add：记录cpu温度；

记录上次设置的帧率和曝光时间，打开时，将上次的帧率和曝光时间设置为当前参数；

Header_Files/configfile.h

@@ -34,7 +34,9 @@ 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);
@@ -47,4 +49,55 @@ private:
     string m_configfilePath;
     Config cfg;
 };
+
+class ParameterConfigfile
+{
+public:
+    ParameterConfigfile();
+    void setConfigfilePath(string configfilePath);
+    bool isConfigfileExist();
+    bool parseConfigfile();
+
+    bool getFrameRate(int &frameRate);
+    bool setFrameRate(int frameRate);
+
+    bool getExposeTime(float &exposeTime);
+    bool setExposeTime(float exposeTime);
+
+    bool createConfigFile();
+//    bool updateConfigFile();
+    bool writeConfig2File();
+
+    string m_configfilePath;
+    Config cfg;
+private:
+};
+
+class StateOf300tcConfigfile:public ParameterConfigfile
+{
+public:
+    StateOf300tcConfigfile();
+
+    bool getSwitchState(bool &switchState);
+    bool setSwitchState(bool switchState);
+
+    bool getSbgState(int &sbgState);
+    bool setSbgState(int sbgState);
+
+    bool getSbgSolutionMode(int &sbgSolutionMode);
+    bool setSbgSolutionMode(int sbgSolutionMode);
+
+    bool getXimeaState(int &ximeaState);
+    bool setXimeaState(int ximeaState);
+
+    bool getExposeMaxValueOfOneFrame(int &exposeMaxValueOfOneFrame);
+    bool setExposeMaxValueOfOneFrame(int exposeMaxValueOfOneFrame);
+
+    bool createConfigFile();
+
+private:
+    bool getIntValue(int &value, string field);
+    bool setIntValue(int value, string field);
+
+};
 #endif //XIMEAIMAGERECORDER_CONFIGFILE_H

Header_Files/udpserver.h

@@ -11,17 +11,43 @@
 #include <QObject>
 #include <QThread>
 #include <QDir>
+#include <QtSerialPort/QSerialPort>
+#include <QtSerialPort/QSerialPortInfo>
 
 #include "ximeaimager.h"
 #include "sbgrecorder.h"
 #include "fileoperation.h"
 
+#include "configfile.h"
+
 extern "C"
 {
 //    #include <sbgEComLib.h>
     #include <stdlib.h>
 }
 
+class Record300TcTemperature : public QObject
+{
+Q_OBJECT
+
+public:
+    Record300TcTemperature();
+
+    void stopRecordTemperature();
+
+private:
+    bool m_bIsRecord;
+
+    QSerialPort * m_serial;
+
+    float parseMessage(QByteArray * data);
+public slots:
+    void recordTemperature(QString filePath);
+
+signals:
+
+};
+
 class UdpServer:public QObject
 {
     Q_OBJECT
@@ -48,6 +74,11 @@ class UdpServer:public QObject
 
     void sender(int status);
 
+    QThread * m_recordTempThread;
+    Record300TcTemperature * m_300tcTemperature;
+
+    StateOf300tcConfigfile stateOf300tc;
+
 signals:
     void systemStart();
     void systemStop();
@@ -56,6 +87,7 @@ signals:
     void startDeleteFileSignal();
 
     void recordXimeaOnlySignal(double,QString);
+    void record300tcTemperatureSignal(QString);
 
 public slots:
     void onRecordFinished();
@@ -67,6 +99,7 @@ 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

@@ -70,12 +70,13 @@ private:
 
 };
 
+class XimeaImager;
 class RecordXimeaTemperature : public QObject
 {
 Q_OBJECT
 
 public:
-    RecordXimeaTemperature(Iris::IrisXimeaImager * imager);
+    RecordXimeaTemperature(Iris::IrisXimeaImager * imager, XimeaImager * ximeaImager);
 
     void stopRecordTemperature();
 
@@ -83,6 +84,7 @@ private:
     Iris::IrisXimeaImager * m_imager;
 
     bool m_bIsRecord;
+    XimeaImager * m_ximeaImager;
 public slots:
     void recordTemperature(QString filePath);
 
@@ -100,10 +102,11 @@ 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;
@@ -129,7 +132,7 @@ public:
 
     void setFramerate(double framerate);
     double getFramerate();
-    double setExposureTime(float exposureTime);
+    double setExposureTime(float exposureTime_in_us);
     int wrapSetExposureTime(float exposureTime_in_us);
     double getExposureTime();
     double autoExposure();
@@ -154,12 +157,16 @@ 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;
@@ -176,26 +183,14 @@ private:
 
     void processXiApiErrorCodes(int xiApiErrorCodes);
 
-    inline double getSbgTime(double TimeDifferenceBetweensOSAndSbg)
+    inline double getSbgTime(XI_IMG * image, double timeDifferenceBetweenSbgAndXimea)
     {
-        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 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;
+        double ximeaTime = (double)image->tsSec + (double)image->tsUSec/1000000;
+        return ximeaTime + timeDifferenceBetweenSbgAndXimea;
     }
 
     Configfile m_configfile;
+    ParameterConfigfile m_parameterConfigfile;
 
 
 
@@ -203,6 +198,7 @@ public slots:
     void openImger();
     void closeImger();
 
+    double calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * m_image, double timeDifferenceBetweenSbgAndOS);
     void startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName);
 
 signals:
@@ -214,5 +210,6 @@ 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
@@ -417,3 +468,295 @@ bool Configfile::updateConfigFile()
 
     return true;
 }
+
+ParameterConfigfile::ParameterConfigfile()
+{
+
+}
+
+void ParameterConfigfile::setConfigfilePath(string configfilePath)
+{
+    m_configfilePath = configfilePath;
+}
+
+bool ParameterConfigfile::isConfigfileExist()
+{
+    QFileInfo info(QString::fromStdString(m_configfilePath));
+
+    return info.exists();
+}
+
+bool ParameterConfigfile::parseConfigfile()
+{
+    // Read the file. If there is an error, report it and exit.
+    try
+    {
+        cfg.readFile(m_configfilePath);
+
+        return true;
+    }
+    catch(const FileIOException &fioex)
+    {
+        std::cerr << "I/O error while reading file." << std::endl;
+        return false;
+    }
+    catch(const ParseException &pex)
+    {
+        std::cerr << "Parse error at " << pex.getFile() << ":" << pex.getLine()
+                  << " - " << pex.getError() << std::endl;
+        return false;
+    }
+}
+
+bool ParameterConfigfile::createConfigFile()
+{
+    using namespace std;
+    using namespace libconfig;
+
+    Config cfg;
+
+    Setting &root = cfg.getRoot();
+
+    // Add some settings to the configuration.
+//    Setting &SN = root.add("SN", Setting::TypeString) = "0098";
+//    Setting &spatialBin = root.add("spatialBin", Setting::TypeInt) = 2;
+//    Setting &SpectralBin = root.add("spectralBin", Setting::TypeInt) = 2;
+
+    Setting &ximeaParam = root.add("ximeaParam", Setting::TypeGroup);
+    ximeaParam.add("frameRate", Setting::TypeInt) = 100;
+    ximeaParam.add("exposeTime", Setting::TypeFloat) = 10.0;
+
+
+    // Write out the new configuration.
+    try
+    {
+        QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
+        bool ret = createDir(fileInfo[0]);
+
+        cfg.writeFile(m_configfilePath.c_str());
+        cerr << "New configuration successfully written to: " << m_configfilePath.c_str() << endl;
+
+    }
+    catch(const FileIOException &fioex)
+    {
+        cerr << "I/O error while writing configuration file: " << m_configfilePath.c_str() << endl;
+        return true;
+    }
+
+    return true;
+}
+
+bool ParameterConfigfile::getFrameRate(int &frameRate)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        const Setting &ximeaParam = root["ximeaParam"];
+        frameRate = ximeaParam.lookup("frameRate");
+
+//        std::cout << "ParameterConfigfile::getFrameRate："<< frameRate<<std::endl;
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'frameRate' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool ParameterConfigfile::setFrameRate(int frameRate)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        Setting &frameRate2 = root["ximeaParam"]["frameRate"];
+        frameRate2 = frameRate;
+
+        writeConfig2File();
+
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'frameRate' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool ParameterConfigfile::getExposeTime(float &exposeTime)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        const Setting &ximeaParam = root["ximeaParam"];
+        exposeTime = ximeaParam.lookup("exposeTime");
+
+//        std::cout << "ParameterConfigfile::getExposeTime"<< exposeTime<<std::endl;
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'exposeTime' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool ParameterConfigfile::setExposeTime(float exposeTime)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        Setting &frameRate2 = root["ximeaParam"]["exposeTime"];
+        frameRate2 = exposeTime;
+
+        writeConfig2File();
+
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'exposeTime' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool ParameterConfigfile::writeConfig2File()
+{
+    try
+    {
+        QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
+        bool ret = createDir(fileInfo[0]);
+
+        cfg.writeFile(m_configfilePath.c_str());
+//        cerr << "New configuration successfully written to: " << m_configfilePath.c_str() << endl;
+    }
+    catch(const FileIOException &fioex)
+    {
+        cerr << "I/O error while writing configuration file: " << m_configfilePath.c_str() << endl;
+        return false;
+    }
+    return true;
+}
+
+StateOf300tcConfigfile::StateOf300tcConfigfile()
+{
+}
+
+bool StateOf300tcConfigfile::getIntValue(int &value, string field)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        const Setting &ximeaParam = root["ximeaParam"];
+        value = ximeaParam.lookup(field);
+
+//        std::cout << "StateOf300tcConfigfile::getIntValue"<< value<<std::endl;
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool StateOf300tcConfigfile::setIntValue(int value, string field)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        Setting &frameRate2 = root["ximeaParam"][field];
+        frameRate2 = value;
+
+        writeConfig2File();
+
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool StateOf300tcConfigfile::createConfigFile()
+{
+    using namespace std;
+    using namespace libconfig;
+
+    Config cfg;
+
+    Setting &root = cfg.getRoot();
+
+    // Add some settings to the configuration.
+//    Setting &SN = root.add("SN", Setting::TypeString) = "0098";
+//    Setting &spatialBin = root.add("spatialBin", Setting::TypeInt) = 2;
+//    Setting &SpectralBin = root.add("spectralBin", Setting::TypeInt) = 2;
+
+    Setting &ximeaParam = root.add("ximeaParam", Setting::TypeGroup);
+    ximeaParam.add("sbgState", Setting::TypeInt) = 0;
+    ximeaParam.add("sbgSolutionMode", Setting::TypeInt) = 0;
+    ximeaParam.add("ximeaState", Setting::TypeInt) = 100;
+    ximeaParam.add("frameRate", Setting::TypeInt) = 0;
+    ximeaParam.add("exposeTime", Setting::TypeFloat) = 0.0;
+    ximeaParam.add("exposeMaxValueOfOneFrame", Setting::TypeInt) = 0;
+
+
+    // Write out the new configuration.
+    try
+    {
+        QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
+        bool ret = createDir(fileInfo[0]);
+
+        cfg.writeFile(m_configfilePath.c_str());
+        cerr << "New configuration successfully written to: " << m_configfilePath.c_str() << endl;
+
+    }
+    catch(const FileIOException &fioex)
+    {
+        cerr << "I/O error while writing configuration file: " << m_configfilePath.c_str() << endl;
+        return true;
+    }
+
+    return true;
+}
+
+bool StateOf300tcConfigfile::getSbgState(int &sbgState)
+{
+    return getIntValue(sbgState,"sbgState");
+}
+
+bool StateOf300tcConfigfile::setSbgState(int sbgState)
+{
+    return setIntValue(sbgState,"sbgState");
+}
+
+bool StateOf300tcConfigfile::getSbgSolutionMode(int &sbgSolutionMode)
+{
+    return getIntValue(sbgSolutionMode,"sbgSolutionMode");
+}
+
+bool StateOf300tcConfigfile::setSbgSolutionMode(int sbgSolutionMode)
+{
+    return setIntValue(sbgSolutionMode,"sbgSolutionMode");
+}
+
+bool StateOf300tcConfigfile::getXimeaState(int &ximeaState)
+{
+    return getIntValue(ximeaState,"ximeaState");
+}
+
+bool StateOf300tcConfigfile::setXimeaState(int ximeaState)
+{
+    return setIntValue(ximeaState,"ximeaState");
+}
+
+bool StateOf300tcConfigfile::getExposeMaxValueOfOneFrame(int &exposeMaxValueOfOneFrame)
+{
+    return getIntValue(exposeMaxValueOfOneFrame,"exposeMaxValueOfOneFrame");
+}
+
+bool StateOf300tcConfigfile::setExposeMaxValueOfOneFrame(int exposeMaxValueOfOneFrame)
+{
+    return setIntValue(exposeMaxValueOfOneFrame,"exposeMaxValueOfOneFrame");
+}

Source_Files/main.cpp

@@ -3,6 +3,7 @@
 
 int main(int argc, char *argv[])
 {
+    std::cout<<"ximeaAirborneSystem 版本："<< "41." <<std::endl;
     QCoreApplication a(argc, argv);
 
     //UdpServer* x=new UdpServer();

Source_Files/sbgrecorder.cpp

@@ -608,66 +608,43 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
     //判断模式是否为: NAV_POSITION
     if(receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_EKF_EULER)
     {
-        m_iSolutionModeCounter++;//
+        m_iSolutionModeCounter++;
 
         uint32_t status=logData.ekfEulerData.status;
-        uint32_t mode=status>>24;//?????????????????????????????????????
-//        uint32_t mode=status;//这是错的
+        uint32_t mode=status & 0xf;
 
         //一秒钟发射一次mode
         if(m_iSolutionModeCounter%200 == 0)
         {
             emit sbgSolutionModeSignal(mode);
+//            std::cout << "logData.ekfEulerData.status: " << status << std::endl;
 
-            switch (mode)
-            {
-            case SBG_ECOM_SOL_MODE_UNINITIALIZED:
-//                std::cout<<"此刻模式为: "<<"UNINITIALIZED"<<std::endl;
-                break;
-            case SBG_ECOM_SOL_MODE_VERTICAL_GYRO:
-//                std::cout<<"此刻模式为: "<<"VERTICAL_GYRO"<<std::endl;
-                break;
-            case SBG_ECOM_SOL_MODE_AHRS:
-//                std::cout<<"此刻模式为: "<<"AHRS"<<std::endl;
-                break;
-            case SBG_ECOM_SOL_MODE_NAV_VELOCITY:
-//                std::cout<<"此刻模式为: "<<"NAV_VELOCITY"<<std::endl;
-                break;
-            case SBG_ECOM_SOL_MODE_NAV_POSITION:
-//                std::cout<<"此刻模式为: "<<"NAV_POSITION"<<std::endl;
+            switch (mode) {
+                case SBG_ECOM_SOL_MODE_UNINITIALIZED:
+//                    std::cout << "此刻模式为: " << "UNINITIALIZED" << std::endl;
+                    m_bIsNAV_POSITION_MODE = false;
+                    break;
+                case SBG_ECOM_SOL_MODE_VERTICAL_GYRO:
+//                    std::cout << "此刻模式为: " << "VERTICAL_GYRO" << std::endl;
+                    m_bIsNAV_POSITION_MODE = false;
+                    break;
+                case SBG_ECOM_SOL_MODE_AHRS:
+//                    std::cout << "此刻模式为: " << "AHRS" << std::endl;
+                    m_bIsNAV_POSITION_MODE = false;
+                    break;
+                case SBG_ECOM_SOL_MODE_NAV_VELOCITY:
+//                    std::cout << "此刻模式为: " << "NAV_VELOCITY" << std::endl;
+                    m_bIsNAV_POSITION_MODE = false;
+                    break;
+                case SBG_ECOM_SOL_MODE_NAV_POSITION:
+//                    std::cout << "此刻模式为: " << "NAV_POSITION" << std::endl;
+                    m_bIsNAV_POSITION_MODE = true;
 
-                break;
-            default:
-                break;
+                    break;
+                default:
+                    break;
             }
         }
-
-        switch (mode)
-        {
-        case SBG_ECOM_SOL_MODE_UNINITIALIZED:
-//            std::cout<<"此刻模式为: "<<"UNINITIALIZED"<<std::endl;
-            m_bIsNAV_POSITION_MODE=false;
-            break;
-        case SBG_ECOM_SOL_MODE_VERTICAL_GYRO:
-//            std::cout<<"此刻模式为: "<<"VERTICAL_GYRO"<<std::endl;
-            m_bIsNAV_POSITION_MODE=false;
-            break;
-        case SBG_ECOM_SOL_MODE_AHRS:
-//            std::cout<<"此刻模式为: "<<"AHRS"<<std::endl;
-            m_bIsNAV_POSITION_MODE=false;
-            break;
-        case SBG_ECOM_SOL_MODE_NAV_VELOCITY:
-//            std::cout<<"此刻模式为: "<<"NAV_VELOCITY"<<std::endl;
-            m_bIsNAV_POSITION_MODE=false;
-            break;
-        case SBG_ECOM_SOL_MODE_NAV_POSITION:
-//            std::cout<<"此刻模式为: "<<"NAV_POSITION"<<std::endl;
-            m_bIsNAV_POSITION_MODE=true;
-
-            break;
-        default:
-            break;
-        }
     }
     else if(receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_GPS1_POS)
     {
@@ -687,6 +664,10 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
 
 //        std::cout<<"纬度精度为："<<maximal<<std::endl;
 //        std::cout<<"numSvUsed："<<satelliteCounter<<std::endl;
+//
+//        std::cout<<"latitude："<<logData.gpsPosData.latitude<<std::endl;
+//        std::cout<<"longitude："<<logData.gpsPosData.longitude<<std::endl;
+//        std::cout<<"altitude："<<logData.gpsPosData.altitude<<std::endl;
 
         emit sbgAccuracySignal(static_cast<int>(maximal), satelliteCounter);
 
@@ -727,7 +708,7 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
 
 
     //控制开始采集高光谱影像,m_bIsNAV_POSITION_MODE &&
-    if(m_bIsRecordHyperspecatralImage && m_bIsSyncSystemTimeBaseGpstime && receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_UTC_TIME)
+    if(m_bIsRecordHyperspecatralImage && m_bIsSyncSystemTimeBaseGpstime && m_bIsNAV_POSITION_MODE && receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_UTC_TIME)
     {
         m_baseFileName=getFileNameBaseOnTime();
         emit sbgReady(calculateTimeDifferenceBetweenSystemAndSbg(logData),m_baseFileName);

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);
@@ -51,19 +51,41 @@ 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)));
 
+    QString ximeaParamCfgFile = "/media/nvme/300TC/config/StateOf300tc.cfg";
+    stateOf300tc.setConfigfilePath(ximeaParamCfgFile.toStdString());
+    if(!stateOf300tc.isConfigfileExist())
+        stateOf300tc.createConfigFile();
+    stateOf300tc.parseConfigfile();
 
+    stateOf300tc.setSbgState(0);
+    stateOf300tc.setSbgSolutionMode(0);
+    stateOf300tc.setXimeaState(100);
+    stateOf300tc.setFrameRate(0);
+    stateOf300tc.setExposeTime(0);
+    stateOf300tc.setExposeMaxValueOfOneFrame(0);
 
     //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");
 
+    m_recordTempThread=new QThread();
+    m_300tcTemperature = new Record300TcTemperature();
+    m_300tcTemperature->moveToThread(m_recordTempThread);
+    m_recordTempThread->start();
+    connect(this, SIGNAL(record300tcTemperatureSignal(QString)),m_300tcTemperature, SLOT(recordTemperature(QString)));
 
+    QDateTime curDateTime = QDateTime::currentDateTime();
+    QString currentTime = curDateTime.toString("yyyy_MM_dd_hh_mm_ss");
+    QString Temperature300tcCSVPath = QDir::cleanPath(QString::fromStdString("/media/nvme/300TC/programRunLog/300tcTemperature") + QDir::separator() + "300tcTemperature_" + currentTime + ".csv");
+    emit record300tcTemperatureSignal(Temperature300tcCSVPath);
 
     std::cout<<"UdpServer::UdpServer--------:System ready!"<<std::endl;
 }
@@ -101,7 +123,7 @@ void UdpServer::processPendingDatagrams()
         case 2://关闭系统:关闭相机和sbg串口,关闭软件
         {
             std::cout<<"2代表关闭系统!"<<std::endl;
-
+            m_300tcTemperature->stopRecordTemperature();
 
             if(m_sbgRecorder->getSbgState()>=1)
             {
@@ -166,8 +188,8 @@ void UdpServer::processPendingDatagrams()
         {
             if(m_imager->getImagerState()>=101 && m_imager->getImagerState()<=103)
             {
-                float time = datagramList[1].toFloat();//ms
-                m_imager->wrapSetExposureTime(time*1000);
+                float time = datagramList[1].toFloat();//μs
+                m_imager->wrapSetExposureTime(time);
                 std::cout<<"7，手动设置曝光时间为：" << time <<std::endl;
             }
 
@@ -196,8 +218,30 @@ void UdpServer::processPendingDatagrams()
 
             break;
         }
+        case 10:
+        {
+            std::cout<<"10代表!"<<std::endl;
+
+            int sbgState,sbgSolutionMode,ximeaState,frameRate,exposeMaxValueOfOneFrame;
+            float exposeTime;
+
+            stateOf300tc.getSbgState(sbgState);
+            stateOf300tc.getSbgSolutionMode(sbgSolutionMode);
+            stateOf300tc.getXimeaState(ximeaState);
+            stateOf300tc.getFrameRate(frameRate);
+            stateOf300tc.getExposeTime(exposeTime);
+            stateOf300tc.getExposeMaxValueOfOneFrame(exposeMaxValueOfOneFrame);
+
+            sendSerialPortStatus(sbgState);
+            sendSbgSolutionModeState(sbgSolutionMode);
+            sendXimeaImageStatus(ximeaState);
+            sendXimeaAutoExposeMaxValueOfOneFrame(exposeMaxValueOfOneFrame, exposeTime);
+            sendXimeaImageFrameRate(frameRate);
+
+            break;
+        }
         default:
-            std::cout<<">=9没有意义!"<<std::endl;
+            std::cout<<">=11没有意义!"<<std::endl;
 
             break;
         }
@@ -259,6 +303,8 @@ void UdpServer::sendSerialPortStatus(int serialPortStatus)
 
     datagram2send.operator =(status.toStdString().c_str());
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+
+    stateOf300tc.setSbgState(serialPortStatus);
 }
 
 void UdpServer::sendSbgSolutionModeState(int SolutionMode)
@@ -271,6 +317,8 @@ void UdpServer::sendSbgSolutionModeState(int SolutionMode)
 
     datagram2send.operator =(status.toStdString().c_str());
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+
+    stateOf300tc.setSbgSolutionMode(SolutionMode);
 }
 
 void UdpServer::sendSbgAccuracyState(int Accuracy,int SatelliteCounter)
@@ -295,15 +343,32 @@ void UdpServer::sendXimeaImageStatus(int ximeaImageStatus)
 
     datagram2send.operator =(status.toStdString().c_str());
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+
+    stateOf300tc.setXimeaState(ximeaImageStatus);
 }
 
 void UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame(int autoExposeMaxValueOfOneFrame, double exposeTime)
 {
+//    std::cout<<"UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame---------------------:"<< exposeTime << " " << autoExposeMaxValueOfOneFrame <<std::endl;
+
+    QByteArray datagram2send;
+
+    QString status = "XimeaAutoExpose," + QString::number(autoExposeMaxValueOfOneFrame) + "," + QString::number(exposeTime, 'f', 2);
+
+    datagram2send.operator =(status.toStdString().c_str());
+    m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+
+    stateOf300tc.setExposeTime(exposeTime);
+    stateOf300tc.setExposeMaxValueOfOneFrame(autoExposeMaxValueOfOneFrame);
+}
+
+void UdpServer::sendXimeaBinState(int spatialBin, int spectralBin)
+{
 //    std::cout<<"UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame---------------------:"<< ximeaImageStatus <<std::endl;
 
     QByteArray datagram2send;
 
-    QString status = "XimeaAutoExpose," + QString::number(autoExposeMaxValueOfOneFrame) + "," + QString::number(exposeTime, 'f', 2);
+    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);
@@ -319,6 +384,8 @@ void UdpServer::sendXimeaImageFrameRate(double frameRate)
 
     datagram2send.operator =(status.toStdString().c_str());
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+
+    stateOf300tc.setFrameRate(frameRate);
 }
 
 void UdpServer::sendCopyFileStatus(int fileStatus)
@@ -337,3 +404,199 @@ void UdpServer::onRecordFinished()
 {
     std::cout<<"UdpServer::onRecordFinished----------------:影像停止采集"<<std::endl;
 }
+
+Record300TcTemperature::Record300TcTemperature()
+{
+    m_bIsRecord = true;
+}
+
+void Record300TcTemperature::stopRecordTemperature()
+{
+    m_bIsRecord = false;
+}
+
+void Record300TcTemperature::recordTemperature(QString filePath= nullptr)
+{
+    if(filePath== nullptr)
+        filePath="300tcTemperature.csv";
+    QList<QString> fileInfo = getFileInfo(filePath);
+    bool ret = createDir(fileInfo[0]);
+
+    ofstream temperatureFile300Tc(filePath.toStdString().c_str(),ios::app);
+    int counter = 0;
+
+    m_serial=new QSerialPort();
+
+    if(m_serial->isOpen())//如果串口已经打开了 先给他关闭了
+    {
+        m_serial->clear();
+        m_serial->close();
+    }
+
+    QString portname = "ttyUSB2";
+
+    m_serial->setPortName(portname);
+    m_serial->open(QIODevice::ReadWrite);
+
+    bool x=m_serial->setBaudRate(9600);
+
+    QByteArray requestData;
+    while (m_bIsRecord)
+    {
+        counter++;
+        if(m_serial->waitForReadyRead(30000))
+        {
+            requestData = m_serial->readAll();
+
+            float temp = parseMessage(&requestData);
+            if (temp == -10000)
+            {
+                continue;
+            }
+
+            QDateTime curDateTime = QDateTime::currentDateTime();
+            QString currentTime = curDateTime.toString("yyyy/MM/dd hh:mm:ss");
+
+            temperatureFile300Tc << currentTime.toStdString() << "," << temp << "\n";
+
+//            if(temp > 80)
+//            {
+//                system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,0");
+//            }
+//            if(temp > 90)
+//            {
+//                system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 2");
+//            }
+//
+            if (counter % 60 == 0)
+            {
+                temperatureFile300Tc.flush();
+            }
+            sleep(1);
+        }
+        else
+        {
+//            std::cout<<"Record300TcTemperature::recordTemperature--Wait response timeout."<<std::endl;
+        }
+    }
+    m_bIsRecord = true;
+
+    temperatureFile300Tc.close();
+}
+
+float Record300TcTemperature::parseMessage(QByteArray * data)
+{
+    float Lux;
+    float T;
+    float P;
+    float Hum;
+    float H;
+    bool hasTemperature = false;
+
+//    qDebug() << "Received data(hex): " << data->toHex();
+
+//    for (int i = 0; i < data->length(); ++i)
+//    {
+//        qDebug() << i << ":" << (int)data->at(i);
+//    }
+
+    QByteArray target = QByteArray::fromHex("5a5a"); // The pattern to search for
+
+    int offset_tmp = data->indexOf(target);
+    QList<int> offsets;
+
+    while (offset_tmp != -1)
+    {
+        offsets.append(offset_tmp);
+        offset_tmp = data->indexOf(target, offset_tmp + target.size());
+    }
+
+    if (offsets.isEmpty())
+    {
+//        qDebug() << "5A5A not found in the data.";
+        return -10000;
+    }
+//    qDebug() << "5A5A found at offsets:" << offsets;
+
+    for (int i = 0; i < offsets.length(); ++i)
+    {
+        int offset = offsets.at(i);
+
+        int messageClass = data->at(offset + 2);
+        int messageCount = data->at(offset + 3) + 5;
+//        qDebug() << "messageCount:" << messageCount;
+        if (offset + messageCount - 1 > data->length() - 1)
+        {
+            qDebug() << i << ": Some data of this frame is missing! Discarding the frame.";
+            continue;
+        }
+
+
+        int checksum = 0;
+        QList<int> numbers;
+        for (int j = 0; j < messageCount - 1; ++j)
+        {
+            if (i==offsets.length()-1 && j== messageCount-1)
+            {
+                int sdf=1;
+            }
+
+            int index = offset + j;
+
+            if (index >= data->length())//Some data of this frame is missing! Discarding the frame.
+            {
+                checksum = -1;
+                break;
+            }
+            int tmp = static_cast<int>(data->at(index));
+            numbers.append(tmp);
+            checksum += tmp;
+        }
+//        qDebug() << "jiaqilai:" << numbers;
+
+        if (checksum == -1)
+        {
+            qDebug() << "Some data of this frame is missing! Discarding the frame.";
+            continue;
+        }
+
+        if ((checksum & 0xFF) != data->at(offset + messageCount - 1))
+        {
+            qDebug() << "Checksum mismatch! Discarding the frame.";
+            continue;
+        }
+
+        //parse data
+        switch (messageClass)
+        {
+            case 0x15:
+                Lux = (float)((data->at(offset + 4)<<24)|(data->at(offset + 5)<<16)|(data->at(offset + 6)<<8)|data->at(offset + 7)) / 100;
+//                qDebug() << "lux: " << Lux;
+                break;
+            case 0x45:
+                T = (float)((data->at(offset + 4)<<8)|data->at(offset + 5)) / 100;
+                P = (float)((data->at(offset + 6)<<24)|(data->at(offset + 7)<<16)|(data->at(offset + 8)<<8)|data->at(offset + 9)) / 100;
+                Hum = (float)((data->at(offset + 10)<<8) | data->at(offset + 11)) / 100;
+                H = (float)((data->at(offset + 12)<<8)|data->at(offset + 13));
+
+                hasTemperature = true;
+
+//                qDebug() << "T: " << T;
+//                qDebug() << "P: " << P;
+//                qDebug() << "Hum: " << Hum;
+//                qDebug() << "H: " << H;
+                break;
+            default : // 可选的
+                ;
+
+        }
+    }
+    if (hasTemperature)
+    {
+        return T;
+    }
+    else
+    {
+        return -10000;
+    }
+}

Source_Files/ximeaimager.cpp

@@ -12,9 +12,30 @@ XimeaImager::XimeaImager()
     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;
+    }
+
+    QString ximeaParamCfgFile = "/media/nvme/300TC/config/ximeaParam.cfg";
+    m_parameterConfigfile.setConfigfilePath(ximeaParamCfgFile.toStdString());
+    if(!m_parameterConfigfile.isConfigfileExist())
+        m_parameterConfigfile.createConfigFile();
+    m_parameterConfigfile.parseConfigfile();
 
     m_recordTempThread=new QThread();
-    m_ximeaTemperature = new RecordXimeaTemperature(&m_imager);
+    m_ximeaTemperature = new RecordXimeaTemperature(&m_imager, this);
     m_ximeaTemperature->moveToThread(m_recordTempThread);
     m_recordTempThread->start();
 
@@ -28,6 +49,7 @@ XimeaImager::XimeaImager()
 
     m_pool = new MemoryPool<DataBuffer>;
     q = new queue<DataBuffer *>;
+    m_qFrameCounter = new queue<int>;
 
     m_rgbImage = new rgbImage();
 }
@@ -61,10 +83,14 @@ 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);
@@ -78,6 +104,7 @@ 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;
@@ -99,7 +126,20 @@ void XimeaImager::openImger()
             m_imager.setAcqBufferSize(acqBufferSize);
         }
 
-        setFramerate(100);
+        if (m_parameterConfigfile.isConfigfileExist())
+        {
+            int frameRate;
+            m_parameterConfigfile.getFrameRate(frameRate);
+            setFramerate(frameRate);
+
+            float exposeTime;
+            m_parameterConfigfile.getExposeTime(exposeTime);
+            wrapSetExposureTime(exposeTime);
+        }
+        else
+        {
+            setFramerate(100);
+        }
 
         //经验证：frameSizeManual和frameSizeAuto相等
         int frameSizeManual = m_imager.get_band_count()*m_imager.get_sample_count()*2;
@@ -115,7 +155,7 @@ void XimeaImager::openImger()
 
         QDateTime curDateTime = QDateTime::currentDateTime();
         QString currentTime = curDateTime.toString("yyyy_MM_dd_hh_mm_ss");
-        m_ximeaTemperatureCSVPath = QDir::cleanPath(QString::fromStdString("/home/programRunLog/hyperspectralLog") + QDir::separator() + "ximeaTemperature_" + currentTime + ".csv");
+        m_ximeaTemperatureCSVPath = QDir::cleanPath(QString::fromStdString("/media/nvme/300TC/programRunLog/ximeaTemperature") + QDir::separator() + "ximeaTemperature_" + currentTime + ".csv");
 //        m_ximeaTemperatureCSVPath = "/home/ximeaTemperature.csv";
         emit recordXimeaTemperatureSignal(m_ximeaTemperatureCSVPath);
     }
@@ -164,14 +204,21 @@ void XimeaImager::setFramerate(double framerate)
     {
         m_imager.set_framerate(framerate);
 
-        int maxExposureTimeInUs=1/framerate*1000000*0.01;
-        setExposureTime(maxExposureTimeInUs);
-//        setExposureTime(1000);
+        int exposureTimeInUs = getExposureTime();
+
+        int maxExposureTimeInUs=1/framerate*1000000;
+
+        if (exposureTimeInUs > maxExposureTimeInUs)
+        {
+            wrapSetExposureTime(maxExposureTimeInUs);
+        }
 
         m_iImagerState=102;
         emit ximeaImageStatus(m_iImagerState);
 
         emit frameRateSignal(framerate);
+
+        m_parameterConfigfile.setFrameRate(framerate);
     }
     catch(int xiApiErrorCodes)
     {
@@ -207,9 +254,7 @@ double XimeaImager::setExposureTime(float exposureTime_in_us)
         //确保设置的积分时间比最大积分时间小
         if(exposureTime_in_us<maxExposureTime_in_us)
         {
-
             m_imager.set_integration_time(exposureTime_in_us);
-
         }
         else
         {
@@ -218,6 +263,7 @@ double XimeaImager::setExposureTime(float exposureTime_in_us)
 
         //返回设置的积分时间
         integrationTime2Return=m_imager.get_integration_time();
+        m_parameterConfigfile.setExposeTime(integrationTime2Return);
 
         return integrationTime2Return;
     }
@@ -241,7 +287,7 @@ int XimeaImager::wrapSetExposureTime(float exposureTime_in_us)
     m_iImagerState=103;
     emit ximeaImageStatus(m_iImagerState);
 
-    emit autoExposeMaxValueOfOneFrame(maxValueOfOneFrame, exposureTime/1000);
+    emit autoExposeMaxValueOfOneFrame(maxValueOfOneFrame, exposureTime);
 
     return maxValueOfOneFrame;
 }
@@ -304,7 +350,7 @@ double XimeaImager::autoExposure()
 
         m_iImagerState=103;
         emit ximeaImageStatus(m_iImagerState);
-        emit autoExposeMaxValueOfOneFrame(maxValueOfOneFrame, exposureTime/1000);
+        emit autoExposeMaxValueOfOneFrame(maxValueOfOneFrame, exposureTime);
 
         std::cout<<"自动曝光完成!"<<std::endl;
         return exposureTime;
@@ -471,15 +517,41 @@ 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；
     try
     {
         if(m_iImagerState <= 99 || m_iImagerState==100 || m_iImagerState==104)
         {
-            emit ximeaImageStatus(m_iImagerState);
-
+            printf("已经开始采集----------------------------!\n");
             return;
         }
 
@@ -497,23 +569,29 @@ 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;
+        std::cout << "帧率为：" << getFramerate() << "hz" <<std::endl;
+        std::cout << "曝光时间为：" << getExposureTime() << "μs" <<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);
-        emit startWriteDiskSignal();
+        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];
+
+        QString imageFileName=m_baseFileName+".bil";
+        FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
+        double * imageBuffer = new double[number_WriteDisk];
+
         m_imager.start();
         struct timeval timeStart, timeEnd;
         double runTime=0;
@@ -523,85 +601,74 @@ 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);
-//            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
-
+            if (m_iFrameCounter == 1)
+            {
+                timeDifferenceBetweenSbgAndXimea = calculateTimeDifferenceBetweenSbgAndximea(&m_imager.m_image, TimeDifferenceBetweensOSAndSbg);
+            }
+            fwrite(m_imager.m_image.bp,1,m_iFrameSizeInByte, hFile);
 
             indexofbuff = m_iFrameCounter % number_WriteDisk;
 
-            if (indexofbuff == 1)
-            {
-                r_qtx.lock();
-                buffer = m_pool->newElement();
-                r_qtx.unlock();
-            }
-
             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);
-                r_qtx.unlock();
+                for (int i = 0; i < number_WriteDisk; ++i)
+                {
+                    fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
+                }
+            }
+        }
+        if (indexofbuff != 0)
+        {
+            for (int i = 0; i < indexofbuff; ++i)
+            {
+                fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
             }
 
-            double sbgTime=getSbgTime(TimeDifferenceBetweensOSAndSbg);
-
-            fprintf(hHimesFile,"%f\n",sbgTime);
-//            fwrite(&sbgTime,sizeof(double),1,hHimesFile);
-//            timesFile<<sbgTime<< "\n";
-
-//            timesFileHandle << sbgTime << "\n";
+            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();
 
-        m_iFrameCounter = m_iFrameCounter - indexofbuff;
-        if (indexofbuff != 0)
-        {
-            m_pool->deleteElement(buffer);
-        }
+        delete[] sbgTimeBuffer;
 
-        double frameInTheory=runTime * getFramerate() - indexofbuff;
+        double frameInTheory=runTime * getFramerate();
 
-        double frameLossed=m_imager.m_image.acq_nframe - indexofbuff - m_iFrameCounter;
-        double frameLossRate=frameLossed / (m_imager.m_image.acq_nframe - indexofbuff);
+        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()<<std::endl;
-        std::cout<<"采集时间为: "<<runTime<< "s" <<std::endl;
+        std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<< ".bil" <<std::endl;
+        std::cout<<"采集时间为: "<<runTime/60<< " min" <<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;
 
         fclose(hHimesFile);
+        fclose(hFile);
 //        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);
 
         emit recordFinished();
-
-        emit recordXimeaTemperatureSignal(m_ximeaTemperatureCSVPath);//停止采集影像后，继续获取传感器温度；
     }
     catch(int xiApiErrorCodes)
     {
@@ -641,16 +708,43 @@ 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);
-        if (i < getWindowEndBand() - 1)
-            hdrFileHandle << ", ";
-        else
+        for (int i = getWindowStartBand(); i < getWindowEndBand(); i++)
         {
-            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();
 }
@@ -808,10 +902,12 @@ DataBuffer::~DataBuffer()
 {
 }
 
-RecordXimeaTemperature::RecordXimeaTemperature(Iris::IrisXimeaImager * imager)
+RecordXimeaTemperature::RecordXimeaTemperature(Iris::IrisXimeaImager * imager, XimeaImager * ximeaImager)
 {
     m_imager = imager;
     m_bIsRecord = true;
+
+    m_ximeaImager = ximeaImager;
 }
 
 void RecordXimeaTemperature::stopRecordTemperature()
@@ -823,19 +919,56 @@ void RecordXimeaTemperature::recordTemperature(QString filePath= nullptr)
 {
     if(filePath== nullptr)
         filePath="ximeaTemperature.csv";
-    ofstream ximeaTemperatureFile(filePath.toStdString().c_str(),ios::app);
+    QList<QString> fileInfo = getFileInfo(filePath);
+    bool ret = createDir(fileInfo[0]);
 
+    ofstream ximeaTemperatureFile(filePath.toStdString().c_str(),ios::app);
+    int counter = 0;
     while(m_bIsRecord)
     {
+        counter++;
+
         float temp = m_imager->getTemperature();
+        if(temp > 80 && m_ximeaImager->getImagerState() == 104)
+        {
+            ximeaTemperatureFile.flush();
+            system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,0");
+        }
+        if(temp > 90)
+        {
+            ximeaTemperatureFile.flush();
+            system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 2");
+        }
+
+        // 获取剩余硬盘空间和剩余采集时间
+        FILE *fp;
+        char buffer[128];
+        fp = popen("cat /sys/devices/virtual/thermal/thermal_zone1/temp", "r");
+        if (fp == NULL) {
+            perror("popen");
+        }
+
+        // 读取输出并处理
+        unsigned long long temper;
+        if (fgets(buffer, sizeof(buffer), fp) != NULL)
+        {
+            temper = strtoull(buffer, NULL, 10);
+//            printf("CPU温度: %.2f;\n", (float)temper/1000);
+        }
+        pclose(fp);
 
         QDateTime curDateTime = QDateTime::currentDateTime();
         QString currentTime = curDateTime.toString("yyyy/MM/dd hh:mm:ss");
 
-        ximeaTemperatureFile << currentTime.toStdString() << "," << temp << "\n";
+        ximeaTemperatureFile << currentTime.toStdString() << "," << temp << "," << (float)temper/1000 << "\n";
 
 //        std::cout<<"RecordXimeaTemperature::recordTemperature----------------:ximea Temperature is "<< temp <<std::endl;
+//        std::cout<<"RecordXimeaTemperature::recordTemperature----------------:ximea state is "<< m_ximeaImager->getImagerState() <<std::endl;
 
+        if (counter % 60 == 0)
+        {
+            ximeaTemperatureFile.flush();
+        }
         sleep(1);
     }
 
@@ -854,7 +987,9 @@ void WriteData2Disk::write2Disk()
     QString imageFileName=m_QbaseFileName+".bil";
     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)
@@ -867,18 +1002,26 @@ void WriteData2Disk::write2Disk()
             std::cout<<"WriteData2Disk::write2Disk-----------------------队列为空，采集线程已经退出！"<<std::endl;
             break;
         }
+        else if(isExitWriteData2Disk)
+        {
+            std::cout<<"WriteData2Disk::write2Disk-----------------------isExitWriteData2Disk：true"<<std::endl;
+            std::cout<<"WriteData2Disk::write2Disk-----------------------队列大小"<<m_q->size()<<std::endl;
+        }
         else if(bempty && !isExitWriteData2Disk)
         {
             continue;
         }
 
 
+
         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
@@ -886,24 +1029,30 @@ 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()
 {
+    std::cout<< "执行函数：WriteData2Disk::exitWriteData2Disk" <<std::endl;
     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;