tangchao0503/HPPA
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: tangchao0503:1.8.2
Branches Tags
tangchao0503:master tangchao0503:dev
tangchao0503:3.0.0 tangchao0503:T2.1.2 tangchao0503:T2.1 tangchao0503:2.0 tangchao0503:1.9.0 tangchao0503:1.8.8 tangchao0503:1.8.7 tangchao0503:1.8.6 tangchao0503:1.8.5 tangchao0503:1.8.4 tangchao0503:1.8.2 tangchao0503:1.8 tangchao0503:1.7 tangchao0503:1.5 tangchao0503:1.6
...
compare: tangchao0503:1.8.7
Branches Tags
tangchao0503:dev tangchao0503:master
tangchao0503:3.0.0 tangchao0503:T2.1.2 tangchao0503:T2.1 tangchao0503:2.0 tangchao0503:1.9.0 tangchao0503:1.8.8 tangchao0503:1.8.7 tangchao0503:1.8.6 tangchao0503:1.8.5 tangchao0503:1.8.4 tangchao0503:1.8.2 tangchao0503:1.8 tangchao0503:1.7 tangchao0503:1.5 tangchao0503:1.6

5 Commits
1.8.2 ... 1.8.7

Author SHA1 Message Date
tangchao0503
f32ade7487 1、添加仅采集影像，马达不运动的功能，可用于机械臂和影像采集测试； 
2、使用 QSettings 记录 Action 的 isChecked 状态，并在打开软件时恢复；
 2025-04-11 15:48:27 +08:00
tangchao0503
89c701c5f2 使用QSettings保存选择的相机类型 2025-03-11 16:51:35 +08:00
tangchao0503
a7fd9e4fa9 添加3个升降桌 2025-03-06 19:16:21 +08:00
tangchao0503
5af6a039c2 x马达扫描速度接受小数 2025-02-27 14:18:02 +08:00
tangchao0503
b779118d72 1、记录x马达位置用于拼接影像； 
2、修复了航线读写错误问题；
 2025-02-27 11:18:26 +08:00
15 changed files with 361 additions and 86 deletions
Expand all files Collapse all files

187
HPPA/HPPA.cpp
View File

@ -13,6 +13,10 @@ HPPA::HPPA(QWidget *parent)
{ {
ui.setupUi(this); ui.setupUi(this);
QCoreApplication::setOrganizationName("IRIS");
QCoreApplication::setOrganizationDomain("iris.com");
QCoreApplication::setApplicationName("HPPA");
QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini"; QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
QFile file(strPath); QFile file(strPath);
if (file.open(QIODevice::ReadOnly)) { if (file.open(QIODevice::ReadOnly)) {
@ -178,7 +182,8 @@ HPPA::HPPA(QWidget *parent)
connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop())); connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
//<2F>ٶ<EFBFBD> //<2F>ٶ<EFBFBD>
QRegExp rx("\\d{0,3}[1-9]$"); //QRegExp rx("\\d{0,3}.[1-9]$");
QRegExp rx("^\\d+(\\.\\d+)?$");
ui.xmotor_speed_lineEdit->setValidator(new QRegExpValidator(rx)); ui.xmotor_speed_lineEdit->setValidator(new QRegExpValidator(rx));
//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD> //<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
@ -289,6 +294,18 @@ HPPA::HPPA(QWidget *parent)
createActionGroups(); createActionGroups();
connect(mImagerGroup, &QActionGroup::triggered, this, &HPPA::selectingImager); connect(mImagerGroup, &QActionGroup::triggered, this, &HPPA::selectingImager);
connect(this->ui.mAction_is_motor_enable, SIGNAL(triggered()), this, SLOT(onMotorSwitch()));
QSettings settings;
bool isMotorEnable = settings.value("isMotorEnable").toBool();
this->ui.mAction_is_motor_enable->setChecked(isMotorEnable);
}
void HPPA::onMotorSwitch()
{
QSettings settings;
settings.setValue("isMotorEnable", this->ui.mAction_is_motor_enable->isChecked());
settings.sync();
} }
void HPPA::createActionGroups() void HPPA::createActionGroups()
@ -300,13 +317,36 @@ void HPPA::createActionGroups()
mImagerGroup->addAction(ui.mActionCorning_410); mImagerGroup->addAction(ui.mActionCorning_410);
mImagerGroup->addAction(ui.mActionPica_NIR); mImagerGroup->addAction(ui.mActionPica_NIR);
ui.mActionPica_NIR->setChecked(true);
imagerSelected = ui.mActionPica_NIR->objectName(); // <20><>ȡ<EFBFBD>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
QSettings settings;
QString lastSelectedAction = settings.value("LastSelectedImagerAction").toString();
// <20>ָ<EFBFBD><D6B8>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
if (lastSelectedAction == "mActionPica_L")
{
ui.mActionPica_L->setChecked(true);
}
else if (lastSelectedAction == "mActionPica_NIR")
{
ui.mActionPica_NIR->setChecked(true);
}
else if (lastSelectedAction == "mActionPika_XC2")
{
ui.mActionPika_XC2->setChecked(true);
}
else if (lastSelectedAction == "mActionCorning_410")
{
ui.mActionCorning_410->setChecked(true);
}
} }
void HPPA::selectingImager(QAction* selectedAction) void HPPA::selectingImager(QAction* selectedAction)
{ {
imagerSelected = selectedAction->objectName(); QSettings settings;
settings.setValue("LastSelectedImagerAction", selectedAction->objectName());
settings.sync();
} }
HPPA::~HPPA() HPPA::~HPPA()
@ -372,24 +412,54 @@ void HPPA::CalculateIntegratioinTimeRange()
void HPPA::onStartRecordStep1() void HPPA::onStartRecordStep1()
{ {
////<2F><><EFBFBD>Դ<EFBFBD><D4B4>룬<EFBFBD><EBA3AC><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> bool isMotorEnable = this->ui.mAction_is_motor_enable->isChecked();
//m_RecordState += 1; if (!isMotorEnable)//ͣ<><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFA3AC><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
m_RecordState += 1;
//if (m_RecordState % 2 == 1) if (m_RecordState % 2 == 1)
//{ {
// onCreateTab(1); //<EFBFBD>ж<EFBFBD><EFBFBD>Ƿ񸲸Ǵ<EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD>ļ<EFBFBD>
// m_numberOfRecording = 0; FileOperation* fileOperation = new FileOperation();
// m_Imager->setFileName2Save(m_FilenameLineEdit->text().toStdString()); string directory = fileOperation->getDirectoryFromString();
// emit StartRecordSignal();//<2F><><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>ź<EFBFBD> //string imgPath = directory + "\\tmp_image";
//} string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(1) + ".bil";
//else int x = _access(imgPath.c_str(), 0);
//{ if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD>
// m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD> {
enum QMessageBox::StandardButton response = QMessageBox::question(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><EFBFBD>Ƿ񸲸ǣ<EFBFBD>"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);;
if (response == QMessageBox::Yes)//
{
//std::cout << "<22><><EFBFBD><EFBFBD>" << std::endl;
}
else
{
//std::cout << "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
m_RecordState -= 1;//<2F><><EFBFBD><EFBFBD><EFBFBD>ǵĻ<C7B5><C4BB><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
return;
}
}
// ui.action_start_recording->setText(QString::fromLocal8Bit("<22>ɼ<EFBFBD>")); ui.ImageViewerTabWidget->clear();
// ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
//}
onCreateTab(0);
m_numberOfRecording = 0;
m_Imager->setFrameNumber(this->frame_number->text().toInt());
m_Imager->setFileName2Save(imgPath);
emit StartRecordSignal();//<2F><><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>ź<EFBFBD>
ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
}
else
{
m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
}
return;
}
//ȷ<><C8B7>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> С<><D0A1> x<><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> //ȷ<><C8B7>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> С<><D0A1> x<><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
int validLineCount = 0; int validLineCount = 0;
@ -417,7 +487,6 @@ void HPPA::onStartRecordStep1()
return; return;
} }
//<2F><>ʼ<EFBFBD>ɼ<EFBFBD> //<2F><>ʼ<EFBFBD>ɼ<EFBFBD>
m_RecordState += 1; m_RecordState += 1;
@ -427,7 +496,7 @@ void HPPA::onStartRecordStep1()
FileOperation * fileOperation = new FileOperation(); FileOperation * fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryFromString(); string directory = fileOperation->getDirectoryFromString();
//string imgPath = directory + "\\tmp_image"; //string imgPath = directory + "\\tmp_image";
string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(1); string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString();
int x = _access(imgPath.c_str(), 0); int x = _access(imgPath.c_str(), 0);
if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD> if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD>
{ {
@ -449,15 +518,20 @@ void HPPA::onStartRecordStep1()
operateWidget = QObject::sender()->objectName(); operateWidget = QObject::sender()->objectName();
//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> //<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_Imager->setFileName2Save(m_FilenameLineEdit->text().toStdString()); m_Imager->setFileName2Save(imgPath);
//ɾ<><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab //ɾ<><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab
ui.ImageViewerTabWidget->clear(); ui.ImageViewerTabWidget->clear();
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼x<C2BC><78><EFBFBD><EFBFBD>λ<EFBFBD>õ<EFBFBD><C3B5>ļ<EFBFBD>
string x_location = removeFileExtension(imgPath) + "x_location.pos";
m_hTimesFile = fopen(x_location.c_str(), "w+");
//<2F><>ʼѭ<CABC><D1AD> //<2F><>ʼѭ<CABC><D1AD>
m_ForLoopControl->setLoopCount(m_pathPlan->getRecordLineTableWidget()->rowCount());//Ϊѭ<CEAA><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> m_ForLoopControl->setLoopCount(m_pathPlan->getRecordLineTableWidget()->rowCount());//Ϊѭ<CEAA><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
emit StartLoopSignal(); emit StartLoopSignal();
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ɫ //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ɫ
for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++) for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
{ {
@ -510,7 +584,6 @@ void HPPA::onStartRecordStep2(int lineNumber)
else if (lineNumber == -1) else if (lineNumber == -1)
{ {
std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>" << std::endl; std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>" << std::endl;
m_RecordState++;
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>")); ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}"); ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
@ -521,6 +594,8 @@ void HPPA::onStartRecordStep2(int lineNumber)
m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor); m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor);
m_yMotor->MoveToLocation(ymotorPositionOfLine1); m_yMotor->MoveToLocation(ymotorPositionOfLine1);
m_timerYmotorLocationFeedBackAfterRecord->start(500); m_timerYmotorLocationFeedBackAfterRecord->start(500);
fclose(m_hTimesFile);
} }
else if (lineNumber == -2) else if (lineNumber == -2)
{ {
@ -529,6 +604,7 @@ void HPPA::onStartRecordStep2(int lineNumber)
//ֹͣy<D6B9><79><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD> //ֹͣy<D6B9><79><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
m_yMotor->StopMotormove(); m_yMotor->StopMotormove();
fclose(m_hTimesFile);
} }
} }
@ -665,7 +741,7 @@ void HPPA::onLeftMouseButtonPressed(int x, int y)
FileOperation * fileOperation = new FileOperation(); FileOperation * fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryFromString(); string directory = fileOperation->getDirectoryFromString();
string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(m_TabWidgetCurrentIndex + 1); string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(m_TabWidgetCurrentIndex + 1) + ".bil";
ImageReaderWriter *ImageReader = new ImageReaderWriter(imgPath.c_str()); ImageReaderWriter *ImageReader = new ImageReaderWriter(imgPath.c_str());
@ -1258,6 +1334,10 @@ void HPPA::ontimerMoveXmotor()
} }
ByteBack MotorState = m_xMotor->GetState(); ByteBack MotorState = m_xMotor->GetState();
//<2F><>ȡϵͳʱ<CDB3><CAB1><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
long long timeOs = getNanosecondsSinceMidnight();
BroadcastXMotorPosSignal(timeOs, MotorState.Location);
fprintf(m_hTimesFile, "%lld,%d\n", timeOs, MotorState.Location);
//<2F><>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>÷<EFBFBD><C3B7><EFBFBD><EFBFBD><EFBFBD>slider<65><72> //<2F><>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>÷<EFBFBD><C3B7><EFBFBD><EFBFBD><EFBFBD>slider<65><72>
if (MotorState.Speed != 0) if (MotorState.Speed != 0)
@ -1271,8 +1351,7 @@ void HPPA::ontimerMoveXmotor()
} }
//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD>ﷵ<EFBFBD>س<EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>ǰ<EFBFBD><C7B0>¼<EFBFBD><C2BC>λ<EFBFBD>ã<EFBFBD>m_lXmotorLocationOfStartRecord<72><64> //<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD>ﷵ<EFBFBD>س<EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>ǰ<EFBFBD><C7B0>¼<EFBFBD><C2BC>λ<EFBFBD>ã<EFBFBD>m_lXmotorLocationOfStartRecord<72><64>
if (MotorState.Speed == 0 && MotorState.Location != m_lXmotorLocationOfStartRecord //x<><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD> if (MotorState.Speed == 0 && MotorState.Location != m_lXmotorLocationOfStartRecord)//x<><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD>
|| !m_Imager->getRecordControlState())//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϻص<CFBB><D8B5><EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD>
{ {
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD> //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
m_Imager->setRecordControlState(false); m_Imager->setRecordControlState(false);
@ -1280,7 +1359,21 @@ void HPPA::ontimerMoveXmotor()
//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB> //x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor); m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord); m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
//qDebug() << "x<><78><EFBFBD><EFBFBD>λ<EFBFBD>û<EFBFBD>ԭ<EFBFBD><D4AD>x<EFBFBD><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC>꣬<EFBFBD><EAA3AC><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>";
qDebug() << "11111111111111111111111111111111111111111111111111";
} }
if (!m_Imager->getRecordControlState())//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϻص<CFBB><D8B5><EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD>
{
//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
//qDebug() << "x<><78><EFBFBD><EFBFBD>λ<EFBFBD>û<EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD><CBB6><EFBFBD>";
qDebug() << "222222222222222222222222222222222222222222222222222222";
}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ɼ<EFBFBD><C9BC>ߵIJɼ<C4B2><C9BC><EFBFBD><EFBFBD><EFBFBD> //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ɼ<EFBFBD><C9BC>ߵIJɼ<C4B2><C9BC><EFBFBD><EFBFBD><EFBFBD>
if (MotorState.Speed == 0 && MotorState.Location == m_lXmotorLocationOfStartRecord//<2F><>x<EFBFBD><78><EFBFBD>ﷵ<EFBFBD>س<EFBFBD>ʼλ<CABC><CEBB> if (MotorState.Speed == 0 && MotorState.Location == m_lXmotorLocationOfStartRecord//<2F><>x<EFBFBD><78><EFBFBD>ﷵ<EFBFBD>س<EFBFBD>ʼλ<CABC><CEBB>
@ -1466,6 +1559,7 @@ void HPPA::newMotor()
m_yMotor = new VinceControl(NETTCP, 6001);//ԭ<><D4AD><EFBFBD><EFBFBD>6001<30><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>6003 m_yMotor = new VinceControl(NETTCP, 6001);//ԭ<><D4AD><EFBFBD><EFBFBD>6001<30><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>6003
m_pathPlan->setMotor(m_xMotor, m_yMotor); m_pathPlan->setMotor(m_xMotor, m_yMotor);
QString imagerSelected = mImagerGroup->checkedAction()->objectName();
if (imagerSelected == "mActionPica_NIR") if (imagerSelected == "mActionPica_NIR")
{ {
connect(m_xMotor, SIGNAL(newTCPConnection(VinceControl*)), this, SLOT(setMotorParamMicroscope(VinceControl*))); connect(m_xMotor, SIGNAL(newTCPConnection(VinceControl*)), this, SLOT(setMotorParamMicroscope(VinceControl*)));
@ -1601,6 +1695,7 @@ void HPPA::onconnect()
m_RecordThread = new QThread(); m_RecordThread = new QThread();
//<2F><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CDB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>mImagerGroup //<2F><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CDB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>mImagerGroup
QString imagerSelected = mImagerGroup->checkedAction()->objectName();
if (imagerSelected == "mActionPica_L") if (imagerSelected == "mActionPica_L")
{ {
m_Imager = new ResononPicaLImager(); m_Imager = new ResononPicaLImager();
@ -1808,15 +1903,19 @@ void HPPA::onReference()
msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD>")); msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD>"));
msgBox.exec(); msgBox.exec();
//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD> bool isMotorEnable = this->ui.mAction_is_motor_enable->isChecked();
if (!isMotorConnected(m_xMotor)) if (isMotorEnable)
{ {
m_xMotor->EnableMotro(); //<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
m_lXmotorLocationOfStartRecord = m_xMotor->GetLocationNow(); if (!isMotorConnected(m_xMotor))
m_xMotor->SettingSpeed(ui.xmotor_speed_slider->OriginalValue()); {
//m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor); m_xMotor->EnableMotro();
m_lXmotorLocationOfStartRecord = m_xMotor->GetLocationNow();
m_xMotor->SettingSpeed(ui.xmotor_speed_slider->OriginalValue());
//m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
m_xMotor->MoveMotar(true); m_xMotor->MoveMotar(true);
}
} }
emit RecordWhiteSignal(); emit RecordWhiteSignal();
@ -1826,12 +1925,16 @@ void HPPA::recordWhiteFinish()
{ {
ui.mainToolBar->widgetForAction(ui.action_reference)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}"); ui.mainToolBar->widgetForAction(ui.action_reference)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD> bool isMotorEnable = this->ui.mAction_is_motor_enable->isChecked();
if (!isMotorConnected(m_xMotor)) if (isMotorEnable)
{ {
//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<EFBFBD>ǰ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD> //<EFBFBD>ƶ<EFBFBD>x<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor); if (!isMotorConnected(m_xMotor))
m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord); {
//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
}
} }
} }
@ -1950,11 +2053,19 @@ void HPPA::PlotSpectral(int state)
void HPPA::onRecordFinishedSignal_WhenFrameNumberMeet() void HPPA::onRecordFinishedSignal_WhenFrameNumberMeet()
{ {
std::cout << "ֹͣ<EFBFBD>ɼ<EFBFBD>ԭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˡ<EFBFBD>" << std::endl; std::cout << "ֹͣ<EFBFBD>ɼ<EFBFBD>ԭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˡ<EFBFBD>" << std::endl;
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
m_RecordState++;//<2F><><EFBFBD>Զ<EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
} }
void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet() void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet()
{ {
std::cout << "ֹͣ<EFBFBD>ɼ<EFBFBD>ԭ<EFBFBD>򣺣<EFBFBD>1<EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>û<EFBFBD>вɼ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ﵽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>" << std::endl; std::cout << "ֹͣ<EFBFBD>ɼ<EFBFBD>ԭ<EFBFBD>򣺣<EFBFBD>1<EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>û<EFBFBD>вɼ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ﵽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>" << std::endl;
ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
} }
ForLoopControl::ForLoopControl() ForLoopControl::ForLoopControl()

6
HPPA/HPPA.h
View File

@ -236,12 +236,13 @@ private:
void getRequest(QString str); void getRequest(QString str);
QActionGroup* mImagerGroup = nullptr; QActionGroup* mImagerGroup = nullptr;
QString imagerSelected;
void createActionGroups(); void createActionGroups();
void selectingImager(QAction* selectedAction); void selectingImager(QAction* selectedAction);
PathPlan* m_pathPlan; PathPlan* m_pathPlan;
FILE* m_hTimesFile;
public Q_SLOTS: public Q_SLOTS:
void onPlotHyperspectralImageRgbImage(); void onPlotHyperspectralImageRgbImage();
void PlotSpectral(int state); void PlotSpectral(int state);
@ -320,6 +321,8 @@ public Q_SLOTS:
void ontimerMoveXmotor(); void ontimerMoveXmotor();
void ontimerMoveYmotor(); void ontimerMoveYmotor();
void onMotorSwitch();
// //
void onimagerSimulatorMove(int x, int y); void onimagerSimulatorMove(int x, int y);
void OnSendLogToCallClass(QString str); void OnSendLogToCallClass(QString str);
@ -337,6 +340,7 @@ signals:
void StartLoopSignal(); void StartLoopSignal();
void StartRecordSignal(); void StartRecordSignal();
void CopyFileThreadSignal(QString, QString); void CopyFileThreadSignal(QString, QString);
void BroadcastXMotorPosSignal(long long, int);
void RecordWhiteSignal(); void RecordWhiteSignal();
void RecordDarlSignal(); void RecordDarlSignal();

35
HPPA/HPPA.ui
View File

@ -6,8 +6,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1078</width> <width>1120</width>
<height>623</height> <height>675</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -84,7 +84,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1078</width> <width>1120</width>
<height>30</height> <height>30</height>
</rect> </rect>
</property> </property>
@ -162,8 +162,15 @@ color:white;
<string>窗口</string> <string>窗口</string>
</property> </property>
</widget> </widget>
<widget class="QMenu" name="menu_2">
<property name="title">
<string>扫描平台</string>
</property>
<addaction name="mAction_is_motor_enable"/>
</widget>
<addaction name="file"/> <addaction name="file"/>
<addaction name="menuspectrometer"/> <addaction name="menuspectrometer"/>
<addaction name="menu_2"/>
<addaction name="mWindowsMenu"/> <addaction name="mWindowsMenu"/>
<addaction name="menuhelp"/> <addaction name="menuhelp"/>
</widget> </widget>
@ -1535,6 +1542,28 @@ QDockWidget::title {
<string>工具栏</string> <string>工具栏</string>
</property> </property>
</action> </action>
<action name="action_2">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>马达</string>
</property>
</action>
<action name="mAction_is_motor_enable">
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>true</bool>
</property>
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>开启</string>
</property>
</action>
</widget> </widget>
<layoutdefault spacing="6" margin="11"/> <layoutdefault spacing="6" margin="11"/>
<customwidgets> <customwidgets>

19
HPPA/ImagerOperationBase.cpp
View File

@ -204,21 +204,22 @@ void ImagerOperationBase::start_record()
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
FileOperation* fileOperation = new FileOperation(); m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
string directory = fileOperation->getDirectoryFromString(); FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter);
FILE* m_fImage = fopen(imgPath.c_str(), "w+b");
size_t x; size_t x;
double pixelValueTmp; double pixelValueTmp;
string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
imagerStartCollect(); imagerStartCollect();
while (m_bRecordControlState) while (m_bRecordControlState)
{ {
m_iFrameCounter++; m_iFrameCounter++;
getFrame(buffer); getFrame(buffer);
long long timeOs = getNanosecondsSinceMidnight();
//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535 //<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
if (m_HasDark) if (m_HasDark)
@ -259,6 +260,7 @@ void ImagerOperationBase::start_record()
} }
x = fwrite(buffer, 2, m_FrameSize, m_fImage); x = fwrite(buffer, 2, m_FrameSize, m_fImage);
fprintf(hTimesFile, "%d\n", timeOs);
//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ //<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
m_RgbImage->FillRgbImage(buffer);//?????????????????????????????????????????????????????????????????????????????????????????????????????? m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -298,6 +300,7 @@ void ImagerOperationBase::start_record()
//QThread::msleep(1001); //QThread::msleep(1001);
fclose(m_fImage); fclose(m_fImage);
fclose(hTimesFile);
} }
void ImagerOperationBase::setFrameNumber(int FrameNumber) void ImagerOperationBase::setFrameNumber(int FrameNumber)
@ -398,11 +401,7 @@ void ImagerOperationBase::WriteHdr()
//write an ENVI compatible header file //write an ENVI compatible header file
using namespace std; using namespace std;
string hdrPath = removeFileExtension(m_FileName2Save2) + ".hdr";
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryFromString();
string hdrPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".hdr";
std::ofstream outfile(hdrPath.c_str()); std::ofstream outfile(hdrPath.c_str());
outfile << "ENVI\n"; outfile << "ENVI\n";

2
HPPA/ImagerOperationBase.h
View File

@ -7,6 +7,7 @@
#include <string> #include <string>
#include <opencv2/core/core.hpp> #include <opencv2/core/core.hpp>
#include "ImagerOperationBase.h" #include "ImagerOperationBase.h"
#include "utility_tc.h"
class ImagerOperationBase :public QObject class ImagerOperationBase :public QObject
{ {
@ -65,6 +66,7 @@ protected:
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڸ<EFBFBD><DAB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڸ<EFBFBD><DAB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>
string m_FileName2Save;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> string m_FileName2Save;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>
string m_FileName2Save2;
int m_FileSavedCounter;//<2F><><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><CBBC><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD> int m_FileSavedCounter;//<2F><><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><CBBC><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD>
bool m_HasDark;//<2F><><EFBFBD>ɼ<EFBFBD><C9BC>˰<EFBFBD><CBB0><EFBFBD><EFBFBD><EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue bool m_HasDark;//<2F><><EFBFBD>ɼ<EFBFBD><C9BC>˰<EFBFBD><CBB0><EFBFBD><EFBFBD><EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue

2
HPPA/PathPlan.cpp
View File

@ -247,7 +247,7 @@ void PathPlan::onReadRecordLineFile_btn()
return; return;
} }
FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "r"); FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number; double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD> //<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>

21
HPPA/ResononNirImager.cpp
View File

@ -285,15 +285,15 @@ void ResononNirImager::start_record()
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
FileOperation* fileOperation = new FileOperation(); m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
string directory = fileOperation->getDirectoryFromString(); FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter)+".bil";
FILE* m_fImage = fopen(imgPath.c_str(), "w+b");
size_t x; size_t x;
double pixelValueTmp; double pixelValueTmp;
string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
reConnectImage();//nir<69>ڶ<EFBFBD><DAB6>βɼ<CEB2>ʱ<EFBFBD><CAB1>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imagerStartCollect()<29>ᱨ<EFBFBD><E1B1A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> reConnectImage();//nir<69>ڶ<EFBFBD><DAB6>βɼ<CEB2>ʱ<EFBFBD><CAB1>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imagerStartCollect()<29>ᱨ<EFBFBD><E1B1A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
imagerStartCollect(); imagerStartCollect();
while (m_bRecordControlState) while (m_bRecordControlState)
@ -301,6 +301,8 @@ void ResononNirImager::start_record()
m_iFrameCounter++; m_iFrameCounter++;
getFrame(buffer); getFrame(buffer);
long long timeOs = getNanosecondsSinceMidnight();
//qDebug() << "time ns-------------------: " << timeOs;
//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535 //<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
if (m_HasDark) if (m_HasDark)
@ -341,6 +343,7 @@ void ResononNirImager::start_record()
} }
x = fwrite(buffer, 2, m_FrameSize, m_fImage); x = fwrite(buffer, 2, m_FrameSize, m_fImage);
fprintf(hTimesFile, "%lld\n", timeOs);
//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ //<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
m_RgbImage->FillRgbImage(buffer);//?????????????????????????????????????????????????????????????????????????????????????????????????????? m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -356,6 +359,7 @@ void ResononNirImager::start_record()
if (m_iFrameCounter >= m_iFrameNumber) if (m_iFrameCounter >= m_iFrameNumber)
{ {
break; break;
//qDebug() << "<22><><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>";
} }
} }
@ -380,6 +384,7 @@ void ResononNirImager::start_record()
//QThread::msleep(1001); //QThread::msleep(1001);
fclose(m_fImage); fclose(m_fImage);
fclose(hTimesFile);
} }
void ResononNirImager::WriteHdr() void ResononNirImager::WriteHdr()
@ -387,11 +392,7 @@ void ResononNirImager::WriteHdr()
//write an ENVI compatible header file //write an ENVI compatible header file
using namespace std; using namespace std;
string hdrPath = removeFileExtension(m_FileName2Save2) + ".hdr";
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryFromString();
string hdrPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".hdr";
std::ofstream outfile(hdrPath.c_str()); std::ofstream outfile(hdrPath.c_str());
outfile << "ENVI\n"; outfile << "ENVI\n";

1
HPPA/ResononNirImager.h
View File

@ -7,6 +7,7 @@
#include "resonon_imager_allied.h" #include "resonon_imager_allied.h"
#include "image2display.h" #include "image2display.h"
#include "fileOperation.h" #include "fileOperation.h"
#include "utility_tc.h"
class ResononNirImager :public ImagerOperationBase class ResononNirImager :public ImagerOperationBase
{ {

6
HPPA/about.ui
View File

@ -9,7 +9,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>756</width> <width>629</width>
<height>463</height> <height>463</height>
</rect> </rect>
</property> </property>
@ -25,7 +25,7 @@
<rect> <rect>
<x>90</x> <x>90</x>
<y>250</y> <y>250</y>
<width>578</width> <width>434</width>
<height>134</height> <height>134</height>
</rect> </rect>
</property> </property>
@ -70,7 +70,7 @@
</rect> </rect>
</property> </property>
<property name="text"> <property name="text">
<string>版本：1.8.2</string> <string>版本：1.8.7</string>
</property> </property>
</widget> </widget>
<widget class="QLabel" name="label_4"> <widget class="QLabel" name="label_4">

22
HPPA/adjustTable.cpp
View File

@ -12,6 +12,10 @@ adjustTable::adjustTable(QWidget *parent)
connect(ui.objective_table2_up_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Up_btn())); connect(ui.objective_table2_up_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Up_btn()));
connect(ui.objective_table2_down_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Down_btn())); connect(ui.objective_table2_down_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Down_btn()));
connect(ui.objective_table2_stop_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Stop_btn())); connect(ui.objective_table2_stop_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Stop_btn()));
connect(ui.objective_table252_up_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable252Up_btn()));
connect(ui.objective_table252_down_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable252Down_btn()));
connect(ui.objective_table252_stop_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable252Stop_btn()));
} }
adjustTable::~adjustTable() adjustTable::~adjustTable()
@ -63,3 +67,21 @@ void adjustTable::onObjectivTable2Stop_btn()
QString xx = "http://192.168.1.254/stopnow"; QString xx = "http://192.168.1.254/stopnow";
getRequest(xx); getRequest(xx);
} }
void adjustTable::onObjectivTable252Up_btn()
{
QString xx = "http://192.168.1.252/set_up";
getRequest(xx);
}
void adjustTable::onObjectivTable252Down_btn()
{
QString xx = "http://192.168.1.252/set_down";
getRequest(xx);
}
void adjustTable::onObjectivTable252Stop_btn()
{
QString xx = "http://192.168.1.252/stopnow";
getRequest(xx);
}

4
HPPA/adjustTable.h
View File

@ -24,6 +24,10 @@ public Q_SLOTS:
void onObjectivTable2Down_btn(); void onObjectivTable2Down_btn();
void onObjectivTable2Stop_btn(); void onObjectivTable2Stop_btn();
void onObjectivTable252Up_btn();
void onObjectivTable252Down_btn();
void onObjectivTable252Stop_btn();
private: private:
Ui::adjustTableClass ui; Ui::adjustTableClass ui;

73
HPPA/adjustTable.ui
View File

@ -6,33 +6,66 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>348</width> <width>687</width>
<height>194</height> <height>389</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
<string>adjustTable</string> <string>adjustTable</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout"> <layout class="QGridLayout" name="gridLayout">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<property name="spacing">
<number>0</number>
</property>
<item row="0" column="0"> <item row="0" column="0">
<widget class="QGroupBox" name="groupBox_8">
<property name="title">
<string>252号升降台</string>
</property>
<layout class="QGridLayout" name="gridLayout_10">
<item row="0" column="0">
<widget class="QPushButton" name="objective_table252_up_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>上升</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="objective_table252_down_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>下降</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="objective_table252_stop_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>停止</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="1">
<widget class="QGroupBox" name="groupBox_7"> <widget class="QGroupBox" name="groupBox_7">
<property name="title"> <property name="title">
<string>1号升降台</string> <string>253号升降台</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout_11"> <layout class="QGridLayout" name="gridLayout_11">
<item row="0" column="0"> <item row="0" column="0">
@ -77,10 +110,10 @@
</layout> </layout>
</widget> </widget>
</item> </item>
<item row="0" column="1"> <item row="0" column="2">
<widget class="QGroupBox" name="groupBox_6"> <widget class="QGroupBox" name="groupBox_6">
<property name="title"> <property name="title">
<string>2号升降台</string> <string>254号升降台</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout_9"> <layout class="QGridLayout" name="gridLayout_9">
<item row="0" column="0"> <item row="0" column="0">

36
HPPA/utility_tc.cpp
View File

@ -101,6 +101,17 @@ bool createDir(QString fullPath)
} }
} }
std::string removeFileExtension(std::string filename)
{
size_t lastDot = filename.find_last_of(".");
if (lastDot == std::string::npos) {
// 如果没有找到后缀，返回原字符串
return filename;
}
return filename.substr(0, lastDot);
}
QList<QString> getFileInfo(QString file) QList<QString> getFileInfo(QString file)
{ {
QFileInfo fileInfo = QFileInfo(file); QFileInfo fileInfo = QFileInfo(file);
@ -121,3 +132,28 @@ QList<QString> getFileInfo(QString file)
return result; return result;
} }
long long getNanosecondsSinceMidnight()
{
// 获取当前系统时间
auto now = std::chrono::system_clock::now();
// 转换为 time_t（秒级别的时间戳）
std::time_t t = std::chrono::system_clock::to_time_t(now);
std::tm local_tm = *std::localtime(&t); // 获取本地时间结构
// 将时间结构调整到当天 00:00:00
local_tm.tm_hour = 0;
local_tm.tm_min = 0;
local_tm.tm_sec = 0;
local_tm.tm_isdst = -1; // 让 mktime 自动判断夏令时
// 获取当天 00:00:00 的时间点
auto midnight = std::chrono::system_clock::from_time_t(std::mktime(&local_tm));
// 计算从当天 00:00:00 到现在的时间差
auto nanoseconds_since_midnight = std::chrono::duration_cast<std::chrono::nanoseconds>(now - midnight);
// 返回纳秒数
return nanoseconds_since_midnight.count();
}

5
HPPA/utility_tc.h
View File

@ -3,9 +3,11 @@
#include <iostream> #include <iostream>
#include <ctime> #include <ctime>
#include <string>
#include <QString> #include <QString>
#include <QDebug> #include <QDebug>
#include <chrono>
QString getFileNameBaseOnTime(); QString getFileNameBaseOnTime();
@ -17,7 +19,10 @@ void bubbleSort(unsigned short * a, int n);
void swap(unsigned short * a, unsigned short * b); void swap(unsigned short * a, unsigned short * b);
bool createDir(QString fullPath); bool createDir(QString fullPath);
std::string removeFileExtension(std::string filename);
QList<QString> getFileInfo(QString file); QList<QString> getFileInfo(QString file);
long long getNanosecondsSinceMidnight();
#endif // UTILITY_TC_H #endif // UTILITY_TC_H

28
readme.txt Normal file
View File

@ -0,0 +1,28 @@
1、HPPA拼接
每条航线的开始帧的位置不一样，无法直接将相邻航线拼接一起，否则航向有错位。
1.1 步骤
（1）采集每帧的同时，获取线性平台的位置，并写入文件；
（2）根据位置信息匹配帧号，然后进行拼接；
1.2 存在的问题及解决办法
（1）马达库不知道是否能够支持20hz及以上的访问频率；
或者按照一定频率采集线性平台位置，通过时间进行插值获取每帧位置；
（2）列之间的重叠
通过一个可调参数进行旁向拼接设置；
1.3 拼接后裁剪
1.4 根据每个像素的xy坐标进行拼接：放弃
2、bug修复
（1）反射率图像条纹：白板和暗电流都采集30帧进行平均；
（2）轨迹2位小数
（3）速度输入接受小数
3、hppa升降桌无线控制模块
如果没有配置过，那么默认ip为http://192.168.1.254，且默认wifi以iris1开头，默认wifi密码为123456789。
配置网页为http://192.168.1.254/wificonfig.html，配置密码是licahk*******
如果已经配置为252，那么可用下面网址控制
http://192.168.1.252/stopnow
http://192.168.1.252/set_up
http://192.168.1.252/set_down
http://192.168.1.252/wificonfig.html