输出版本号：35

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/MemoryPool.h

@@ -26,7 +26,7 @@
 #include <climits>
 #include <cstddef>
 
-template <typename T, size_t BlockSize = 16368000>
+template <typename T, size_t BlockSize = 409200000>
 class MemoryPool
 {
   public:

Header_Files/configfile.h

@@ -34,9 +34,14 @@ public:
     bool getspatialBin(int &spatialBin);
     bool getEffectiveWindow(int &width, int &offsetx, int &height, int &offsety);
     bool getEffectiveWindowRoi(int &width, int &offsetx);
+    bool getWindowOffsety_HeightOfSpectral(int &offsety, int &height, string spectralBinString);//spectralBinString = "bin1"或者”bin2“
     bool getGainOffset(float &gain, float &offset);
+    bool getGainOffsetOfSpectralBin1(float &gain, float &offset);
     bool getSN(QString &SN);
 
+    bool getBufferPolicy(int &bufferPolicy);
+    bool getAcqBufferSize(int &acqBufferSize);
+
     bool createConfigFile();
     bool updateConfigFile();
 

Header_Files/udpserver.h

@@ -67,6 +67,7 @@ public slots:
 
     void sendXimeaImageStatus(int ximeaImageStatus);
     void sendXimeaAutoExposeMaxValueOfOneFrame(int autoExposeMaxValueOfOneFrame, double exposeTime);
+    void sendXimeaBinState(int spatialBin, int spectralBin);
     void sendXimeaImageFrameRate(double frameRate);
     void sendCopyFileStatus(int fileStatus);
 };

Header_Files/ximeaimager.h

@@ -25,6 +25,8 @@
 #include <fstream>
 #include <unistd.h>
 #include <exception>
+#include <fcntl.h>
+#include <sys/mman.h>
 
 #include <QObject>
 #include <QDateTime>
@@ -62,7 +64,7 @@ public:
     DataBuffer();
     ~DataBuffer();
 
-    unsigned short data[425600];//304*1400=425600，为了兼容所有设置spectral bin和spatial bin
+    unsigned short data[41040000];//1368*300*100=41040000，为了兼容所有设置spectral bin和spatial bin
 
 private:
 
@@ -98,18 +100,22 @@ Q_OBJECT
 
 public:
     WriteData2Disk();
-    void setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, 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;
     MemoryPool<DataBuffer> * m_pool;
+    bool isExitWriteData2Disk;
 
     rgbImage * m_rgbImage;
 
 public slots:
     void write2Disk();
+    void exitWriteData2Disk();
 
 signals:
 };
@@ -139,6 +145,7 @@ public:
 
     void stopRecord();
     int getFrameCounter();
+    void writeXiApiErrorCodes(QString filePath, int xiApiErrorCodes);
 
     int getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel);
 
@@ -148,12 +155,16 @@ private:
     int m_iImagerState;
     int m_iImagerStateTemp;
 
+    int m_iOffsetyOfSpectralBin1, m_iOffsetyOfSpectralBin2;
+    int m_iHeightOfSpectralBin1, m_iHeightOfSpectralBin2;
+
     QThread * m_recordTempThread;
     RecordXimeaTemperature * m_ximeaTemperature;
 
     QThread * writeData2DiskThread;
     WriteData2Disk * writeData2Disk;
     queue<DataBuffer *> * q;
+    queue<int> * m_qFrameCounter;
     MemoryPool<DataBuffer> * m_pool;
 
     QString m_baseFileName;
@@ -170,23 +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;
@@ -197,6 +195,7 @@ public slots:
     void openImger();
     void closeImger();
 
+    double calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * m_image, double timeDifferenceBetweenSbgAndOS);
     void startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName);
 
 signals:
@@ -208,5 +207,6 @@ signals:
 
     void autoExposeMaxValueOfOneFrame(int, double);
     void frameRateSignal(double);
+    void binSignal(int, int);
 };
 #endif // XIMEAIMAGER_H

Source_Files/configfile.cpp

@@ -166,6 +166,28 @@ bool Configfile::getEffectiveWindowRoi(int &width, int &offsetx)
     return true;
 }
 
+bool Configfile::getWindowOffsety_HeightOfSpectral(int &offsety, int &height, string spectralBinString)
+{
+    const Setting& root = cfg.getRoot();
+
+    try
+    {
+        const Setting &spectralArgument = root["effective_window"][spectralBinString]["spectral"];
+        if(!(spectralArgument.lookupValue("height", height)
+             && spectralArgument.lookupValue("offsety", offsety)))
+        {
+            return false;
+        }
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        // Ignore.
+        return false;
+    }
+
+    return true;
+}
+
 bool Configfile::getGainOffset(float &gain, float &offset)
 {
     const Setting& root = cfg.getRoot();
@@ -206,6 +228,35 @@ bool Configfile::getGainOffset(float &gain, float &offset)
     return true;
 }
 
+bool Configfile::getGainOffsetOfSpectralBin1(float &gain, float &offset)
+{
+    const Setting& root = cfg.getRoot();
+
+    try
+    {
+        const Setting &gainOffset = root["gainOffset"];
+        int count = gainOffset.getLength();
+
+        string spectralBinString = "spectralBin1";
+
+        const Setting &gainOffsetSetting = gainOffset[spectralBinString];
+        string name = gainOffsetSetting.getName();
+
+        if(!(gainOffsetSetting.lookupValue("gain", gain)
+             && gainOffsetSetting.lookupValue("offset", offset)))
+        {
+            return false;
+        }
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        // Ignore.
+        return false;
+    }
+
+    return true;
+}
+
 bool Configfile::getSN(QString &SN)
 {
     try
@@ -222,6 +273,50 @@ bool Configfile::getSN(QString &SN)
     }
 }
 
+bool Configfile::getBufferPolicy(int &bufferPolicy)
+{
+    const Setting& root = cfg.getRoot();
+    const Setting &ximeadll = root["ximeadll"];
+
+    try
+    {
+        if(!(ximeadll.lookupValue("buffer_policy", bufferPolicy)
+        ))
+        {
+            return false;
+        }
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+
+    return true;
+}
+
+bool Configfile::getAcqBufferSize(int &acqBufferSize)
+{
+    const Setting& root = cfg.getRoot();
+    const Setting &ximeadll = root["ximeadll"];
+
+    try
+    {
+        if(!(ximeadll.lookupValue("acq_buffer_size", acqBufferSize)
+        ))
+        {
+            return false;
+        }
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+
+    return true;
+}
+
 bool Configfile::createConfigFile()
 {
     using namespace std;
@@ -279,6 +374,11 @@ bool Configfile::createConfigFile()
     gainOffsetSpectralBin2.add("offset", Setting::TypeFloat) = -299.46126663407176;
 
 
+    Setting &ximeadll = root.add("ximeadll", Setting::TypeGroup);
+    ximeadll.add("buffer_policy", Setting::TypeInt) = 0;
+    ximeadll.add("acq_buffer_size", Setting::TypeInt) = 400;
+
+
     // Write out the new configuration.
     QString output_file = "/media/nvme/300TC/config/ximea.cfg";
     try

Source_Files/main.cpp

@@ -3,6 +3,7 @@
 
 int main(int argc, char *argv[])
 {
+    std::cout<<"ximeaAirborneSystem 版本："<< "35." <<std::endl;
     QCoreApplication a(argc, argv);
 
     //UdpServer* x=new UdpServer();

Source_Files/udpserver.cpp

@@ -8,16 +8,16 @@ UdpServer::UdpServer()
     m_udpSocket->bind(45454, QUdpSocket::ShareAddress);
     connect(m_udpSocket, SIGNAL(readyRead()),this, SLOT(processPendingDatagrams()));
 
-    m_RecordSbgThread=new QThread();
-    m_sbgRecorder=new sbgtc::SbgRecorder();
-    m_sbgRecorder->moveToThread(m_RecordSbgThread);
-    m_RecordSbgThread->start();
-
     m_RecordThread=new QThread();
     m_imager=new XimeaImager();
     m_imager->moveToThread(m_RecordThread);
     m_RecordThread->start(QThread::HighestPriority);
 
+    m_RecordSbgThread=new QThread();
+    m_sbgRecorder=new sbgtc::SbgRecorder();
+    m_sbgRecorder->moveToThread(m_RecordSbgThread);
+    m_RecordSbgThread->start();
+
     m_CopyFileThread=new QThread();
     m_copyFile=new FileOperation();
     m_copyFile->moveToThread(m_CopyFileThread);
@@ -51,6 +51,7 @@ UdpServer::UdpServer()
 
     connect(m_imager, SIGNAL(ximeaImageStatus(int)),this, SLOT(sendXimeaImageStatus(int)));
     connect(m_imager, SIGNAL(autoExposeMaxValueOfOneFrame(int, double)),this, SLOT(sendXimeaAutoExposeMaxValueOfOneFrame(int, double)));
+    connect(m_imager, SIGNAL(binSignal(int, int)),this, SLOT(sendXimeaBinState(int, int)));
     connect(m_imager, SIGNAL(frameRateSignal(double)),this, SLOT(sendXimeaImageFrameRate(double)));
     connect(m_copyFile, SIGNAL(copyFileStatus(int)),this, SLOT(sendCopyFileStatus(int)));
 
@@ -59,10 +60,10 @@ 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;
@@ -309,6 +310,18 @@ void UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame(int autoExposeMaxValueOfOn
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
 }
 
+void UdpServer::sendXimeaBinState(int spatialBin, int spectralBin)
+{
+//    std::cout<<"UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame---------------------:"<< ximeaImageStatus <<std::endl;
+
+    QByteArray datagram2send;
+
+    QString status = "bin," + QString::number(spatialBin) + "," + QString::number(spectralBin);
+
+    datagram2send.operator =(status.toStdString().c_str());
+    m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+}
+
 void UdpServer::sendXimeaImageFrameRate(double frameRate)
 {
 //    std::cout<<"UdpServer::sendXimeaImageFrameRate---------------------:"<< ximeaImageStatus <<std::endl;

Source_Files/ximeaimager.cpp

@@ -7,13 +7,27 @@ XimeaImager::XimeaImager()
     m_iFrameCounter=0;
     m_iImagerState=100;
 
-    //connect(this, SIGNAL(recordFinished()),this, SLOT());
-
     QString ximeaCfgFile = "/media/nvme/300TC/config/ximea.cfg";
     m_configfile.setConfigfilePath(ximeaCfgFile.toStdString());
     if(!m_configfile.isConfigfileExist())
         m_configfile.createConfigFile();
     m_configfile.parseConfigfile();
+    m_configfile.getWindowOffsety_HeightOfSpectral(m_iOffsetyOfSpectralBin1, m_iHeightOfSpectralBin1, "bin1");
+    m_configfile.getWindowOffsety_HeightOfSpectral(m_iOffsetyOfSpectralBin2, m_iHeightOfSpectralBin2, "bin2");
+    //检查 ximea.cfg 是否满足要求
+    if(m_iOffsetyOfSpectralBin2 != m_iOffsetyOfSpectralBin1 / 2)
+    {
+        std::cout<<"ximea.cfg 错误：m_iOffsetyOfSpectralBin2 != m_iOffsetyOfSpectralBin1 / 2!"<<std::endl;
+    }
+    if(m_iOffsetyOfSpectralBin2 % 2 != 0)
+    {
+        std::cout<<"ximea.cfg 错误：m_iOffsetyOfSpectralBin2 不是 2 的倍数，ximea相机不接受!"<<std::endl;
+    }
+    if(m_iHeightOfSpectralBin1 < m_iHeightOfSpectralBin2 * 2)
+    {
+        std::cout<<"ximea.cfg 错误：bin1 波段数小于 bin2 波段数的 2 倍!"<<std::endl;
+    }
+
 
     m_recordTempThread=new QThread();
     m_ximeaTemperature = new RecordXimeaTemperature(&m_imager);
@@ -30,6 +44,7 @@ XimeaImager::XimeaImager()
 
     m_pool = new MemoryPool<DataBuffer>;
     q = new queue<DataBuffer *>;
+    m_qFrameCounter = new queue<int>;
 
     m_rgbImage = new rgbImage();
 }
@@ -63,10 +78,14 @@ void XimeaImager::openImger()
         {
             bool haha = m_imager.setSpectralBin(spectralBin);
             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
-        ret = m_configfile.getGainOffset(gain, offset);
+        ret = m_configfile.getGainOffsetOfSpectralBin1(gain, offset);
         if (ret)
         {
             m_imager.setGainOffset(gain, offset);
@@ -80,6 +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;
@@ -89,6 +109,18 @@ void XimeaImager::openImger()
 //            m_imager.setEffectiveWindowRoi(offsetx_roi, width_roi);
 //        }
 
+        int bufferPolicy, acqBufferSize;
+        ret1 = m_configfile.getBufferPolicy(bufferPolicy);
+        if (ret1)
+        {
+            m_imager.setBufferPolicy(bufferPolicy);
+        }
+        ret1 = m_configfile.getAcqBufferSize(acqBufferSize);
+        if (ret1)
+        {
+            m_imager.setAcqBufferSize(acqBufferSize);
+        }
+
         setFramerate(100);
 
         //经验证：frameSizeManual和frameSizeAuto相等
@@ -461,6 +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；
@@ -487,17 +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+");
         std::cout << "曝光时间为：" << getExposureTime()/1000 << "ms" <<std::endl;
 
         using namespace std;
 //        ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");
 
-        writeData2Disk->setParm(q,m_baseFileName,m_iFrameSizeInByte, m_pool, m_rgbImage);
+        int number_WriteDisk = 100;
+        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;
@@ -505,69 +572,89 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         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);
-            //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
-
-
-
-            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);
+            if (m_iFrameCounter == 1)
+            {
+                timeDifferenceBetweenSbgAndXimea = calculateTimeDifferenceBetweenSbgAndximea(&m_imager.m_image, TimeDifferenceBetweensOSAndSbg);
+            }
 
-            fprintf(hHimesFile,"%f\n",sbgTime);
+            indexofbuff = m_iFrameCounter % number_WriteDisk;
-            //fwrite(&sbgTime,sizeof(double),1,hHimesFile);
 
-//            timesFileHandle << sbgTime << "\n";
+            if (indexofbuff == 1)
-//            std::cout<<"XimeaImager::startRecord---std::cout: "<<sbgTime<<std::endl;
+            {
+                r_qtx.lock();
+                buffer = m_pool->newElement();
+                r_qtx.unlock();
+            }
 
-//            unsigned char pixel = *(unsigned char*)image.bp;//Default value: XI_MONO8
+            if (indexofbuff == 0)
-//            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);
+                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]);
+            }
+
+            std::cout << "没凑满: " << indexofbuff <<std::endl;
         }
         gettimeofday(&timeEnd, NULL);
         runTime = (timeEnd.tv_sec - timeStart.tv_sec ) + (double)(timeEnd.tv_usec -timeStart.tv_usec)/1000000;
         m_imager.stop();
+        writeData2Disk->exitWriteData2Disk();
+        writeHdr();
+
+        delete[] sbgTimeBuffer;
 
         double frameInTheory=runTime * getFramerate();
-        double frameLossed=frameInTheory - m_iFrameCounter;
-        double frameLossRate=frameLossed / frameInTheory;
 
-        std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<<std::endl;
+        double frameLossed = m_imager.m_image.acq_nframe - m_iFrameCounter;
+        double frameLossRate = frameLossed / m_imager.m_image.acq_nframe;
+
+        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: "<<frameInTheory<<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;
 
         fclose(hHimesFile);
 //        timesFileHandle.close();
+//        timesFile.close();
 
         timeStr = formatTimeStr(timeFormat);
         printf("停止采集：%s!\n", timeStr.toStdString().c_str());
 
-        writeHdr();
-
         m_iImagerState=m_iImagerStateTemp;
         emit ximeaImageStatus(m_iImagerState);
 
@@ -613,16 +700,43 @@ void XimeaImager::writeHdr()
     hdrFileHandle << "wavelength units = nanometers\n";
     hdrFileHandle << "wavelength = {";
     //hdrFileHandle << std::setprecision(5);
-    for (int i = getWindowStartBand(); i < getWindowEndBand(); i++)
+
+    if (m_imager.getSpectralBin() == 1)
     {
-        hdrFileHandle << geWavelengthAtBand(i);
+        for (int i = getWindowStartBand(); i < getWindowEndBand(); i++)
-        if (i < getWindowEndBand() - 1)
-            hdrFileHandle << ", ";
-        else
         {
-            printf("头文件中写入了多少个波段:%d\n",i-getWindowStartBand()+1);//???????????????
+            hdrFileHandle << geWavelengthAtBand(i);
+            if (i < getWindowEndBand() - 1)
+                hdrFileHandle << ", ";
+            else
+            {
+                printf("头文件中写入了多少个波段:%d\n",i-getWindowStartBand()+1);//???????????????
+            }
         }
     }
+    else if (m_imager.getSpectralBin() == 2)
+    {
+        int counter = 0;
+        for (int i = m_iOffsetyOfSpectralBin2; i < m_iOffsetyOfSpectralBin2 + m_iHeightOfSpectralBin2; i++)
+        {
+            if (i*2 + 1 > m_iOffsetyOfSpectralBin1 + m_iHeightOfSpectralBin1)
+            {
+                printf("XimeaImager::writeHdr 出现错误：窗口中，光谱 bin1 波段数小于 bin2 的 2 倍。\n");
+                break;
+            }
+
+            hdrFileHandle << (geWavelengthAtBand(i*2) + geWavelengthAtBand(i*2 + 1)) / 2;
+            counter++;
+            if (i < m_iOffsetyOfSpectralBin2 + m_iHeightOfSpectralBin2 - 1)
+                hdrFileHandle << ", ";
+            else
+            {
+                printf("头文件中写入了多少个波段:%d\n", counter);
+            }
+        }
+    }
+
+
     hdrFileHandle << "}\n";
     hdrFileHandle.close();
 }
@@ -701,6 +815,18 @@ void XimeaImager::processXiApiErrorCodes(int xiApiErrorCodes)
         m_iImagerState=xiApiErrorCodes;
         emit ximeaImageStatus(m_iImagerState);
 
+        break;
+    case 10:
+        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Timeout!"<<std::endl;
+        m_iImagerState=xiApiErrorCodes;
+        emit ximeaImageStatus(m_iImagerState);
+
+        break;
+    case 11:
+        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Invalid arguments supplied!"<<std::endl;
+        m_iImagerState=xiApiErrorCodes;
+        emit ximeaImageStatus(m_iImagerState);
+
         break;
     case 12:
         std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Not supported!"<<std::endl;
@@ -727,20 +853,26 @@ void XimeaImager::processXiApiErrorCodes(int xiApiErrorCodes)
 
         break;
     default:
-        QString ximeaError="ximeaError.txt";
-        ofstream ximeaErrorFile(ximeaError.toStdString().c_str(),ios::app);
-
-        ximeaErrorFile<< xiApiErrorCodes << "\n";
-        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:未处理ximea异常代码："<< xiApiErrorCodes <<std::endl;
-
-        ximeaErrorFile.close();
-
-
-
         m_iImagerState=99;
         emit ximeaImageStatus(m_iImagerState);
         break;
     }
+
+    writeXiApiErrorCodes("/media/nvme/300TC/ximeaError.txt", xiApiErrorCodes);
+}
+
+void XimeaImager::writeXiApiErrorCodes(QString filePath, int xiApiErrorCodes)
+{
+    ofstream ximeaErrorFile(filePath.toStdString().c_str(),ios::app);
+
+    char * timeFormat="%Y%m%d_%H%M%S";
+    QString timeStr = formatTimeStr(timeFormat);
+
+    ximeaErrorFile<< timeStr.toStdString().c_str() << ": " << xiApiErrorCodes << "\n";
+
+    std::cout<<"XimeaImager::writeXiApiErrorCodes-----------:xiApiErrorCodes: "<<timeStr.toStdString().c_str()<< ": " << xiApiErrorCodes<<std::endl;
+
+    ximeaErrorFile.close();
 }
 
 void XimeaImager::stopRecord()
@@ -800,43 +932,63 @@ void RecordXimeaTemperature::recordTemperature(QString filePath= nullptr)
 
 WriteData2Disk::WriteData2Disk()
 {
+    isExitWriteData2Disk = false;
 }
 
 void WriteData2Disk::write2Disk()
 {
     QString imageFileName=m_QbaseFileName+".bil";
-    FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
+//    FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
+
+
+    int fd = open(imageFileName.toStdString().c_str(), O_RDWR | O_CREAT, S_IRUSR | S_IWUSR);
+
+    size_t fileSize = m_iFrameSizeInByte*(size_t)100*(size_t)60*(size_t)5;
+    size_t fileSizeIncrement = m_iFrameSizeInByte*(size_t)100*(size_t)60*(size_t)5;
+    if (lseek(fd, fileSize - 1, SEEK_SET) == -1) {
+        std::cerr << "Error calling lseek()\n";
+        return;
+    }
+    if (write(fd, "", 1) == -1) {
+        std::cerr << "Error writing last byte of the file\n";
+        return;
+    }
+    void* addr = mmap(nullptr, fileSize, PROT_WRITE, MAP_SHARED, fd, 0);
+    if (addr == MAP_FAILED) {
+        std::cerr << "Error mmapping the file\n";
+        return;
+    }
+
+    size_t sizeWrited2disk = 0;
 
-    int sleepCounters=1;
     int frameCounter = 0;
-    unsigned short * dataBuffer = new unsigned short[m_iFrameSizeInByte/2];
+    int frameNumber;
+    unsigned short * dataBuffer = new unsigned short[m_iFrameSizeInByte/2*m_iNumber_WriteDisk];
+    isExitWriteData2Disk = false;
     while(true)
     {
         r_qtx.lock();
         bool bempty=m_q->empty();
         r_qtx.unlock();
-        if(bempty)
+        if(bempty && isExitWriteData2Disk)
+        {
+            std::cout<<"WriteData2Disk::write2Disk-----------------------队列为空，采集线程已经退出！"<<std::endl;
+            break;
+        }
+        else if(bempty && !isExitWriteData2Disk)
         {
-            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);
+        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
@@ -844,21 +996,87 @@ void WriteData2Disk::write2Disk()
 
 
 //        std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//
-        fwrite(dataBuffer,1,m_iFrameSizeInByte, hFile);
+
+
+        if (fileSize < sizeWrited2disk + m_iFrameSizeInByte*frameNumber)
+        {
+//            if (munmap(addr, fileSize) == -1) {
+//                std::cerr << "Error un-mmapping the file\n";
+//            }
+
+//            std::cout<<"老fileSize：" << fileSize <<std::endl;
+            size_t new_size = fileSize + fileSizeIncrement;
+            if (ftruncate(fd, new_size) == -1) {
+                std::cerr << "Error calling ftruncate()\n";
+                return;
+            }
+
+            // Remap the file with the new size
+            addr = mremap(addr, fileSize, new_size, MREMAP_MAYMOVE);
+            if (addr == MAP_FAILED) {
+                std::cerr << "Error calling mremap()\n";
+                return;
+            }
+
+            fileSize = new_size;
+//            std::cout<<"新fileSize：" << fileSize <<std::endl;
+
+        }
+//        fwrite(dataBuffer,1,m_iFrameSizeInByte*frameNumber, hFile);
+        memcpy(addr + sizeWrited2disk, dataBuffer, m_iFrameSizeInByte*frameNumber);
+
+        sizeWrited2disk = sizeWrited2disk + m_iFrameSizeInByte*frameNumber;
+//        std::cout<<"sizeWrited2disk：" << sizeWrited2disk <<std::endl;
+
         frameCounter++;
     }
     m_rgbImage->m_VideoWriter.release();
-    fclose(hFile);
+//    fclose(hFile);
+    delete[] dataBuffer;
+
+
+
+
+//    if (munmap(addr, fileSize) == -1) {
+//        std::cerr << "Error un-mmapping the file\n";
+//    }
+
+    // Resize the file to 4096 bytes
+    if (ftruncate(fd, sizeWrited2disk) == -1) {
+        std::cerr << "Error calling ftruncate()\n";
+        return;
+    }
+
+    // Remap the file with the new size
+    addr = mremap(addr, fileSize, sizeWrited2disk, MREMAP_MAYMOVE);
+    if (addr == MAP_FAILED) {
+        std::cerr << "Error calling mremap()\n";
+        return;
+    }
+
+    if (munmap(addr, sizeWrited2disk) == -1) {
+        std::cerr << "Error un-mmapping the file\n";
+    }
+
+    close(fd);
+
 
     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;
+    std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，fwrite 调用次数：" << frameCounter <<std::endl;
 }
 
-void WriteData2Disk::setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
+void WriteData2Disk::exitWriteData2Disk()
+{
+    isExitWriteData2Disk = true;
+}
+
+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;
 
     m_pool = pool;