add，计划采集10：
解决偶发单反唤起失败问题； 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；
This commit is contained in:
tangchao0503
@ -87,6 +87,7 @@ void TwoMotionCaptureCoordinator::getLocBeforeStart()
|
||||
QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
|
||||
[&](std::vector<double> 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];
|
||||
|
||||
@ -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);
|
||||
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -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:
|
||||
@ -320,8 +333,18 @@ void TaskExecutor::onBack2Origin()
|
||||
m_currentSubTaskIndex++;
|
||||
if (m_currentSubTaskIndex < m_task.subTasks.size()) {
|
||||
// 执行下一个子任务
|
||||
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
|
||||
m_isRunning = false;
|
||||
@ -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<int>(subTask.type);
|
||||
QString tmp = "TaskExecutor: Starting subtask" + QString::number(m_currentSubTaskIndex) + "type:" + static_cast<int>(subTask.type);
|
||||
printMsgAndTime(tmp);
|
||||
//printMsgAndTime("excute " + QString::number(m_currentSubTaskIndex) + " subTask: ");
|
||||
|
||||
//qDebug() << "TaskExecutor: Starting subtask" << m_currentSubTaskIndex
|
||||
// << "type:" << static_cast<int>(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"));
|
||||
|
||||
|
||||
@ -56,6 +56,7 @@ struct TimedTask {
|
||||
QString savePath; // 数据保存路径
|
||||
QVector<SubTask> 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;
|
||||
|
||||
Reference in New Issue
Block a user