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()
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QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
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[&](std::vector<double> pos) {
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m_locBeforeStart = pos;
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std::cout << "start pos: "<< pos[0] <<", " << pos[1] << std::endl;
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received = true;
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loop.quit();
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});
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@ -348,6 +349,7 @@ void TwoMotionCaptureCoordinator::startRecordHsi()
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emit moveTo(0, tmp.targetXMaxPosition, tmp.speedTargetXMaxPosition, 1000);
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emit startRecordHSISignal(m_numCurrentPathLine);
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emit startRecordLineNumSignal(m_numCurrentPathLine);
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}
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}
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@ -409,7 +411,7 @@ void TwoMotionCaptureCoordinator::processNextPathLine()
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}
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std::cout << "\nNew path line: " << m_numCurrentPathLine << std::endl;
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emit startRecordLineNumSignal(m_numCurrentPathLine);
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emit gotoRecordLineNumSignal(m_numCurrentPathLine);
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m_isValidCapturing = true;
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PathLine &tmp = m_pathLines[m_numCurrentPathLine];
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@ -47,6 +47,7 @@ public:
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signals:
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void sequenceComplete(int);//0：所有采集线正常运行完成，1：用户主动取消采集
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void back2OriginSignal();
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void gotoRecordLineNumSignal(int lineNum);
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void startRecordLineNumSignal(int lineNum);
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void finishRecordLineNumSignal(int lineNum);
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@ -609,11 +609,6 @@ void HPPA::initTimedDataCollection()
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// 相机/马达 → 定时采集控制器
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connect(m_tmc, &TwoMotorControl::sequenceComplete, mTimedDataCollectionWindow, &TimedDataCollection::subTaskCompleted);
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connect(m_tmc, &TwoMotorControl::back2OriginSignal_TimedDataCollection, mTimedDataCollectionWindow, &TimedDataCollection::onBack2Origin);
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//电源控制m_pc3D
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//连接马达控制和单反/深度
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}
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void HPPA::setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName)
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@ -160,6 +160,7 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::timedTaskToJson(const
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obj["durationSeconds"] = task.durationSeconds;
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obj["savePath"] = task.savePath;
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obj["status"] = taskStatusToString(task.status);
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obj["HalogenLampPreheatingTime_Minute"] = task.HalogenLampPreheatingTime_Minute;
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QJsonArray subTasksArray;
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for (const auto& subTask : task.subTasks) {
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@ -179,6 +180,7 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO
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task.durationSeconds = json["durationSeconds"].toInt();
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task.savePath = json["savePath"].toString();
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task.status = stringToTaskStatus(json["status"].toString());
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task.HalogenLampPreheatingTime_Minute = json["HalogenLampPreheatingTime_Minute"].toDouble();
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QJsonArray subTasksArray = json["subTasks"].toArray();
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task.subTasks.clear();
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@ -224,10 +226,20 @@ void TaskExecutor::execute(const TimedTask& task)
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// 打开卤素灯预热
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emit switchHalogenLampSignal(1);
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printMsgAndTime("open HalogenLamp");
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makeFolder(m_task.savePath);
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// 开始执行第一个子任务
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QTimer::singleShot(20*1000, this, &TaskExecutor::executeNextSubTask);
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double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
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QTimer::singleShot(sleepTimeSecond *1000, this, &TaskExecutor::executeNextSubTask);
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}
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void TaskExecutor::printMsgAndTime(QString msg)
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{
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QDateTime now = QDateTime::currentDateTime();
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QString timeString = now.toString("yyyy-MM-dd hh:mm:ss.zzz");
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qDebug() << msg + " time:" << timeString;
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}
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void TaskExecutor::stop()
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@ -283,6 +295,7 @@ void TaskExecutor::onSequenceComplete(int status)
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case SubTaskType::SingleLensReflex:
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{
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emit switchD65LampSignal(0);
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emit switchSlrSignal(0);
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break;
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}
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case SubTaskType::DepthCamera:
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@ -320,7 +333,17 @@ void TaskExecutor::onBack2Origin()
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m_currentSubTaskIndex++;
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if (m_currentSubTaskIndex < m_task.subTasks.size()) {
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// 执行下一个子任务
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QTimer::singleShot(1000, this, &TaskExecutor::executeNextSubTask);
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if(m_task.subTasks[m_currentSubTaskIndex].type== SubTaskType::SingleLensReflex)
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{
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printMsgAndTime("Slr task，for weak up，please wait 135 seconds!");
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emit switchSlrSignal(0);
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QTimer::singleShot(135*1000, this, &TaskExecutor::executeNextSubTask);
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}
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else
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{
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QTimer::singleShot(1000, this, &TaskExecutor::executeNextSubTask);
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}
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}
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else {
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// 所有子任务完成
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@ -346,14 +369,16 @@ void TaskExecutor::executeNextSubTask()
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return;
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}
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std::cerr << "TaskExecutor::executeNextSubTask，执行子任务" << std::endl;
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SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
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subTask.status = TaskStatus::Running;
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subTask.startTime = QDateTime::currentDateTime();
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qDebug() << "TaskExecutor: Starting subtask" << m_currentSubTaskIndex
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<< "type:" << static_cast<int>(subTask.type);
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QString tmp = "TaskExecutor: Starting subtask" + QString::number(m_currentSubTaskIndex) + "type:" + static_cast<int>(subTask.type);
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printMsgAndTime(tmp);
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//printMsgAndTime("excute " + QString::number(m_currentSubTaskIndex) + " subTask: ");
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//qDebug() << "TaskExecutor: Starting subtask" << m_currentSubTaskIndex
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// << "type:" << static_cast<int>(subTask.type);
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emit subTaskStarted(m_currentSubTaskIndex, subTask.type);
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@ -364,7 +389,6 @@ void TaskExecutor::executeNextSubTask()
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{
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case SubTaskType::HyperSpectual400_1000nm:
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{
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//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，
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camType = 0;
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emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("L"), "test");
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@ -372,7 +396,6 @@ void TaskExecutor::executeNextSubTask()
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}
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case SubTaskType::HyperSpectual1000_1700nm:
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{
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//提前需做：需要打开卤素灯进行预热5分钟
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camType = 1;
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emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("NIR"), "test");
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@ -380,19 +403,18 @@ void TaskExecutor::executeNextSubTask()
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}
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case SubTaskType::SingleLensReflex:
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{
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//提前需做：（1）需要打开D65灯（2）需要将单反的电源重新上电
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camType = 2;
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emit camParm(camType, 3, makeSubTaskDataFolder("SLR"));
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emit switchD65LampSignal(1);
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QThread::msleep(1000);
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emit switchSlrSignal(1);
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break;
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}
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case SubTaskType::DepthCamera:
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{
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//提前需做：需要打开D65灯
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camType = 3;
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emit camParm(camType, 3, makeSubTaskDataFolder("DepthCamera"));
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@ -56,6 +56,7 @@ struct TimedTask {
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QString savePath; // 数据保存路径
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QVector<SubTask> subTasks; // 子任务列表
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TaskStatus status = TaskStatus::Waiting; // 状态
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double HalogenLampPreheatingTime_Minute;
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// 计算所有子任务的预计总时间
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int totalEstimatedDuration() const {
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@ -157,6 +158,8 @@ public slots:
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private:
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void executeNextSubTask();
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void printMsgAndTime(QString msg);
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TimedTask m_task;
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int m_currentSubTaskIndex;
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bool m_isRunning;
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