From f69edcf2c96c97d019bd2a5898aa10d27f2348f8 Mon Sep 17 00:00:00 2001 From: tangchao0503 <735056338@qq.com> Date: Thu, 11 Jun 2026 15:27:02 +0800 Subject: [PATCH] =?UTF-8?q?add=EF=BC=8C=E8=AE=A1=E5=88=92=E9=87=87?= =?UTF-8?q?=E9=9B=8610=EF=BC=9A=20=E8=A7=A3=E5=86=B3=E5=81=B6=E5=8F=91?= =?UTF-8?q?=E5=8D=95=E5=8F=8D=E5=94=A4=E8=B5=B7=E5=A4=B1=E8=B4=A5=E9=97=AE?= =?UTF-8?q?=E9=A2=98=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 任务文件要求： 1、高光谱必须在前面，没有顺序要求，因为在执行高光谱任务前会预热卤素灯，所有高光谱任务完成后才关闭卤素灯； 2、单反/深度必须在后面，没有顺序要求； 3、必须要有高光谱任务：单反存在唤醒程序和一定反应时间，所以必须依赖前一个任务进行唤醒； （1）当单反已经是唤醒状态时，重新上电（先下电后上电）后可马上重新唤醒单反：单反适配器剩余电量马上耗尽，所以才能马上重新唤醒单反； （2）当单反在上电的状态下，从唤醒状态自动进入休眠状态时，重新下电后需要等待2分15秒（135秒）后，再重新上电才能唤醒单反：等待135秒的目的是将适配器中电容的剩余电量耗尽； --- HPPA/CaptureCoordinator.cpp | 4 +- HPPA/CaptureCoordinator.h | 1 + HPPA/HPPA.cpp | 5 --- HPPA/TimedDataCollectionDataStructures.cpp | 44 ++++++++++++++++------ HPPA/TimedDataCollectionDataStructures.h | 3 ++ 5 files changed, 40 insertions(+), 17 deletions(-) diff --git a/HPPA/CaptureCoordinator.cpp b/HPPA/CaptureCoordinator.cpp index c799a45..b7fddfd 100644 --- a/HPPA/CaptureCoordinator.cpp +++ b/HPPA/CaptureCoordinator.cpp @@ -87,6 +87,7 @@ void TwoMotionCaptureCoordinator::getLocBeforeStart() QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal, [&](std::vector pos) { m_locBeforeStart = pos; + std::cout << "start pos: "<< pos[0] <<", " << pos[1] << std::endl; received = true; loop.quit(); }); @@ -348,6 +349,7 @@ void TwoMotionCaptureCoordinator::startRecordHsi() emit moveTo(0, tmp.targetXMaxPosition, tmp.speedTargetXMaxPosition, 1000); emit startRecordHSISignal(m_numCurrentPathLine); + emit startRecordLineNumSignal(m_numCurrentPathLine); } } @@ -409,7 +411,7 @@ void TwoMotionCaptureCoordinator::processNextPathLine() } std::cout << "\nNew path line: " << m_numCurrentPathLine << std::endl; - emit startRecordLineNumSignal(m_numCurrentPathLine); + emit gotoRecordLineNumSignal(m_numCurrentPathLine); m_isValidCapturing = true; PathLine &tmp = m_pathLines[m_numCurrentPathLine]; diff --git a/HPPA/CaptureCoordinator.h b/HPPA/CaptureCoordinator.h index 76d6612..6d056f3 100644 --- a/HPPA/CaptureCoordinator.h +++ b/HPPA/CaptureCoordinator.h @@ -47,6 +47,7 @@ public: signals: void sequenceComplete(int);//0：所有采集线正常运行完成，1：用户主动取消采集 void back2OriginSignal(); + void gotoRecordLineNumSignal(int lineNum); void startRecordLineNumSignal(int lineNum); void finishRecordLineNumSignal(int lineNum); diff --git a/HPPA/HPPA.cpp b/HPPA/HPPA.cpp index aef6536..0ddf492 100644 --- a/HPPA/HPPA.cpp +++ b/HPPA/HPPA.cpp @@ -609,11 +609,6 @@ void HPPA::initTimedDataCollection() // 相机/马达 → 定时采集控制器 connect(m_tmc, &TwoMotorControl::sequenceComplete, mTimedDataCollectionWindow, &TimedDataCollection::subTaskCompleted); connect(m_tmc, &TwoMotorControl::back2OriginSignal_TimedDataCollection, mTimedDataCollectionWindow, &TimedDataCollection::onBack2Origin); - - //电源控制m_pc3D - - - //连接马达控制和单反/深度 } void HPPA::setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName) diff --git a/HPPA/TimedDataCollectionDataStructures.cpp b/HPPA/TimedDataCollectionDataStructures.cpp index 21dd35c..d2a381e 100644 --- a/HPPA/TimedDataCollectionDataStructures.cpp +++ b/HPPA/TimedDataCollectionDataStructures.cpp @@ -160,6 +160,7 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::timedTaskToJson(const obj["durationSeconds"] = task.durationSeconds; obj["savePath"] = task.savePath; obj["status"] = taskStatusToString(task.status); + obj["HalogenLampPreheatingTime_Minute"] = task.HalogenLampPreheatingTime_Minute; QJsonArray subTasksArray; for (const auto& subTask : task.subTasks) { @@ -179,6 +180,7 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO task.durationSeconds = json["durationSeconds"].toInt(); task.savePath = json["savePath"].toString(); task.status = stringToTaskStatus(json["status"].toString()); + task.HalogenLampPreheatingTime_Minute = json["HalogenLampPreheatingTime_Minute"].toDouble(); QJsonArray subTasksArray = json["subTasks"].toArray(); task.subTasks.clear(); @@ -224,10 +226,20 @@ void TaskExecutor::execute(const TimedTask& task) // 打开卤素灯预热 emit switchHalogenLampSignal(1); + printMsgAndTime("open HalogenLamp"); + makeFolder(m_task.savePath); // 开始执行第一个子任务 - QTimer::singleShot(20*1000, this, &TaskExecutor::executeNextSubTask); + double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60; + QTimer::singleShot(sleepTimeSecond *1000, this, &TaskExecutor::executeNextSubTask); +} + +void TaskExecutor::printMsgAndTime(QString msg) +{ + QDateTime now = QDateTime::currentDateTime(); + QString timeString = now.toString("yyyy-MM-dd hh:mm:ss.zzz"); + qDebug() << msg + " time:" << timeString; } void TaskExecutor::stop() @@ -283,6 +295,7 @@ void TaskExecutor::onSequenceComplete(int status) case SubTaskType::SingleLensReflex: { emit switchD65LampSignal(0); + emit switchSlrSignal(0); break; } case SubTaskType::DepthCamera: @@ -320,7 +333,17 @@ void TaskExecutor::onBack2Origin() m_currentSubTaskIndex++; if (m_currentSubTaskIndex < m_task.subTasks.size()) { // 执行下一个子任务 - QTimer::singleShot(1000, this, &TaskExecutor::executeNextSubTask); + if(m_task.subTasks[m_currentSubTaskIndex].type== SubTaskType::SingleLensReflex) + { + printMsgAndTime("Slr task，for weak up，please wait 135 seconds!"); + emit switchSlrSignal(0); + + QTimer::singleShot(135*1000, this, &TaskExecutor::executeNextSubTask); + } + else + { + QTimer::singleShot(1000, this, &TaskExecutor::executeNextSubTask); + } } else { // 所有子任务完成 @@ -346,14 +369,16 @@ void TaskExecutor::executeNextSubTask() return; } - std::cerr << "TaskExecutor::executeNextSubTask，执行子任务" << std::endl; - SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex]; subTask.status = TaskStatus::Running; subTask.startTime = QDateTime::currentDateTime(); - qDebug() << "TaskExecutor: Starting subtask" << m_currentSubTaskIndex - << "type:" << static_cast(subTask.type); + QString tmp = "TaskExecutor: Starting subtask" + QString::number(m_currentSubTaskIndex) + "type:" + static_cast(subTask.type); + printMsgAndTime(tmp); + //printMsgAndTime("excute " + QString::number(m_currentSubTaskIndex) + " subTask: "); + + //qDebug() << "TaskExecutor: Starting subtask" << m_currentSubTaskIndex + // << "type:" << static_cast(subTask.type); emit subTaskStarted(m_currentSubTaskIndex, subTask.type); @@ -364,7 +389,6 @@ void TaskExecutor::executeNextSubTask() { case SubTaskType::HyperSpectual400_1000nm: { - //提前需做：需要打开卤素灯进行预热5分钟，具体的实现方式：通过QTcpServer通讯，ip：192.168.1.2:6003， camType = 0; emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("L"), "test"); @@ -372,7 +396,6 @@ void TaskExecutor::executeNextSubTask() } case SubTaskType::HyperSpectual1000_1700nm: { - //提前需做：需要打开卤素灯进行预热5分钟 camType = 1; emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("NIR"), "test"); @@ -380,19 +403,18 @@ void TaskExecutor::executeNextSubTask() } case SubTaskType::SingleLensReflex: { - //提前需做：（1）需要打开D65灯（2）需要将单反的电源重新上电 camType = 2; emit camParm(camType, 3, makeSubTaskDataFolder("SLR")); emit switchD65LampSignal(1); - QThread::msleep(1000); + + emit switchSlrSignal(1); break; } case SubTaskType::DepthCamera: { - //提前需做：需要打开D65灯 camType = 3; emit camParm(camType, 3, makeSubTaskDataFolder("DepthCamera")); diff --git a/HPPA/TimedDataCollectionDataStructures.h b/HPPA/TimedDataCollectionDataStructures.h index d700bb6..dfad77d 100644 --- a/HPPA/TimedDataCollectionDataStructures.h +++ b/HPPA/TimedDataCollectionDataStructures.h @@ -56,6 +56,7 @@ struct TimedTask { QString savePath; // 数据保存路径 QVector subTasks; // 子任务列表 TaskStatus status = TaskStatus::Waiting; // 状态 + double HalogenLampPreheatingTime_Minute; // 计算所有子任务的预计总时间 int totalEstimatedDuration() const { @@ -157,6 +158,8 @@ public slots: private: void executeNextSubTask(); + void printMsgAndTime(QString msg); + TimedTask m_task; int m_currentSubTaskIndex; bool m_isRunning;