f69edcf2c9
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；
606 lines
18 KiB
C++
606 lines
18 KiB
C++
#include "TimedDataCollectionDataStructures.h"
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#include <QJsonDocument>
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#include <QJsonObject>
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#include <QJsonArray>
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#include <QFile>
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#include <QTextStream>
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#include <QDebug>
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// ==================== 公共接口实现 ====================
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bool TimedDataCollectionDataStructuresReaderWriter::saveTasksToFile(const QString& filePath, const QVector<TimedTask>& tasks)
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{
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QJsonObject root;
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root["version"] = "1.0";
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root["taskCount"] = tasks.size();
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QJsonArray tasksArray;
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for (const auto& task : tasks) {
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tasksArray.append(timedTaskToJson(task));
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}
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root["tasks"] = tasksArray;
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QJsonDocument doc(root);
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QFile file(filePath);
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if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
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qWarning() << "Failed to open file for writing:" << filePath;
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return false;
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}
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QTextStream out(&file);
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//out.setEncoding(QStringConverter::Utf8);
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out << doc.toJson(QJsonDocument::Indented);
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file.close();
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return true;
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}
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bool TimedDataCollectionDataStructuresReaderWriter::loadTasksFromFile(const QString& filePath, QVector<TimedTask>& tasks)
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{
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QFile file(filePath);
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if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
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qWarning() << "Failed to open file for reading:" << filePath;
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return false;
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}
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QByteArray jsonData = file.readAll();
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file.close();
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QJsonParseError parseError;
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QJsonDocument doc = QJsonDocument::fromJson(jsonData, &parseError);
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if (parseError.error != QJsonParseError::NoError) {
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qWarning() << "JSON parse error:" << parseError.errorString();
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return false;
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}
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if (!doc.isObject()) {
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qWarning() << "Invalid JSON root object";
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return false;
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}
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QJsonObject root = doc.object();
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QJsonArray tasksArray = root["tasks"].toArray();
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tasks.clear();
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tasks.reserve(tasksArray.size());
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for (const auto& taskValue : tasksArray) {
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if (!taskValue.isObject()) continue;
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TimedTask task;
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if (jsonToTimedTask(taskValue.toObject(), task)) {
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tasks.append(task);
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}
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}
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return true;
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}
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// ==================== 枚举转换函数 ====================
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QString TimedDataCollectionDataStructuresReaderWriter::taskStatusToString(TaskStatus status)
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{
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switch (status) {
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case TaskStatus::Waiting: return "Waiting";
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case TaskStatus::Running: return "Running";
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case TaskStatus::Finished: return "Finished";
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default: return "Waiting";
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}
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}
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TaskStatus TimedDataCollectionDataStructuresReaderWriter::stringToTaskStatus(const QString& str)
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{
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if (str == "Running") return TaskStatus::Running;
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if (str == "Finished") return TaskStatus::Finished;
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return TaskStatus::Waiting;
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}
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QString TimedDataCollectionDataStructuresReaderWriter::subTaskTypeToString(SubTaskType type)
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{
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switch (type) {
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case SubTaskType::HyperSpectual400_1000nm: return "HyperSpectual400_1000nm";
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case SubTaskType::HyperSpectual1000_1700nm: return "HyperSpectual1000_1700nm";
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case SubTaskType::SingleLensReflex: return "SingleLensReflex";
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case SubTaskType::DepthCamera: return "DepthCamera";
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default: return "Unknown";
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}
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}
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SubTaskType TimedDataCollectionDataStructuresReaderWriter::stringToSubTaskType(const QString& str)
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{
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if (str == "HyperSpectual400_1000nm") return SubTaskType::HyperSpectual400_1000nm;
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if (str == "HyperSpectual1000_1700nm") return SubTaskType::HyperSpectual1000_1700nm;
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if (str == "SingleLensReflex") return SubTaskType::SingleLensReflex;
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if (str == "DepthCamera") return SubTaskType::DepthCamera;
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return SubTaskType::SingleLensReflex;
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}
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// ==================== SubTask序列化 ====================
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QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const SubTask& subTask)
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{
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QJsonObject obj;
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obj["type"] = subTaskTypeToString(subTask.type);
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obj["startTime"] = subTask.startTime.toString(Qt::ISODate);
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obj["endTime"] = subTask.endTime.toString(Qt::ISODate);
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obj["durationSeconds"] = subTask.durationSeconds;
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obj["estimatedDurationSeconds"] = subTask.estimatedDurationSeconds;
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obj["pathLineFilePath"] = subTask.pathLineFilePath;
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obj["status"] = taskStatusToString(subTask.status);
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obj["frameRate"] = subTask.frameRate;
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obj["exposureTime"] = subTask.exposureTime;
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obj["defaultRenderBand"] = subTask.defaultRenderBand;
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obj["captureIntervalSeconds"] = subTask.captureIntervalSeconds;
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return obj;
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}
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bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObject& json, SubTask& subTask)
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{
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subTask.type = stringToSubTaskType(json["type"].toString());
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subTask.startTime = QDateTime::fromString(json["startTime"].toString(), Qt::ISODate);
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subTask.endTime = QDateTime::fromString(json["endTime"].toString(), Qt::ISODate);
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subTask.durationSeconds = json["durationSeconds"].toInt();
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subTask.estimatedDurationSeconds = json["estimatedDurationSeconds"].toInt();
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subTask.pathLineFilePath = json["pathLineFilePath"].toString();
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subTask.status = stringToTaskStatus(json["status"].toString());
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subTask.frameRate = json["frameRate"].toDouble();
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subTask.exposureTime = json["exposureTime"].toDouble();
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subTask.defaultRenderBand = json["defaultRenderBand"].toInt();
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subTask.captureIntervalSeconds = json["captureIntervalSeconds"].toInt();
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return true;
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}
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// ==================== TimedTask序列化 ====================
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QJsonObject TimedDataCollectionDataStructuresReaderWriter::timedTaskToJson(const TimedTask& task)
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{
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QJsonObject obj;
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obj["id"] = task.id;
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obj["scheduledTime"] = task.scheduledTime.toString(Qt::ISODate);
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obj["startTime"] = task.startTime.toString(Qt::ISODate);
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obj["endTime"] = task.endTime.toString(Qt::ISODate);
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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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subTasksArray.append(subTaskToJson(subTask));
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}
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obj["subTasks"] = subTasksArray;
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return obj;
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}
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bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonObject& json, TimedTask& task)
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{
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task.id = json["id"].toInt();
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task.scheduledTime = QDateTime::fromString(json["scheduledTime"].toString(), Qt::ISODate);
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task.startTime = QDateTime::fromString(json["startTime"].toString(), Qt::ISODate);
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task.endTime = QDateTime::fromString(json["endTime"].toString(), Qt::ISODate);
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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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task.subTasks.reserve(subTasksArray.size());
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for (const auto& subTaskValue : subTasksArray) {
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if (!subTaskValue.isObject()) continue;
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SubTask subTask;
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if (jsonToSubTask(subTaskValue.toObject(), subTask)) {
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task.subTasks.append(subTask);
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}
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}
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return true;
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}
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// ==================== TaskExecutor 实现 ====================
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TaskExecutor::TaskExecutor(QObject* parent)
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: QObject(parent)
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, m_currentSubTaskIndex(0)
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, m_isRunning(false)
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{
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}
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TaskExecutor::~TaskExecutor()
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{
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stop();
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}
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void TaskExecutor::execute(const TimedTask& task)
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{
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if (m_isRunning) {
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qWarning() << "TaskExecutor: Already running, ignoring execute request";
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return;
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}
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m_task = task;
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m_currentSubTaskIndex = 0;
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m_isRunning = true;
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qDebug() << "TaskExecutor: Starting task" << task.id;
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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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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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{
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if (!m_isRunning) return;
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qDebug() << "TaskExecutor: Stopping task" << m_task.id;
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m_isRunning = false;
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emit finished(false);
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}
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void TaskExecutor::makeFolder(QString savePath)
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{
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QDir dir(savePath);
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if (!dir.exists()) {
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if (dir.mkpath(".")) {
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qDebug() << "TaskExecutor: Created data folder:" << savePath;
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} else {
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qWarning() << "TaskExecutor: Failed to create data folder:" << savePath;
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}
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} else {
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qDebug() << "TaskExecutor: Data folder already exists:" << savePath;
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}
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}
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QString TaskExecutor::makeSubTaskDataFolder(QString suffix)
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{
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QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
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QString folderPath = m_task.savePath + QDir::separator() + dateStr + "_" + suffix;
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makeFolder(folderPath);
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return folderPath;
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}
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void TaskExecutor::onSequenceComplete(int status)
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{
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if (!m_isRunning) return;
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qDebug() << "TaskExecutor: Sequence complete, status:" << status;
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// 更新当前子任务状态
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if (m_currentSubTaskIndex < m_task.subTasks.size()) {
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SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
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subTask.status = (status == 0) ? TaskStatus::Finished : TaskStatus::Waiting;
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emit subTaskFinished(m_currentSubTaskIndex, subTask.type, (status == 0));
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}
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//
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switch (m_task.subTasks[m_currentSubTaskIndex].type)
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{
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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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{
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emit switchD65LampSignal(0);
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break;
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}
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}
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// 判断下一次的任务是否为高光谱任务，如果不是关闭卤素灯
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int nestSubTaskIndex = m_currentSubTaskIndex + 1;
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if (nestSubTaskIndex >= m_task.subTasks.size())
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{
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emit switchHalogenLampSignal(0);
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return;
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}
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switch (m_task.subTasks[nestSubTaskIndex].type)
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{
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case SubTaskType::SingleLensReflex:
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{
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emit switchHalogenLampSignal(0);
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break;
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}
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case SubTaskType::DepthCamera:
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{
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emit switchHalogenLampSignal(0);
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break;
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}
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}
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}
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void TaskExecutor::onBack2Origin()
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{
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// 检查是否还有更多子任务
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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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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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m_isRunning = false;
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qDebug() << "TaskExecutor: All subtasks completed";
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emit finished(true);
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}
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}
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void TaskExecutor::onError(const QString& error)
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{
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if (!m_isRunning) return;
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qWarning() << "TaskExecutor: Error occurred:" << error;
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m_isRunning = false;
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emit errorOccurred(error);
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emit finished(false);
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}
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void TaskExecutor::executeNextSubTask()
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{
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if (!m_isRunning || m_currentSubTaskIndex >= m_task.subTasks.size()) {
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return;
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}
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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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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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emit motorParm(subTask.pathLineFilePath);
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int camType;
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switch (subTask.type)
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{
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case SubTaskType::HyperSpectual400_1000nm:
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{
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camType = 0;
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emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("L"), "test");
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break;
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}
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case SubTaskType::HyperSpectual1000_1700nm:
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{
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camType = 1;
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emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("NIR"), "test");
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break;
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}
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case SubTaskType::SingleLensReflex:
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{
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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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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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camType = 3;
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emit camParm(camType, 3, makeSubTaskDataFolder("DepthCamera"));
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emit switchD65LampSignal(1);
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break;
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}
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}
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emit startRecordSignal(camType);
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}
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// ==================== TaskScheduler 实现 ====================
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TaskScheduler::TaskScheduler(QObject* parent)
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: QObject(parent)
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, m_timer(nullptr)
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, m_currentExecutor(nullptr)
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, m_currentTaskId(-1)
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{
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}
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TaskScheduler::~TaskScheduler()
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{
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stop();
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}
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void TaskScheduler::loadTasks(const QVector<TimedTask>& tasks)
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{
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m_tasks = tasks;
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qDebug() << "TaskScheduler: Loaded" << tasks.size() << "tasks";
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}
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void TaskScheduler::start()
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{
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if (m_timer) {
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qDebug() << "TaskScheduler: Already running";
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return;
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}
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qDebug() << "TaskScheduler: Starting";
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m_timer = new QTimer(this);
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connect(m_timer, &QTimer::timeout, this, &TaskScheduler::checkTasks);
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m_timer->start(1000); // 每秒检查一次
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emit schedulerStateChanged(true);
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}
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void TaskScheduler::stop()
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{
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if (m_timer) {
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m_timer->stop();
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delete m_timer;
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m_timer = nullptr;
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}
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if (m_currentExecutor) {
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m_currentExecutor->stop();
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m_currentExecutor->deleteLater();
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m_currentExecutor = nullptr;
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}
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qDebug() << "TaskScheduler: Stopped";
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emit schedulerStateChanged(false);
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}
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void TaskScheduler::checkTasks()
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{
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QDateTime now = QDateTime::currentDateTime();
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for (auto& task : m_tasks) {
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if (task.status != TaskStatus::Waiting) continue;
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// 超过计划时间1分钟以上，认为任务已过时，跳过
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if (task.scheduledTime.addSecs(60) < now) {
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std::cerr << "TaskScheduler::checkTasks，任务已过时，跳过:" << task.id << std::endl;
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task.status = TaskStatus::Finished;
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continue;
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}
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if (task.scheduledTime > now) continue;
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// 到达计划时间，启动任务
|
||
std::cerr << "TaskScheduler::checkTasks，到达计划时间，启动任务" << std::endl;
|
||
executeTask(task);
|
||
break; // 一次只执行一个任务
|
||
}
|
||
}
|
||
|
||
void TaskScheduler::onTaskFinished(bool success)
|
||
{
|
||
if (m_currentTaskId > 0) {
|
||
TaskStatus status = success ? TaskStatus::Finished : TaskStatus::Waiting;
|
||
updateTaskStatus(m_currentTaskId, status);
|
||
emit taskFinished(m_currentTaskId, success);
|
||
}
|
||
|
||
// 清理执行器
|
||
if (m_currentExecutor) {
|
||
m_currentExecutor->deleteLater();
|
||
m_currentExecutor = nullptr;
|
||
}
|
||
m_currentTaskId = -1;
|
||
}
|
||
|
||
void TaskScheduler::onSubTaskStarted(int subTaskIndex, SubTaskType type)
|
||
{
|
||
if (m_currentTaskId > 0) {
|
||
emit subTaskStarted(m_currentTaskId, subTaskIndex);
|
||
}
|
||
}
|
||
|
||
void TaskScheduler::onSubTaskFinished(int subTaskIndex, SubTaskType type, bool success)
|
||
{
|
||
if (m_currentTaskId > 0) {
|
||
emit subTaskFinished(m_currentTaskId, subTaskIndex);
|
||
}
|
||
}
|
||
|
||
void TaskScheduler::onExecutorError(const QString& error)
|
||
{
|
||
emitError(error);
|
||
}
|
||
|
||
void TaskScheduler::executeTask(TimedTask& task)
|
||
{
|
||
qDebug() << "TaskScheduler: Executing task" << task.id;
|
||
|
||
updateTaskStatus(task.id, TaskStatus::Running);
|
||
m_currentTaskId = task.id;
|
||
|
||
emit taskStarted(task.id);
|
||
|
||
// 创建任务执行器
|
||
m_currentExecutor = new TaskExecutor(this);
|
||
|
||
// 连接信号
|
||
connect(m_currentExecutor, &TaskExecutor::finished,
|
||
this, &TaskScheduler::onTaskFinished);
|
||
connect(m_currentExecutor, &TaskExecutor::subTaskStarted,
|
||
this, &TaskScheduler::onSubTaskStarted);
|
||
connect(m_currentExecutor, &TaskExecutor::subTaskFinished,
|
||
this, &TaskScheduler::onSubTaskFinished);
|
||
connect(m_currentExecutor, &TaskExecutor::errorOccurred,
|
||
this, &TaskScheduler::onExecutorError);
|
||
|
||
// 采集相关信号透传
|
||
connect(m_currentExecutor, &TaskExecutor::hyperCamParm,
|
||
this, &TaskScheduler::hyperCamParm);
|
||
connect(m_currentExecutor, &TaskExecutor::camParm,
|
||
this, &TaskScheduler::camParm);
|
||
connect(m_currentExecutor, &TaskExecutor::motorParm,
|
||
this, &TaskScheduler::motorParm);
|
||
connect(m_currentExecutor, &TaskExecutor::startRecordSignal,
|
||
this, &TaskScheduler::startRecordSignal);
|
||
|
||
connect(m_currentExecutor, &TaskExecutor::switchHalogenLampSignal, this, &TaskScheduler::switchHalogenLampSignal);
|
||
connect(m_currentExecutor, &TaskExecutor::switchD65LampSignal, this, &TaskScheduler::switchD65LampSignal);
|
||
connect(m_currentExecutor, &TaskExecutor::switchSlrSignal, this, &TaskScheduler::switchSlrSignal);
|
||
|
||
connect(this, &TaskScheduler::sequenceCompleteSignal, m_currentExecutor, &TaskExecutor::onSequenceComplete);
|
||
connect(this, &TaskScheduler::Back2OriginSignal, m_currentExecutor, &TaskExecutor::onBack2Origin);
|
||
|
||
// 开始执行
|
||
m_currentExecutor->execute(task);
|
||
}
|
||
|
||
void TaskScheduler::updateTaskStatus(int taskId, TaskStatus status)
|
||
{
|
||
for (auto& task : m_tasks) {
|
||
if (task.id == taskId) {
|
||
task.status = status;
|
||
if (status == TaskStatus::Running) {
|
||
task.startTime = QDateTime::currentDateTime();
|
||
} else if (status == TaskStatus::Finished) {
|
||
task.endTime = QDateTime::currentDateTime();
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
|
||
void TaskScheduler::emitError(const QString& error)
|
||
{
|
||
qWarning() << "TaskScheduler: Error:" << error;
|
||
emit errorOccurred(error);
|
||
}
|