1. 使用相机时间来计算times文件；

2. times放弃每帧写一次的方法；
3. 不满100帧的内容不丢弃：添加一个队列来记录压入队列的帧数；

Header_Files/ximeaimager.h

@@ -100,10 +100,11 @@ Q_OBJECT
 
 public:
     WriteData2Disk();
-    void setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage);
+    void setParm(queue<DataBuffer *> * q, queue<int> * qFrameCounter, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage);
 
 private:
     queue<DataBuffer *> * m_q;
+    queue<int> * m_qFrameCounter;
     QString m_QbaseFileName;
     int m_iFrameSizeInByte;
     int m_iNumber_WriteDisk;
@@ -163,6 +164,7 @@ private:
     QThread * writeData2DiskThread;
     WriteData2Disk * writeData2Disk;
     queue<DataBuffer *> * q;
+    queue<int> * m_qFrameCounter;
     MemoryPool<DataBuffer> * m_pool;
 
     QString m_baseFileName;
@@ -179,23 +181,10 @@ private:
 
     void processXiApiErrorCodes(int xiApiErrorCodes);
 
-    inline double getSbgTime(double TimeDifferenceBetweensOSAndSbg)
+    inline double getSbgTime(XI_IMG * image, double timeDifferenceBetweenSbgAndXimea)
     {
-        struct timespec systemTime;
+        double ximeaTime = (double)image->tsSec + (double)image->tsUSec/1000000;
-        clock_gettime(CLOCK_REALTIME,&systemTime);
+        return ximeaTime + timeDifferenceBetweenSbgAndXimea;
-        tm systemTime_rili;
-        localtime_r(&systemTime.tv_sec, &systemTime_rili);
-
-        double secondSystem=(systemTime_rili.tm_mday-1)*24*60*60+systemTime_rili.tm_hour*60*60+systemTime_rili.tm_min*60+systemTime_rili.tm_sec;
-        double nanosecondSystem=secondSystem+static_cast<double>(systemTime.tv_nsec)/1000000000;
-
-
-//        printf("\n");
-//        printf("XimeaImager::getSbgTime------系统时间纳秒%d\n", systemTime.tv_nsec);
-//        printf("XimeaImager::getSbgTime------系统时间(未偏移)%f\n", nanosecondSystem);
-//        printf("XimeaImager::getSbgTime------系统时间(偏移)%f\n", nanosecondSystem-TimeDifferenceBetweensOSAndSbg);
-
-        return nanosecondSystem-TimeDifferenceBetweensOSAndSbg;
     }
 
     Configfile m_configfile;
@@ -206,6 +195,7 @@ public slots:
     void openImger();
     void closeImger();
 
+    double calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * m_image, double timeDifferenceBetweenSbgAndOS);
     void startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName);
 
 signals:

Source_Files/udpserver.cpp

@@ -60,9 +60,11 @@ UdpServer::UdpServer()
     //当软件不正常关闭并且重启后，通知其他psdk程序
     m_clientIpAddress=QHostAddress(QHostAddress::LocalHost);
     sendSerialPortStatus(0);
-    sendXimeaImageStatus(0);
+    sendXimeaImageStatus(100);
     sendCopyFileStatus(0);
 
+    system("sudo gpio write 10 0");
+
 
     std::cout<<"UdpServer::UdpServer--------:System ready!"<<std::endl;
 }

Source_Files/ximeaimager.cpp

@@ -44,6 +44,7 @@ XimeaImager::XimeaImager()
 
     m_pool = new MemoryPool<DataBuffer>;
     q = new queue<DataBuffer *>;
+    m_qFrameCounter = new queue<int>;
 
     m_rgbImage = new rgbImage();
 }
@@ -79,6 +80,8 @@ void XimeaImager::openImger()
             bool haha2 = m_imager.setSpatialBin(spatialBin);
 
             emit binSignal(spatialBin, spectralBin);
+            std::cout<<"spectralBin："<< spectralBin <<std::endl;
+            std::cout<<"spatialBin："<< spatialBin <<std::endl;
         }
 
         float gain, offset;//用于生成头文件中的波长信息
@@ -96,6 +99,7 @@ void XimeaImager::openImger()
             m_rgbImage->SetRgbImageWidthAndHeight(height, width, 20);
             std::cout<<"height："<< height <<std::endl;
             std::cout<<"width："<< width <<std::endl;
+            std::cout<<"每帧字节数："<< width * height * 2 <<std::endl;
         }
 
 //        int width_roi = 0, offsetx_roi = 0;
@@ -489,6 +493,34 @@ int XimeaImager::getImagerState() const
     return m_iImagerState;
 }
 
+double XimeaImager::calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * image, double timeDifferenceBetweenSbgAndOS)
+{
+    printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--timeDifferenceBetweenSbgAndOS: %f s\n", timeDifferenceBetweenSbgAndOS);
+
+    double ximeaTime=image->tsSec + image->tsUSec/1000000;
+
+    printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--ximeaTime: %f s\n", ximeaTime);
+
+    //获取系统时间（纳秒）
+    struct timespec systemTime;
+    clock_gettime(CLOCK_REALTIME,&systemTime);
+    tm systemTime_rili;
+    localtime_r(&systemTime.tv_sec, &systemTime_rili);
+
+    double secondSystem=(systemTime_rili.tm_mday-1)*24*60*60+systemTime_rili.tm_hour*60*60+systemTime_rili.tm_min*60+systemTime_rili.tm_sec;
+    double timeOS=secondSystem+static_cast<double>(systemTime.tv_nsec)/1000000000;
+
+    printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--osTime: %f s\n", timeOS);
+
+
+    //计算系统时间和gps时间之间的差距
+    double timeDifferenceBetweenSbgAndximea = timeOS - timeDifferenceBetweenSbgAndOS - ximeaTime;
+
+    printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--timeDifferenceBetweenSbgAndximea: %f s\n", timeDifferenceBetweenSbgAndximea);
+
+    return timeDifferenceBetweenSbgAndximea;
+}
+
 void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName)
 {
     m_ximeaTemperature->stopRecordTemperature();//开始采集影像前，停止获取相机的温度，以免降低帧率；
@@ -515,23 +547,24 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
 
         m_baseFileName=baseFileName;
 
-
-        QString timesFileName=m_baseFileName+".times";
-        FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
-//        ofstream timesFile(timesFileName.toStdString());
-
         std::cout << "曝光时间为：" << getExposureTime()/1000 << "ms" <<std::endl;
 
         using namespace std;
 //        ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");
 
         int number_WriteDisk = 100;
-        writeData2Disk->setParm(q,m_baseFileName,m_iFrameSizeInByte, number_WriteDisk, m_pool, m_rgbImage);
+        writeData2Disk->setParm(q, m_qFrameCounter,m_baseFileName,m_iFrameSizeInByte, number_WriteDisk, m_pool, m_rgbImage);
         emit startWriteDiskSignal();
 
         int indexofbuff;
         DataBuffer * buffer;
 
+        QString timesFileName=m_baseFileName+".times";
+        FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
+//        ofstream timesFile(timesFileName.toStdString());
+        double timeDifferenceBetweenSbgAndXimea;
+        double * sbgTimeBuffer = new double[number_WriteDisk];
+
         m_imager.start();
         struct timeval timeStart, timeEnd;
         double runTime=0;
@@ -541,11 +574,10 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
             unsigned short *x=m_imager.get_frame(m_buffer);
             m_iFrameCounter+=1;
 
-            //fwrite(m_buffer,2,getBandCount()*getSampleCount(),hFile);
+            if (m_iFrameCounter == 1)
-//            fwrite(m_imager.m_image.bp,static_cast<int>(m_imager.m_image.bp_size),1,hFile);
+            {
-            //fflush(hFile);//只保证了将IO缓冲写入系统缓冲中，使IO读操作能成功，但系统什么时候写入磁盘，由系统决定，一般是达到一定量时系统他就写入磁盘。
+                timeDifferenceBetweenSbgAndXimea = calculateTimeDifferenceBetweenSbgAndximea(&m_imager.m_image, TimeDifferenceBetweensOSAndSbg);
-            //sync();//强制系统将系统文件缓冲的内容写入磁盘
+            }
-
 
             indexofbuff = m_iFrameCounter % number_WriteDisk;
 
@@ -559,48 +591,59 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
             if (indexofbuff == 0)
             {
                 memcpy((void *)buffer->data + (number_WriteDisk - 1) * m_iFrameSizeInByte,m_imager.m_image.bp,m_iFrameSizeInByte);
+                sbgTimeBuffer[number_WriteDisk - 1] = getSbgTime(&m_imager.m_image, timeDifferenceBetweenSbgAndXimea);
             }
             else
             {
                 memcpy((void *)buffer->data + (indexofbuff - 1) * m_iFrameSizeInByte,m_imager.m_image.bp,m_iFrameSizeInByte);
+                sbgTimeBuffer[indexofbuff - 1] = getSbgTime(&m_imager.m_image, timeDifferenceBetweenSbgAndXimea);
             }
 
             if (indexofbuff == 0)
             {
                 r_qtx.lock();
                 q->push(buffer);
+                m_qFrameCounter->push(number_WriteDisk);
                 r_qtx.unlock();
+
+                for (int i = 0; i < number_WriteDisk; ++i)
+                {
+                    fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
+                }
+            }
+        }
+        if (indexofbuff != 0)
+        {
+            r_qtx.lock();
+            q->push(buffer);
+            m_qFrameCounter->push(indexofbuff);
+            r_qtx.unlock();
+
+            for (int i = 0; i < indexofbuff; ++i)
+            {
+                fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
             }
 
-            double sbgTime=getSbgTime(TimeDifferenceBetweensOSAndSbg);
+            std::cout << "没凑满: " << indexofbuff <<std::endl;
-
-            fprintf(hHimesFile,"%f\n",sbgTime);
-//            fwrite(&sbgTime,sizeof(double),1,hHimesFile);
-//            timesFile<<sbgTime<< "\n";
-
-//            timesFileHandle << sbgTime << "\n";
         }
         gettimeofday(&timeEnd, NULL);
         runTime = (timeEnd.tv_sec - timeStart.tv_sec ) + (double)(timeEnd.tv_usec -timeStart.tv_usec)/1000000;
         m_imager.stop();
         writeData2Disk->exitWriteData2Disk();
+        writeHdr();
 
-        m_iFrameCounter = m_iFrameCounter - indexofbuff;
+        delete[] sbgTimeBuffer;
-        if (indexofbuff != 0)
-        {
-            m_pool->deleteElement(buffer);
-        }
 
-        double frameInTheory=runTime * getFramerate() - indexofbuff;
+        double frameInTheory=runTime * getFramerate();
 
-        double frameLossed=m_imager.m_image.acq_nframe - indexofbuff - m_iFrameCounter;
+        double frameLossed = m_imager.m_image.acq_nframe - m_iFrameCounter;
-        double frameLossRate=frameLossed / (m_imager.m_image.acq_nframe - indexofbuff);
+        double frameLossRate = frameLossed / m_imager.m_image.acq_nframe;
 
-        std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<<std::endl;
+        std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<< ".bil" <<std::endl;
         std::cout<<"采集时间为: "<<runTime<< "s" <<std::endl;
         std::cout<<"当前帧率为: "<<getFramerate() << "hz" <<std::endl;
         std::cout<<"每秒数据量为: "<<getFramerate()*m_iFrameSizeInByte/(1024*1024)<<"MB"<<std::endl;
-        std::cout<<"理论采集帧数为: "<<m_imager.m_image.acq_nframe - indexofbuff<<std::endl;
+        std::cout<<"理论采集帧数为: "<<m_imager.m_image.acq_nframe<<std::endl;
         std::cout<<"实际采集帧数为："<<m_iFrameCounter<<std::endl;
         std::cout<<"丢失帧数为: "<<frameLossed<<std::endl;
         std::cout<<"丢帧率为: "<<frameLossRate * 100<< "%" <<std::endl;
@@ -612,8 +655,6 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         timeStr = formatTimeStr(timeFormat);
         printf("停止采集：%s!\n", timeStr.toStdString().c_str());
 
-        writeHdr();
-
         m_iImagerState=m_iImagerStateTemp;
         emit ximeaImageStatus(m_iImagerState);
 
@@ -900,6 +941,7 @@ void WriteData2Disk::write2Disk()
     FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
 
     int frameCounter = 0;
+    int frameNumber;
     unsigned short * dataBuffer = new unsigned short[m_iFrameSizeInByte/2*m_iNumber_WriteDisk];
     isExitWriteData2Disk = false;
     while(true)
@@ -920,10 +962,12 @@ void WriteData2Disk::write2Disk()
 
         r_qtx.lock();
         DataBuffer * buffer = m_q->front();
-        memcpy(dataBuffer,buffer->data,m_iFrameSizeInByte*m_iNumber_WriteDisk);
+        int frameNumber = m_qFrameCounter->front();
+        memcpy(dataBuffer,buffer->data,m_iFrameSizeInByte*frameNumber);
 //        m_pool->destroy(m_q->front());
         m_pool->deleteElement(buffer);
         m_q->pop();
+        m_qFrameCounter->pop();
         r_qtx.unlock();
 
         //构造rgb图像，用于推流到m300遥控器
@@ -931,14 +975,15 @@ void WriteData2Disk::write2Disk()
 
 
 //        std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//
-        fwrite(dataBuffer,1,m_iFrameSizeInByte*m_iNumber_WriteDisk, hFile);
+        fwrite(dataBuffer,1,m_iFrameSizeInByte*frameNumber, hFile);
         frameCounter++;
     }
     m_rgbImage->m_VideoWriter.release();
     fclose(hFile);
+    delete[] dataBuffer;
 
     std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，内存池可达到的最多元素数：" << m_pool->max_size() <<std::endl;
-    std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，共写帧数：" << frameCounter*m_iNumber_WriteDisk <<std::endl;
+    std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，fwrite 调用次数：" << frameCounter <<std::endl;
 }
 
 void WriteData2Disk::exitWriteData2Disk()
@@ -946,9 +991,10 @@ void WriteData2Disk::exitWriteData2Disk()
     isExitWriteData2Disk = true;
 }
 
-void WriteData2Disk::setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
+void WriteData2Disk::setParm(queue<DataBuffer *> * q, queue<int> * qFrameCounter, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
 {
     m_q = q;
+    m_qFrameCounter = qFrameCounter;
     m_QbaseFileName = baseFileName;
     m_iFrameSizeInByte = frameSizeInByte;
     m_iNumber_WriteDisk = number_WriteDisk;