred(const QString& error);
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void moveTo(int, double, double, int);
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void getFocusIndexSobel();
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void zeroStart(int motorID);
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void hyperAutoExposureDoneSignal(double exposureTime);
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private slots:
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void handlePositionReached(int motorID, double pos);
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void handleCaptureComplete(double index);
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void handleError(const QString& error);
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void handleZeroComplete(int motorID, double pos);
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private:
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void processNextPosition();
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void startMotionSequence();
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IrisMultiMotorController* m_motorCtrl;
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ImagerOperationBase* m_cameraCtrl;
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QVector<PositionsLogData> m_positionData;
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mutable QMutex m_dataMutex;
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double m_currentPos;
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bool m_isRunning;
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double m_speed;
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int m_iStepInterval;
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int m_iStepIntervalRealTime;
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int m_counter;
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bool m_isZeroing;
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std::vector<double> m_locations;
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};
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@ -55,6 +55,7 @@ void GonggaShanRecordCtl::logStatus(const QString& message, bool isHearderBlankL
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GonggaShanRecordCtl::GonggaShanRecordCtl(QWidget* parent)
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: QDialog(parent)
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, m_taskScheduler(new GonggashanTaskScheduler(this))
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, m_taskExecutor(new GonggashanTaskExecutor(this))
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{
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ui.setupUi(this);
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@ -66,6 +67,20 @@ GonggaShanRecordCtl::GonggaShanRecordCtl(QWidget* parent)
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connect(ui.spinbox_Port, QOverload<int>::of(&QSpinBox::valueChanged), [this](int value) {
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AppSettings::instance().setGonggaShanRecordPort(value);
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});
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// 连接 GonggashanTaskExecutor 信号
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connect(m_taskExecutor, &GonggashanTaskExecutor::finished,
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this, &GonggaShanRecordCtl::onTaskExecutorFinished);
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connect(m_taskExecutor, &GonggashanTaskExecutor::hyperAutoExposureSignal_gonggashan,
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this, &GonggaShanRecordCtl::hyperAutoExposureSignal_gonggashan);
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connect(this, &GonggaShanRecordCtl::hyperAutoExposureDoneSignal_gonggashan,
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m_taskExecutor, &GonggashanTaskExecutor::onHyperExposureComplete);
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connect(m_taskExecutor, &GonggashanTaskExecutor::fiberExposureSignal,
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this, &GonggaShanRecordCtl::fiberExposureSignal_gonggashan);
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connect(this, &GonggaShanRecordCtl::fiberExposureDoneSignal_gonggashan,
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m_taskExecutor, &GonggashanTaskExecutor::onFiberExposureComplete);
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}
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GonggaShanRecordCtl::~GonggaShanRecordCtl()
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@ -112,18 +127,11 @@ void GonggaShanRecordCtl::stopListen()
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void GonggaShanRecordCtl::startRecord(int position)
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{
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if (m_taskScheduler->isTaskRunning())
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{
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logStatus("Data collection has begun....");
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return;
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}
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QString pos = QString::number(position);
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logStatus("Reach pos: " + pos, true);
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m_taskScheduler->setTaskRunning(true);
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emit startRcordSignal("pos_" + pos);
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m_taskExecutor->start("pos_" + pos);
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}
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void GonggaShanRecordCtl::onFiberImagerStartExposureSignal()
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@ -144,3 +152,262 @@ void GonggaShanRecordCtl::onRcordFinished()
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logStatus("Record Finished.");
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}
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void GonggaShanRecordCtl::onTaskExecutorFinished(bool success)
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{
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qDebug() << "GonggaShanRecordCtl: TaskExecutor finished, success:" << success;
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if (success) {
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logStatus("Task completed successfully.");
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} else {
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logStatus("Task failed or stopped.");
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}
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m_taskScheduler->setTaskRunning(false);
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}
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// ==================== GonggashanTaskExecutor 实现 ====================
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GonggashanTaskExecutor::GonggashanTaskExecutor(QObject* parent)
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: QObject(parent)
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, m_machine(new QStateMachine(this))
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{
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buildStateMachine();
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}
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GonggashanTaskExecutor::~GonggashanTaskExecutor()
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{
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if (m_machine) {
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m_machine->stop();
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}
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}
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void GonggashanTaskExecutor::buildStateMachine()
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{
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// ---- 创建所有状态 ----
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m_hyperExposureState = new QState(QState::ExclusiveStates);
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m_hyperExposureState->setObjectName("HyperExposure");
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m_fiberExposureState = new QState(QState::ExclusiveStates);
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m_fiberExposureState->setObjectName("FiberExposure");
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m_gpsAcquisitionState = new QState(QState::ExclusiveStates);
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m_gpsAcquisitionState->setObjectName("GpsAcquisition");
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m_motorCalcState = new QState(QState::ExclusiveStates);
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m_motorCalcState->setObjectName("MotorCalc");
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m_dataCollectionState = new QState(QState::ExclusiveStates);
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m_dataCollectionState->setObjectName("DataCollection");
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m_finalState = new QFinalState();
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m_finalState->setObjectName("Completed");
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// ---- HyperExposure 状态：等待外部硬件回调 ----
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connect(m_hyperExposureState, &QState::entered, this, [this]() {
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qDebug() << "GonggashanTaskExecutor: Enter m_hyperExposureState";
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emit hyperAutoExposureSignal_gonggashan();
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});
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connect(m_hyperExposureState, &QState::exited, this, [this]() {
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qDebug() << "GonggashanTaskExecutor: Exit m_hyperExposureState";
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leavePhase(m_hyperExposureState);
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});
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QSignalTransition* hyperDone = new QSignalTransition(this, &GonggashanTaskExecutor::hyperExposureDone);
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hyperDone->setTargetState(m_fiberExposureState);
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m_hyperExposureState->addTransition(hyperDone);
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//m_hyperExposureState->addTransition(this, &GonggashanTaskExecutor::hyperExposureDone, m_fiberExposureState);
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// ---- FiberExposure 状态：等待外部硬件回调 ----
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connect(m_fiberExposureState, &QState::entered, this, [this]() {
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qDebug() << "GonggashanTaskExecutor: Enter m_fiberExposureState";
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emit fiberExposureSignal();
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});
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connect(m_fiberExposureState, &QState::exited, this, [this]() {
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qDebug() << "GonggashanTaskExecutor: Exit m_fiberExposureState";
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leavePhase(m_fiberExposureState);
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});
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QSignalTransition* fiberDone = new QSignalTransition(this, &GonggashanTaskExecutor::fiberExposureDone);
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fiberDone->setTargetState(m_gpsAcquisitionState);
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m_fiberExposureState->addTransition(fiberDone);
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// ---- GpsAcquisition 状态：等待外部硬件回调 ----
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connect(m_gpsAcquisitionState, &QState::entered, this, [this]() {
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qDebug() << "GonggashanTaskExecutor: Enter m_gpsAcquisitionState";
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emit gpsAcquisitionSignal();
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});
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connect(m_gpsAcquisitionState, &QState::exited, this, [this]() {
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qDebug() << "GonggashanTaskExecutor: Exit m_gpsAcquisitionState";
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leavePhase(m_gpsAcquisitionState);
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});
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QSignalTransition* gpsDone = new QSignalTransition(this, &GonggashanTaskExecutor::gpsAcquisitionDone);
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gpsDone->setTargetState(m_motorCalcState);
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m_gpsAcquisitionState->addTransition(gpsDone);
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// ---- MotorCalc 状态：等待外部硬件回调 ----
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connect(m_motorCalcState, &QState::entered, this, [this]() {
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qDebug() << "GonggashanTaskExecutor: Enter m_motorCalcState";
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});
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connect(m_motorCalcState, &QState::exited, this, [this]() {
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qDebug() << "GonggashanTaskExecutor: Exit m_motorCalcState";
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leavePhase(m_motorCalcState);
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});
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QSignalTransition* motorDone = new QSignalTransition(this, &GonggashanTaskExecutor::motorSpeedDone);
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motorDone->setTargetState(m_dataCollectionState);
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m_motorCalcState->addTransition(motorDone);
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// ---- DataCollection 状态：同步阶段 ----
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connect(m_dataCollectionState, &QState::entered, this, [this]() {
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qDebug() << "GonggashanTaskExecutor: Enter m_dataCollectionState";
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if (dataCollectionImpl()) {
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QTimer::singleShot(0, this, &GonggashanTaskExecutor::dataCollectionDone);
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}
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});
|
||||
connect(m_dataCollectionState, &QState::exited, this, [this]() {
|
||||
qDebug() << "GonggashanTaskExecutor: Exit m_dataCollectionState";
|
||||
leavePhase(m_dataCollectionState);
|
||||
});
|
||||
QSignalTransition* collDone = new QSignalTransition(this, &GonggashanTaskExecutor::dataCollectionDone);
|
||||
collDone->setTargetState(m_finalState);
|
||||
m_dataCollectionState->addTransition(collDone);
|
||||
|
||||
// ---- FinalState：完成 ----
|
||||
connect(m_finalState, &QState::entered, this, &GonggashanTaskExecutor::onFinalStateEntered);
|
||||
|
||||
// ---- stop() 可在任何状态下触发，直接跳转到 finalState ----
|
||||
QSignalTransition* stopTrans = new QSignalTransition(this, &GonggashanTaskExecutor::stopRequested);
|
||||
stopTrans->setTargetState(m_finalState);
|
||||
for (QState* s : {
|
||||
m_hyperExposureState,
|
||||
m_fiberExposureState, m_gpsAcquisitionState, m_motorCalcState,
|
||||
m_dataCollectionState
|
||||
}) {
|
||||
s->addTransition(stopTrans);
|
||||
}
|
||||
|
||||
// ---- 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_dataCollectionState);
|
||||
m_machine->addState(m_finalState);
|
||||
|
||||
m_machine->setInitialState(m_hyperExposureState);
|
||||
|
||||
}
|
||||
|
||||
QState* GonggashanTaskExecutor::currentState() const
|
||||
{
|
||||
if (!m_machine || m_machine->configuration().isEmpty()) {
|
||||
return nullptr;
|
||||
}
|
||||
return qobject_cast<QState*>(*m_machine->configuration().begin());
|
||||
}
|
||||
|
||||
void GonggashanTaskExecutor::leavePhase(QState* state)
|
||||
{
|
||||
Q_UNUSED(state);
|
||||
}
|
||||
|
||||
void GonggashanTaskExecutor::onFinalStateEntered()
|
||||
{
|
||||
qDebug() << "GonggashanTaskExecutor: Final state entered, stopRequested:" << m_stopRequested;
|
||||
emit finished(!m_stopRequested);
|
||||
m_stopRequested = false;
|
||||
}
|
||||
|
||||
void GonggashanTaskExecutor::start(const QString& posInfo)
|
||||
{
|
||||
if (isRunning()) {
|
||||
qDebug() << "GonggashanTaskExecutor: Task is running, ignore new signal";
|
||||
return;
|
||||
}
|
||||
|
||||
m_machine->start();
|
||||
|
||||
m_posInfo = posInfo;
|
||||
m_stopRequested = false;
|
||||
qDebug() << "GonggashanTaskExecutor: Starting with pos:" << posInfo;
|
||||
|
||||
QTimer::singleShot(0, this, [this, posInfo]() {
|
||||
emit taskStartRequested(posInfo);
|
||||
});
|
||||
}
|
||||
|
||||
void GonggashanTaskExecutor::stop()
|
||||
{
|
||||
if (!isRunning()) return;
|
||||
m_stopRequested = true;
|
||||
qDebug() << "GonggashanTaskExecutor: Stop requested";
|
||||
emit stopRequested();
|
||||
}
|
||||
|
||||
void GonggashanTaskExecutor::onHyperExposureComplete(int exposureTime)
|
||||
{
|
||||
if (currentState() != m_hyperExposureState) return;
|
||||
m_hyperExposureTime = exposureTime;
|
||||
hyperExposureImpl(exposureTime);
|
||||
emit hyperExposureDone();
|
||||
}
|
||||
|
||||
void GonggashanTaskExecutor::onFiberExposureComplete(int exposureTime)
|
||||
{
|
||||
if (currentState() != m_fiberExposureState) return;
|
||||
m_fiberExposureTime = exposureTime;
|
||||
fiberExposureImpl(exposureTime);
|
||||
emit fiberExposureDone();
|
||||
}
|
||||
|
||||
void GonggashanTaskExecutor::onGpsAcquired(double latitude, double longitude, double altitude)
|
||||
{
|
||||
if (currentState() != m_gpsAcquisitionState) return;
|
||||
m_gpsData = QString("%1,%2,%3").arg(latitude).arg(longitude).arg(altitude);
|
||||
gpsAcquisitionImpl(latitude, longitude, altitude);
|
||||
emit gpsAcquisitionDone();
|
||||
}
|
||||
|
||||
void GonggashanTaskExecutor::onMotorSpeedCalculated(double speed)
|
||||
{
|
||||
if (currentState() != m_motorCalcState) return;
|
||||
m_motorSpeed = speed;
|
||||
emit motorSpeedSignal(speed);
|
||||
if (motorCalcImpl()) {
|
||||
emit motorSpeedDone();
|
||||
}
|
||||
}
|
||||
|
||||
bool GonggashanTaskExecutor::preparationImpl()
|
||||
{
|
||||
qDebug() << "GonggashanTaskExecutor: Enter m_preparationState\n";
|
||||
return true;
|
||||
}
|
||||
|
||||
bool GonggashanTaskExecutor::hyperExposureImpl(int exposureTime)
|
||||
{
|
||||
qDebug() << "GonggashanTaskExecutor: Hyper exposure complete, time:" << exposureTime;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool GonggashanTaskExecutor::fiberExposureImpl(int exposureTime)
|
||||
{
|
||||
qDebug() << "GonggashanTaskExecutor: Fiber exposure complete, time:" << exposureTime;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool GonggashanTaskExecutor::gpsAcquisitionImpl(double lat, double lon, double alt)
|
||||
{
|
||||
qDebug() << "GonggashanTaskExecutor: GPS acquired:" << lat << lon << alt;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool GonggashanTaskExecutor::motorCalcImpl()
|
||||
{
|
||||
qDebug() << "GonggashanTaskExecutor: Motor speed calculated:" << m_motorSpeed;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool GonggashanTaskExecutor::dataCollectionImpl()
|
||||
{
|
||||
qDebug() << "GonggashanTaskExecutor: Start data collection";
|
||||
emit startCollectionSignal(m_posInfo, m_gpsData);
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -10,12 +10,29 @@
|
||||
#include <QFile>
|
||||
#include <QTextStream>
|
||||
#include <QDir>
|
||||
#include <QStateMachine>
|
||||
#include <QSignalTransition>
|
||||
#include <QFinalState>
|
||||
#include <QTimer>
|
||||
|
||||
#include "ui_gonggashanCtl.h"
|
||||
|
||||
#include "CommunicationViaTCP.h"
|
||||
#include "AppSettings.h"
|
||||
|
||||
// ============ 执行阶段枚举 ============
|
||||
enum class GonggaShanExecPhase {
|
||||
Idle, // 空闲
|
||||
Preparation, // 准备阶段
|
||||
HyperExposure, // 高光谱传感器曝光
|
||||
FiberExposure, // 光纤光谱仪曝光
|
||||
GpsAcquisition, // 获取GPS位置
|
||||
MotorCalc, // 计算马达速度
|
||||
DataCollection, // 开始采集：高光谱、FODIS、rgb相机
|
||||
Completed // 完成
|
||||
};
|
||||
|
||||
// ============ 任务调度器 ============
|
||||
class GonggashanTaskScheduler : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
@ -40,6 +57,79 @@ private:
|
||||
TaskState m_taskState;
|
||||
};
|
||||
|
||||
// ============ 任务执行器 ============
|
||||
class GonggashanTaskExecutor : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit GonggashanTaskExecutor(QObject* parent = nullptr);
|
||||
~GonggashanTaskExecutor();
|
||||
|
||||
bool isRunning() const { return m_machine && m_machine->isRunning() && !m_machine->configuration().isEmpty(); }
|
||||
|
||||
public slots:
|
||||
void start(const QString& posInfo);
|
||||
void stop();
|
||||
|
||||
void onHyperExposureComplete(int exposureTime);
|
||||
void onFiberExposureComplete(int exposureTime);
|
||||
void onGpsAcquired(double latitude, double longitude, double altitude);
|
||||
void onMotorSpeedCalculated(double speed);
|
||||
|
||||
signals:
|
||||
void hyperAutoExposureSignal_gonggashan();
|
||||
void fiberExposureSignal();
|
||||
void gpsAcquisitionSignal();
|
||||
void motorSpeedSignal(double speed);
|
||||
void startCollectionSignal(const QString& posInfo, const QString& gpsData);
|
||||
|
||||
void finished(bool success);
|
||||
void errorOccurred(const QString& error);
|
||||
|
||||
// ---- 以下为状态机内部信号，供 transition 使用 ----
|
||||
void taskStartRequested(const QString& posInfo);
|
||||
void preparationComplete();
|
||||
void hyperExposureDone();
|
||||
void fiberExposureDone();
|
||||
void gpsAcquisitionDone();
|
||||
void motorSpeedDone();
|
||||
void dataCollectionDone();
|
||||
void stopRequested();
|
||||
|
||||
protected:
|
||||
virtual bool preparationImpl();
|
||||
virtual bool hyperExposureImpl(int exposureTime);
|
||||
virtual bool fiberExposureImpl(int exposureTime);
|
||||
virtual bool gpsAcquisitionImpl(double lat, double lon, double alt);
|
||||
virtual bool motorCalcImpl();
|
||||
virtual bool dataCollectionImpl();
|
||||
|
||||
private slots:
|
||||
void onFinalStateEntered();
|
||||
|
||||
private:
|
||||
void buildStateMachine();
|
||||
QState* currentState() const;
|
||||
void leavePhase(QState* state);
|
||||
|
||||
QString m_posInfo;
|
||||
QString m_gpsData;
|
||||
double m_motorSpeed = 0.0;
|
||||
int m_hyperExposureTime = 0;
|
||||
int m_fiberExposureTime = 0;
|
||||
bool m_stopRequested = false;
|
||||
|
||||
// Qt State Machine
|
||||
QStateMachine* m_machine = nullptr;
|
||||
QState* m_hyperExposureState = nullptr;
|
||||
QState* m_fiberExposureState = nullptr;
|
||||
QState* m_gpsAcquisitionState = nullptr;
|
||||
QState* m_motorCalcState = nullptr;
|
||||
QState* m_dataCollectionState = nullptr;
|
||||
QFinalState* m_finalState = nullptr;
|
||||
};
|
||||
|
||||
class GonggaShanRecordCtl : public QDialog
|
||||
{
|
||||
Q_OBJECT
|
||||
@ -55,6 +145,12 @@ public Q_SLOTS:
|
||||
void onFiberImagerExposureCompleteSignal(int exposureTime);
|
||||
|
||||
Q_SIGNALS:
|
||||
void hyperAutoExposureSignal_gonggashan();
|
||||
void hyperAutoExposureDoneSignal_gonggashan(double exposureTime);
|
||||
|
||||
void fiberExposureSignal_gonggashan();
|
||||
void fiberExposureDoneSignal_gonggashan(double exposureTime);
|
||||
|
||||
// Emitted when user changes any of the R/G/B wavelength values
|
||||
void startRcordSignal(QString posInfo);
|
||||
|
||||
@ -64,12 +160,16 @@ private Q_SLOTS:
|
||||
|
||||
void startRecord(int position);
|
||||
|
||||
// GonggashanTaskExecutor 反馈槽
|
||||
void onTaskExecutorFinished(bool success);
|
||||
|
||||
private:
|
||||
void logStatus(const QString& message, bool isHearderBlankLine = false, bool isTailBlankLine = false);
|
||||
|
||||
Ui::gongga_control ui;
|
||||
QPointer<MotorParams::CommunicationViaTCP> tcpServer6005;
|
||||
GonggashanTaskScheduler* m_taskScheduler;
|
||||
GonggashanTaskExecutor* m_taskExecutor; // 新增
|
||||
QString m_logFilePath;
|
||||
QFile m_logFile;
|
||||
QTextStream m_logStream;
|
||||
|
||||
@ -1112,16 +1112,40 @@ void HPPA::initControlTabwidget()
|
||||
|
||||
void HPPA::setupGonggashanAutoRecordConnection()
|
||||
{
|
||||
connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::startRcordSignal, this, &HPPA::onGonggashanRecord);
|
||||
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_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_omc, &OneMotorControl::sequenceComplete, m_fodisWindow, &FodisWindow::closeFiberImager);
|
||||
connect(m_omc, &OneMotorControl::sequenceComplete, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onRcordFinished);
|
||||
}
|
||||
|
||||
void HPPA::onGonggashanHyperAutoExposure()
|
||||
{
|
||||
//连接马达和光谱仪
|
||||
m_omc->connectMotor(false);
|
||||
|
||||
if (!testImagerVality())
|
||||
{
|
||||
onconnect();
|
||||
}
|
||||
|
||||
m_omc->setImager(m_Imager);
|
||||
m_omc->multiPosHyperAutoExposure();
|
||||
}
|
||||
|
||||
void HPPA::onGonggashanFiberAutoExposure()
|
||||
{
|
||||
//m_fodisWindow->openFiberImager_expose_record(posInfo);
|
||||
}
|
||||
|
||||
void HPPA::onGonggashanRecord(QString posInfo)
|
||||
{
|
||||
//设置文件名
|
||||
|
||||
@ -458,6 +458,8 @@ public Q_SLOTS:
|
||||
void onStretchProcessingError(int fileNumber, const QString& filePath, const QString& error);
|
||||
|
||||
void onGonggashanRecord(QString posInfo);
|
||||
void onGonggashanHyperAutoExposure();
|
||||
void onGonggashanFiberAutoExposure();
|
||||
|
||||
protected:
|
||||
void closeEvent(QCloseEvent* event) override;
|
||||
|
||||
@ -68,11 +68,12 @@ double ImagerOperationBase::auto_exposure()
|
||||
|
||||
imagerStopCollect();
|
||||
|
||||
emit autoExposureSignal();
|
||||
double exposureTime = getIntegrationTime();
|
||||
emit autoExposureSignal(exposureTime);
|
||||
|
||||
//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
|
||||
//std::cout << "自动曝光：" << exposureTime << std::endl;
|
||||
|
||||
return getIntegrationTime();
|
||||
return exposureTime;
|
||||
}
|
||||
|
||||
void ImagerOperationBase::focus()
|
||||
|
||||
@ -117,7 +117,7 @@ signals:
|
||||
|
||||
|
||||
void testImagerStatus();//表示可以测试相机连接状态：是否连接，并反映到界面上
|
||||
void autoExposureSignal();
|
||||
void autoExposureSignal(double exposureTime);
|
||||
|
||||
// 新增：当一组影像文件（.bil/.hdr）写入完成后发出（会从采集线程发出，Qt 会做 queued connection）
|
||||
void ImageFileSaved(const QString& path, int fileIndex);
|
||||
|
||||
@ -248,6 +248,34 @@ void OneMotorControl::stop()
|
||||
emit stopStepMotionSignal();
|
||||
}
|
||||
|
||||
void OneMotorControl::multiPosHyperAutoExposure()
|
||||
{
|
||||
//所有该自动曝光的位置
|
||||
std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
|
||||
double maxPos = maxRangeLocations[0];
|
||||
|
||||
std::vector<double> locations;
|
||||
locations.push_back(maxPos * 0.2);
|
||||
locations.push_back(maxPos * 0.5);
|
||||
locations.push_back(maxPos * 0.8);
|
||||
|
||||
//创建协调器，并连接信号槽
|
||||
m_coordinator_gonggashan_autoexpose = new OneMotorMultiPosCoordinator(m_multiAxisController, m_Imager);
|
||||
|
||||
//connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator_gonggashan_autoexpose, SLOT(stopStepMotion()));
|
||||
connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::sequenceComplete, this, &OneMotorControl::onSequenceComplete_gonggashan_autoexpose);
|
||||
connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::hyperAutoExposureDoneSignal, this, &OneMotorControl::hyperAutoExposureDoneSignal_gonggashan);
|
||||
|
||||
m_coordinator_gonggashan_autoexpose->startStepMotion(ui.speed_lineEdit->text().toDouble(), locations);
|
||||
}
|
||||
|
||||
void OneMotorControl::onSequenceComplete_gonggashan_autoexpose(int state)
|
||||
{
|
||||
emit sequenceComplete();
|
||||
|
||||
m_coordinator_gonggashan_autoexpose->deleteLater();
|
||||
}
|
||||
|
||||
void OneMotorControl::onSequenceComplete(int state)
|
||||
{
|
||||
emit sequenceComplete();
|
||||
|
||||
@ -26,6 +26,8 @@ public:
|
||||
void run();
|
||||
void stop();
|
||||
|
||||
void multiPosHyperAutoExposure();
|
||||
|
||||
void record_dark();
|
||||
void record_white();
|
||||
|
||||
@ -47,6 +49,7 @@ public Q_SLOTS:
|
||||
void onxMotorStop();
|
||||
|
||||
void onSequenceComplete(int state);
|
||||
void onSequenceComplete_gonggashan_autoexpose(int state);
|
||||
|
||||
signals:
|
||||
void moveSignal(int, bool, double, int);
|
||||
@ -65,6 +68,8 @@ signals:
|
||||
|
||||
void broadcastLocationSignal(std::vector<double>);
|
||||
|
||||
void hyperAutoExposureDoneSignal_gonggashan(double exposureTime);
|
||||
|
||||
private:
|
||||
Ui::OneMotorControl_UI ui;
|
||||
|
||||
@ -78,6 +83,8 @@ private:
|
||||
DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
|
||||
|
||||
bool m_xMotorConnectionStatus = false;
|
||||
|
||||
QPointer<OneMotorMultiPosCoordinator> m_coordinator_gonggashan_autoexpose;
|
||||
};
|
||||
|
||||
class OneMotorControl_LiftingPlatform : public QDialog, public MotorWindowBase
|
||||
|
||||
@ -128,9 +128,12 @@ double ResononNirImager::auto_exposure()
|
||||
reConnectImage();
|
||||
//imagerStopCollect();
|
||||
|
||||
//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
|
||||
double exposureTime = getIntegrationTime();
|
||||
emit autoExposureSignal(exposureTime);
|
||||
|
||||
return getIntegrationTime();
|
||||
//std::cout << "自动曝光：" << exposureTime << std::endl;
|
||||
|
||||
return exposureTime;
|
||||
}
|
||||
|
||||
double ResononNirImager::getWavelengthAtBand(int band)
|
||||
|
||||
Reference in New Issue
Block a user