tangchao0503/ximeaAirborneSystem
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优化：

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1. 通过内存池解决丢帧问题；
2. 解析惯导卫星个数，并通过socket发送给psdk；
3. 取消通过sbg卫星时间设置linux系统时间，此功能交给psdk做；
This commit is contained in:
tangchao0503
2022-12-24 16:59:41 +08:00
parent da57cc8e87
commit e96953b54a
9 changed files with 506 additions and 46 deletions
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131
Source_Files/ximeaimager.cpp
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@ -21,6 +21,15 @@ XimeaImager::XimeaImager()
m_recordTempThread->start();
connect(this, SIGNAL(recordXimeaTemperatureSignal(QString)),m_ximeaTemperature, SLOT(recordTemperature(QString)));
writeData2DiskThread = new QThread();
writeData2Disk = new WriteData2Disk();
writeData2Disk->moveToThread(writeData2DiskThread);
writeData2DiskThread->start(QThread::HighestPriority);
connect(this, SIGNAL(startWriteDiskSignal()), writeData2Disk, SLOT(write2Disk()));
m_pool = new MemoryPool<DataBuffer>;
q = new queue<DataBuffer *>;
}
void XimeaImager::openImger()
@ -77,6 +86,7 @@ void XimeaImager::openImger()
int frameSizeAuto = m_imager.getBufferSizeOfOneFrame();
m_iFrameSizeInByte = frameSizeAuto;
std::cout<<"每一帧的字节数：-------------------------------"<< m_iFrameSizeInByte <<std::endl;
m_buffer = new unsigned short[m_iFrameSizeInByte];
@ -441,65 +451,66 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
m_iFrameCounter=0;
m_bRecordControl=true;
m_imager.start();
m_baseFileName=baseFileName;
QString imageFileName=m_baseFileName+".bil";
QString timesFileName=m_baseFileName+".times";
//
FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
QString timesFileName=m_baseFileName+".times";
FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
using namespace std;
ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");
// ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");
writeData2Disk->setParm(q,m_baseFileName,m_iFrameSizeInByte, m_pool);
emit startWriteDiskSignal();
m_imager.start();
struct timeval timeStart, timeEnd;
double runTime=0;
gettimeofday(&timeStart, NULL);
while (m_bRecordControl)
{
unsigned short *x=m_imager.get_frame(m_buffer);
//fwrite(m_buffer,2,getBandCount()*getSampleCount(),hFile);
fwrite(m_imager.m_image.bp,static_cast<int>(m_imager.m_image.bp_size),1,hFile);
// 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。
//sync();//强制系统将系统文件缓冲的内容写入磁盘
m_iFrameCounter+=1;
// if(m_iFrameCounter==100)
// break;
r_qtx.lock();
DataBuffer * buffer = m_pool->newElement();
r_qtx.unlock();
// m_pool->construct(buffer);
// memcpy(buffer->data,(unsigned short *)m_imager.m_image.bp,m_iFrameSizeInByte/2);
memcpy((void *)buffer->data,m_imager.m_image.bp,m_iFrameSizeInByte);
r_qtx.lock();
q->push(buffer);
r_qtx.unlock();//
// std::cout<<"XimeaImager::startRecord，队列长度为："<< q->size() <<std::endl;//
// fwrite(buffer,1,m_iFrameSizeInByte,hFile);
m_iFrameCounter+=1;
double sbgTime=getSbgTime(TimeDifferenceBetweensOSAndSbg);
fprintf(hHimesFile,"%f\n",sbgTime);
//fwrite(&sbgTime,sizeof(double),1,hHimesFile);
timesFileHandle << sbgTime << "\n";
// timesFileHandle << sbgTime << "\n";
// std::cout<<"XimeaImager::startRecord---std::cout: "<<sbgTime<<std::endl;
// //用于测试是否漏帧
// if(m_iFrameCounter==getFramerate()*20)
// {
// break;
// }
// if(m_iFrameCounter/getFramerate() > 5*60) //这个判断会导致丢帧率的大幅升高：5% → 20%，推测原因：除法耗时；
// {
// break;
// }
// unsigned char pixel = *(unsigned char*)image.bp;//Default value: XI_MONO8
// unsigned short pixel =*(unsigned short*)image.bp;//XI_RAW16
// printf("Image %d (%dx%d) received from camera. First pixel value: %d\n", m_iFrameCounter, (int)image.width, (int)image.height, pixel);
}
gettimeofday(&timeEnd, NULL);
runTime = (timeEnd.tv_sec - timeStart.tv_sec ) + (double)(timeEnd.tv_usec -timeStart.tv_usec)/1000000;
m_imager.stop();
double frameInTheory=runTime * getFramerate();
double frameLossed=frameInTheory - m_iFrameCounter;
@ -514,12 +525,10 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
std::cout<<"丢失帧数为: "<<frameLossed<<std::endl;
std::cout<<"丢帧率为: "<<frameLossRate * 100<< "%" <<std::endl;
fclose(hFile);
fclose(hHimesFile);
timesFileHandle.close();
// timesFileHandle.close();
printf("Stopping acquisition...\n");
m_imager.stop();
writeHdr();
@ -704,6 +713,14 @@ int XimeaImager::getFrameCounter()
return m_iFrameCounter;
}
DataBuffer::DataBuffer()
{
}
DataBuffer::~DataBuffer()
{
}
RecordXimeaTemperature::RecordXimeaTemperature(Iris::IrisXimeaImager * imager)
{
m_imager = imager;
@ -739,3 +756,61 @@ void RecordXimeaTemperature::recordTemperature(QString filePath= nullptr)
ximeaTemperatureFile.close();
}
WriteData2Disk::WriteData2Disk()
{
}
void WriteData2Disk::write2Disk()
{
QString imageFileName=m_QbaseFileName+".bil";
FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
int sleepCounters=1;
int frameCounter = 0;
unsigned short * dataBuffer = new unsigned short[m_iFrameSizeInByte/2];
while(true)
{
r_qtx.lock();
bool bempty=m_q->empty();
r_qtx.unlock();
if(bempty)
{
QThread::msleep(sleepCounters * sleepCounters * 10);
// std::cout<<"WriteData2Disk::write2Disk-----------------------队列第几次为空：" << sleepCounters <<std::endl;
sleepCounters++;
if (sleepCounters == 10 && frameCounter != 0)//如果sleepCounters == 10时，队列还是空，就代表相机停止采集 → 退出此线程
{
break;
}
continue;
}
sleepCounters = 1;
r_qtx.lock();
DataBuffer * buffer = m_q->front();
memcpy(dataBuffer,buffer->data,m_iFrameSizeInByte);
// m_pool->destroy(m_q->front());
m_pool->deleteElement(buffer);
m_q->pop();
r_qtx.unlock();
// std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//
fwrite(dataBuffer,1,m_iFrameSizeInByte, hFile);
frameCounter++;
}
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 <<std::endl;
}
void WriteData2Disk::setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, MemoryPool<DataBuffer> * pool)
{
m_q = q;
m_QbaseFileName = baseFileName;
m_iFrameSizeInByte = frameSizeInByte;
m_pool = pool;
}