优化：

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；

CMakeLists.txt

@@ -41,7 +41,9 @@ add_executable(${CMAKE_PROJECT_NAME}
         Source_Files/ximeaimager.cpp
         Header_Files/ximeaimager.h
         Source_Files/configfile.cpp
-        Header_Files/configfile.h)
+        Header_Files/configfile.h
+        Header_Files/MemoryPool.tcc
+        Header_Files/MemoryPool.h)
 qt5_use_modules(${CMAKE_PROJECT_NAME} ${QT})
 
 target_link_libraries(${CMAKE_PROJECT_NAME}

Header_Files/MemoryPool.h

@@ -0,0 +1,98 @@
+/*-
+ * Copyright (c) 2013 Cosku Acay, http://www.coskuacay.com
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef MEMORY_POOL_H
+#define MEMORY_POOL_H
+
+#include <climits>
+#include <cstddef>
+
+template <typename T, size_t BlockSize = 16368000>
+class MemoryPool
+{
+  public:
+    /* Member types */
+    typedef T               value_type;
+    typedef T*              pointer;
+    typedef T&              reference;
+    typedef const T*        const_pointer;
+    typedef const T&        const_reference;
+    typedef size_t          size_type;
+    typedef ptrdiff_t       difference_type;
+    typedef std::false_type propagate_on_container_copy_assignment;
+    typedef std::true_type  propagate_on_container_move_assignment;
+    typedef std::true_type  propagate_on_container_swap;
+
+    template <typename U> struct rebind {
+      typedef MemoryPool<U> other;
+    };
+
+    /* Member functions */
+    MemoryPool() noexcept;
+    MemoryPool(const MemoryPool& memoryPool) noexcept;
+    MemoryPool(MemoryPool&& memoryPool) noexcept;
+    template <class U> MemoryPool(const MemoryPool<U>& memoryPool) noexcept;
+
+    ~MemoryPool() noexcept;
+
+    MemoryPool& operator=(const MemoryPool& memoryPool) = delete;
+    MemoryPool& operator=(MemoryPool&& memoryPool) noexcept;
+
+    pointer address(reference x) const noexcept;
+    const_pointer address(const_reference x) const noexcept;
+
+    // Can only allocate one object at a time. n and hint are ignored
+    pointer allocate(size_type n = 1, const_pointer hint = 0);
+    void deallocate(pointer p, size_type n = 1);
+
+    size_type max_size() const noexcept;
+
+    template <class U, class... Args> void construct(U* p, Args&&... args);
+    template <class U> void destroy(U* p);
+
+    template <class... Args> pointer newElement(Args&&... args);
+    void deleteElement(pointer p);
+
+  private:
+    union Slot_ {
+      value_type element;
+      Slot_* next;
+    };
+
+    typedef char* data_pointer_;
+    typedef Slot_ slot_type_;
+    typedef Slot_* slot_pointer_;
+
+    slot_pointer_ currentBlock_;
+    slot_pointer_ currentSlot_;
+    slot_pointer_ lastSlot_;
+    slot_pointer_ freeSlots_;
+
+    size_type padPointer(data_pointer_ p, size_type align) const noexcept;
+    void allocateBlock();
+
+    static_assert(BlockSize >= 2 * sizeof(slot_type_), "BlockSize too small.");
+};
+
+#include "MemoryPool.tcc"
+
+#endif // MEMORY_POOL_H

Header_Files/MemoryPool.tcc

@@ -0,0 +1,235 @@
+/*-
+ * Copyright (c) 2013 Cosku Acay, http://www.coskuacay.com
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef MEMORY_BLOCK_TCC
+#define MEMORY_BLOCK_TCC
+
+
+
+template <typename T, size_t BlockSize>
+inline typename MemoryPool<T, BlockSize>::size_type
+MemoryPool<T, BlockSize>::padPointer(data_pointer_ p, size_type align)
+const noexcept
+{
+  uintptr_t result = reinterpret_cast<uintptr_t>(p);
+  return ((align - result) % align);
+}
+
+
+
+template <typename T, size_t BlockSize>
+MemoryPool<T, BlockSize>::MemoryPool()
+noexcept
+{
+  currentBlock_ = nullptr;
+  currentSlot_ = nullptr;
+  lastSlot_ = nullptr;
+  freeSlots_ = nullptr;
+}
+
+
+
+template <typename T, size_t BlockSize>
+MemoryPool<T, BlockSize>::MemoryPool(const MemoryPool& memoryPool)
+noexcept :
+MemoryPool()
+{}
+
+
+
+template <typename T, size_t BlockSize>
+MemoryPool<T, BlockSize>::MemoryPool(MemoryPool&& memoryPool)
+noexcept
+{
+  currentBlock_ = memoryPool.currentBlock_;
+  memoryPool.currentBlock_ = nullptr;
+  currentSlot_ = memoryPool.currentSlot_;
+  lastSlot_ = memoryPool.lastSlot_;
+  freeSlots_ = memoryPool.freeSlots;
+}
+
+
+template <typename T, size_t BlockSize>
+template<class U>
+MemoryPool<T, BlockSize>::MemoryPool(const MemoryPool<U>& memoryPool)
+noexcept :
+MemoryPool()
+{}
+
+
+
+template <typename T, size_t BlockSize>
+MemoryPool<T, BlockSize>&
+MemoryPool<T, BlockSize>::operator=(MemoryPool&& memoryPool)
+noexcept
+{
+  if (this != &memoryPool)
+  {
+    std::swap(currentBlock_, memoryPool.currentBlock_);
+    currentSlot_ = memoryPool.currentSlot_;
+    lastSlot_ = memoryPool.lastSlot_;
+    freeSlots_ = memoryPool.freeSlots;
+  }
+  return *this;
+}
+
+
+
+template <typename T, size_t BlockSize>
+MemoryPool<T, BlockSize>::~MemoryPool()
+noexcept
+{
+  slot_pointer_ curr = currentBlock_;
+  while (curr != nullptr) {
+    slot_pointer_ prev = curr->next;
+    operator delete(reinterpret_cast<void*>(curr));
+    curr = prev;
+  }
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline typename MemoryPool<T, BlockSize>::pointer
+MemoryPool<T, BlockSize>::address(reference x)
+const noexcept
+{
+  return &x;
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline typename MemoryPool<T, BlockSize>::const_pointer
+MemoryPool<T, BlockSize>::address(const_reference x)
+const noexcept
+{
+  return &x;
+}
+
+
+
+template <typename T, size_t BlockSize>
+void
+MemoryPool<T, BlockSize>::allocateBlock()
+{
+  // Allocate space for the new block and store a pointer to the previous one
+  data_pointer_ newBlock = reinterpret_cast<data_pointer_>
+                           (operator new(BlockSize));
+  reinterpret_cast<slot_pointer_>(newBlock)->next = currentBlock_;
+  currentBlock_ = reinterpret_cast<slot_pointer_>(newBlock);
+  // Pad block body to staisfy the alignment requirements for elements
+  data_pointer_ body = newBlock + sizeof(slot_pointer_);
+  size_type bodyPadding = padPointer(body, alignof(slot_type_));
+  currentSlot_ = reinterpret_cast<slot_pointer_>(body + bodyPadding);
+  lastSlot_ = reinterpret_cast<slot_pointer_>
+              (newBlock + BlockSize - sizeof(slot_type_) + 1);
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline typename MemoryPool<T, BlockSize>::pointer
+MemoryPool<T, BlockSize>::allocate(size_type n, const_pointer hint)
+{
+  if (freeSlots_ != nullptr) {
+    pointer result = reinterpret_cast<pointer>(freeSlots_);
+    freeSlots_ = freeSlots_->next;
+    return result;
+  }
+  else {
+    if (currentSlot_ >= lastSlot_)
+      allocateBlock();
+    return reinterpret_cast<pointer>(currentSlot_++);
+  }
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline void
+MemoryPool<T, BlockSize>::deallocate(pointer p, size_type n)
+{
+  if (p != nullptr) {
+    reinterpret_cast<slot_pointer_>(p)->next = freeSlots_;
+    freeSlots_ = reinterpret_cast<slot_pointer_>(p);
+  }
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline typename MemoryPool<T, BlockSize>::size_type
+MemoryPool<T, BlockSize>::max_size()
+const noexcept
+{
+  size_type maxBlocks = -1 / BlockSize;
+  return (BlockSize - sizeof(data_pointer_)) / sizeof(slot_type_) * maxBlocks;
+}
+
+
+
+template <typename T, size_t BlockSize>
+template <class U, class... Args>
+inline void
+MemoryPool<T, BlockSize>::construct(U* p, Args&&... args)
+{
+  new (p) U (std::forward<Args>(args)...);
+}
+
+
+
+template <typename T, size_t BlockSize>
+template <class U>
+inline void
+MemoryPool<T, BlockSize>::destroy(U* p)
+{
+  p->~U();
+}
+
+
+
+template <typename T, size_t BlockSize>
+template <class... Args>
+inline typename MemoryPool<T, BlockSize>::pointer
+MemoryPool<T, BlockSize>::newElement(Args&&... args)
+{
+  pointer result = allocate();
+  construct<value_type>(result, std::forward<Args>(args)...);
+  return result;
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline void
+MemoryPool<T, BlockSize>::deleteElement(pointer p)
+{
+  if (p != nullptr) {
+    p->~value_type();
+    deallocate(p);
+  }
+}
+
+
+
+#endif // MEMORY_BLOCK_TCC

Header_Files/sbgrecorder.h

@@ -69,8 +69,7 @@ namespace sbgtc
 
         void sbgSolutionModeSignal(int);
 
-        void sbgAccuracySignal(int);
+        void sbgAccuracySignal(int, int);
-
     };
 
 }

Header_Files/udpserver.h

@@ -63,7 +63,7 @@ public slots:
     void sendSerialPortStatus(int serialPortStatus);
 
     void sendSbgSolutionModeState(int SolutionMode);
-    void sendSbgAccuracyState(int Accuracy);
+    void sendSbgAccuracyState(int Accuracy,int SatelliteCounter);
 
     void sendXimeaImageStatus(int ximeaImageStatus);
     void sendCopyFileStatus(int fileStatus);

Header_Files/ximeaimager.h

@@ -37,6 +37,11 @@
 #include "math.h"
 #include "utility_tc.h"
 
+#include "MemoryPool.h"
+#include <queue>
+#include <QMutex>
+
+
 
 //#ifdef WIN32
 //#include <xiApi.h>       // Windows
@@ -44,6 +49,23 @@
 //#include <m3api/xiApi.h> // Linux, OSX
 //#endif
 
+//struct DataBuffer
+//{
+//    unsigned short data[409200/2];
+//};
+
+class DataBuffer
+{
+public:
+    DataBuffer();
+    ~DataBuffer();
+
+    unsigned short data[425600];//304*1400=425600，为了兼容所有设置spectral bin和spatial bin
+
+private:
+
+};
+
 class RecordXimeaTemperature : public QObject
 {
 Q_OBJECT
@@ -64,6 +86,30 @@ signals:
 
 };
 
+//queue<DataBuffer *> q;
+//static QMutex r_qtx{ QMutex::Recursive };
+static std::mutex r_qtx;
+
+class WriteData2Disk : public QObject
+{
+Q_OBJECT
+
+public:
+    WriteData2Disk();
+    void setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, MemoryPool<DataBuffer> * pool);
+
+private:
+    queue<DataBuffer *> * m_q;
+    QString m_QbaseFileName;
+    int m_iFrameSizeInByte;
+    MemoryPool<DataBuffer> * m_pool;
+
+public slots:
+    void write2Disk();
+
+signals:
+};
+
 class XimeaImager : public QObject
 {
     Q_OBJECT
@@ -99,11 +145,17 @@ private:
     QThread * m_recordTempThread;
     RecordXimeaTemperature * m_ximeaTemperature;
 
+    QThread * writeData2DiskThread;
+    WriteData2Disk * writeData2Disk;
+    queue<DataBuffer *> * q;
+    MemoryPool<DataBuffer> * m_pool;
+
     QString m_baseFileName;
     QString m_ximeaTemperatureCSVPath;
 
     Iris::IrisXimeaImager m_imager;
     unsigned short * m_buffer;
+//    MemoryPool<unsigned short> m_pool;
     bool m_bRecordControl;
     int m_iFrameCounter;
     int m_iFrameSizeInByte;
@@ -132,6 +184,8 @@ private:
 
     Configfile m_configfile;
 
+
+
 public slots:
     void openImger();
     void closeImger();
@@ -143,5 +197,6 @@ signals:
     void ximeaImageStatus(int);
 
     void recordXimeaTemperatureSignal(QString);
+    void startWriteDiskSignal();
 };
 #endif // XIMEAIMAGER_H

Source_Files/sbgrecorder.cpp

@@ -671,13 +671,11 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
     }
     else if(receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_GPS1_POS)
     {
-//        std::cout<<"纬度精度为："<<logData.gpsPosData.latitudeAccuracy<<std::endl;
-
         float maximal=0;
         float latitudeAccuracy=logData.gpsPosData.latitudeAccuracy;
         float longitudeAccuracy=logData.gpsPosData.longitudeAccuracy;
         float altitudeAccuracy=logData.gpsPosData.altitudeAccuracy;
-
+        int satelliteCounter=(int)logData.gpsPosData.numSvUsed;
 
         if(latitudeAccuracy<longitudeAccuracy)
             maximal = longitudeAccuracy;
@@ -687,7 +685,10 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
         if(maximal<altitudeAccuracy)
             maximal = altitudeAccuracy;
 
-        emit sbgAccuracySignal(static_cast<int>(maximal));
+//        std::cout<<"纬度精度为："<<maximal<<std::endl;
+//        std::cout<<"numSvUsed："<<satelliteCounter<<std::endl;
+
+        emit sbgAccuracySignal(static_cast<int>(maximal), satelliteCounter);
 
         if(maximal<7)
         {
@@ -710,15 +711,10 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
         char setGpsTimeCommand[256];
         sprintf(setGpsTimeCommand,"date --set=\"%d%02d%02d %02d:%02d:%02d\"",year,month,day,hour,minute,second);//02中的2代表2位数字，0代表以0补全
 
-        system(setGpsTimeCommand);//
+//        system(setGpsTimeCommand);
 
         m_bIsSyncSystemTimeBaseGpstime=true;
     }
-    else if(receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_EKF_EULER)
-    {
-//        std::cout<<"1111111111111"<<"UTC time:"<<(int)logData.utcData.year<<","<<(int)logData.utcData.month<<","<<(int)logData.utcData.day<<","<<(int)logData.utcData.hour<<","<<(int)logData.utcData.minute<<","<<(int)(int)logData.utcData.second<<std::endl;
-//        std::cout<<"receivedMsg:"<<(int)receivedMsg<<std::endl;
-    }
     else if(receivedMsgClass!=SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_EKF_QUAT)
     {
         //std::cout<<"1111111111111------"<<"UTC time:"<<(int)logData.utcData.year<<","<<(int)logData.utcData.month<<","<<(int)logData.utcData.day<<","<<(int)logData.utcData.hour<<","<<(int)logData.utcData.minute<<","<<(int)(int)logData.utcData.second<<std::endl;

Source_Files/udpserver.cpp

@@ -16,7 +16,7 @@ UdpServer::UdpServer()
     m_RecordThread=new QThread();
     m_imager=new XimeaImager();
     m_imager->moveToThread(m_RecordThread);
-    m_RecordThread->start();
+    m_RecordThread->start(QThread::HighestPriority);
 
     m_CopyFileThread=new QThread();
     m_copyFile=new FileOperation();
@@ -47,7 +47,7 @@ UdpServer::UdpServer()
     connect(m_sbgRecorder, SIGNAL(serialPortStatus(int)),this, SLOT(sendSerialPortStatus(int)));
 
     connect(m_sbgRecorder, SIGNAL(sbgSolutionModeSignal(int)),this, SLOT(sendSbgSolutionModeState(int)));
-    connect(m_sbgRecorder, SIGNAL(sbgAccuracySignal(int)),this, SLOT(sendSbgAccuracyState(int)));
+    connect(m_sbgRecorder, SIGNAL(sbgAccuracySignal(int,int)),this, SLOT(sendSbgAccuracyState(int,int)));
 
     connect(m_imager, SIGNAL(ximeaImageStatus(int)),this, SLOT(sendXimeaImageStatus(int)));
     connect(m_copyFile, SIGNAL(copyFileStatus(int)),this, SLOT(sendCopyFileStatus(int)));
@@ -284,13 +284,13 @@ void UdpServer::sendSbgSolutionModeState(int SolutionMode)
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
 }
 
-void UdpServer::sendSbgAccuracyState(int Accuracy)
+void UdpServer::sendSbgAccuracyState(int Accuracy,int SatelliteCounter)
 {
 //    std::cout<<"UdpServer::sendSbgAccuracyState---------------------:"<< Accuracy <<std::endl;
 
     QByteArray datagram2send;
 
-    QString status = "Accuracy," + QString::number(Accuracy);
+    QString status = "Accuracy," + QString::number(Accuracy) + "," + QString::number(SatelliteCounter);
 
     datagram2send.operator =(status.toStdString().c_str());
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);

Source_Files/ximeaimager.cpp

@@ -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";
 
-        //
+        QString timesFileName=m_baseFileName+".times";
-        FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
         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;
+}