fix：惯导进入full nav才开始采集高光谱；

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);
@@ -43,6 +45,29 @@ public:
     bool createConfigFile();
     bool updateConfigFile();
 
+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();
+
 private:
     string m_configfilePath;
     Config cfg;

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

@@ -100,10 +100,11 @@ Q_OBJECT
 
 public:
     WriteData2Disk();
-    void setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage);
+    void setParm(queue<DataBuffer *> * q, queue<int> * qFrameCounter, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage);
 
 private:
     queue<DataBuffer *> * m_q;
+    queue<int> * m_qFrameCounter;
     QString m_QbaseFileName;
     int m_iFrameSizeInByte;
     int m_iNumber_WriteDisk;
@@ -129,7 +130,7 @@ 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 +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;
@@ -176,26 +181,14 @@ 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 +196,7 @@ public slots:
     void openImger();
     void closeImger();
 
+    double calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * m_image, double timeDifferenceBetweenSbgAndOS);
     void startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName);
 
 signals:
@@ -214,5 +208,6 @@ 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 +468,172 @@ 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 << "----------------"<< 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 << "----------------"<< 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;
+}

Source_Files/main.cpp

@@ -3,6 +3,7 @@
 
 int main(int argc, char *argv[])
 {
+    std::cout<<"ximeaAirborneSystem 版本："<< "38." <<std::endl;
     QCoreApplication a(argc, argv);
 
     //UdpServer* x=new UdpServer();

Source_Files/sbgrecorder.cpp

@@ -608,42 +608,18 @@ 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;
-
-                break;
-            default:
-                break;
-            }
-        }
-
-        switch (mode)
-        {
+            switch (mode) {
                 case SBG_ECOM_SOL_MODE_UNINITIALIZED:
 //                    std::cout << "此刻模式为: " << "UNINITIALIZED" << std::endl;
                     m_bIsNAV_POSITION_MODE = false;
@@ -669,6 +645,7 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
                     break;
             }
         }
+    }
     else if(receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_GPS1_POS)
     {
         float maximal=0;
@@ -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)
     {
         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);
@@ -51,6 +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

@@ -12,6 +12,27 @@ 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);
@@ -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);
         }
 
+        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;
@@ -164,14 +204,16 @@ void XimeaImager::setFramerate(double framerate)
     {
         m_imager.set_framerate(framerate);
 
-        int maxExposureTimeInUs=1/framerate*1000000*0.01;
-        setExposureTime(maxExposureTimeInUs);
+        int maxExposureTimeInUs=1/framerate*1000000;
+//        setExposureTime(maxExposureTimeInUs);
 //        setExposureTime(1000);
 
         m_iImagerState=102;
         emit ximeaImageStatus(m_iImagerState);
 
         emit frameRateSignal(framerate);
+
+        m_parameterConfigfile.setFrameRate(framerate);
     }
     catch(int xiApiErrorCodes)
     {
@@ -218,6 +260,7 @@ 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;
     }
@@ -471,6 +514,34 @@ 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；
@@ -478,8 +549,7 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
     {
         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 +567,24 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
 
         m_baseFileName=baseFileName;
 
-
-        QString timesFileName=m_baseFileName+".times";
-        FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
-//        ofstream timesFile(timesFileName.toStdString());
-
         std::cout << "曝光时间为：" << getExposureTime()/1000 << "ms" <<std::endl;
 
         using namespace std;
 //        ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");
 
         int number_WriteDisk = 100;
-        writeData2Disk->setParm(q,m_baseFileName,m_iFrameSizeInByte, number_WriteDisk, m_pool, m_rgbImage);
+        writeData2Disk->setParm(q, m_qFrameCounter,m_baseFileName,m_iFrameSizeInByte, number_WriteDisk, m_pool, m_rgbImage);
         emit startWriteDiskSignal();
 
         int indexofbuff;
         DataBuffer * buffer;
 
+        QString timesFileName=m_baseFileName+".times";
+        FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
+//        ofstream timesFile(timesFileName.toStdString());
+        double timeDifferenceBetweenSbgAndXimea;
+        double * sbgTimeBuffer = new double[number_WriteDisk];
+
         m_imager.start();
         struct timeval timeStart, timeEnd;
         double runTime=0;
@@ -523,11 +594,10 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
             unsigned short *x=m_imager.get_frame(m_buffer);
             m_iFrameCounter+=1;
 
-            //fwrite(m_buffer,2,getBandCount()*getSampleCount(),hFile);
-//            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);
+            }
 
             indexofbuff = m_iFrameCounter % number_WriteDisk;
 
@@ -541,48 +611,59 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
             if (indexofbuff == 0)
             {
                 memcpy((void *)buffer->data + (number_WriteDisk - 1) * m_iFrameSizeInByte,m_imager.m_image.bp,m_iFrameSizeInByte);
+                sbgTimeBuffer[number_WriteDisk - 1] = getSbgTime(&m_imager.m_image, timeDifferenceBetweenSbgAndXimea);
             }
             else
             {
                 memcpy((void *)buffer->data + (indexofbuff - 1) * m_iFrameSizeInByte,m_imager.m_image.bp,m_iFrameSizeInByte);
+                sbgTimeBuffer[indexofbuff - 1] = getSbgTime(&m_imager.m_image, timeDifferenceBetweenSbgAndXimea);
             }
 
             if (indexofbuff == 0)
             {
                 r_qtx.lock();
                 q->push(buffer);
+                m_qFrameCounter->push(number_WriteDisk);
                 r_qtx.unlock();
+
+                for (int i = 0; i < number_WriteDisk; ++i)
+                {
+                    fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
+                }
+            }
+        }
+        if (indexofbuff != 0)
+        {
+            r_qtx.lock();
+            q->push(buffer);
+            m_qFrameCounter->push(indexofbuff);
+            r_qtx.unlock();
+
+            for (int i = 0; i < indexofbuff; ++i)
+            {
+                fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
             }
 
-            double sbgTime=getSbgTime(TimeDifferenceBetweensOSAndSbg);
-
-            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<<"当前采集文件为: "<<baseFileName.toStdString()<< ".bil" <<std::endl;
         std::cout<<"采集时间为: "<<runTime<< "s" <<std::endl;
         std::cout<<"当前帧率为: "<<getFramerate() << "hz" <<std::endl;
         std::cout<<"每秒数据量为: "<<getFramerate()*m_iFrameSizeInByte/(1024*1024)<<"MB"<<std::endl;
-        std::cout<<"理论采集帧数为: "<<m_imager.m_image.acq_nframe - indexofbuff<<std::endl;
+        std::cout<<"理论采集帧数为: "<<m_imager.m_image.acq_nframe<<std::endl;
         std::cout<<"实际采集帧数为："<<m_iFrameCounter<<std::endl;
         std::cout<<"丢失帧数为: "<<frameLossed<<std::endl;
         std::cout<<"丢帧率为: "<<frameLossRate * 100<< "%" <<std::endl;
@@ -594,8 +675,6 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         timeStr = formatTimeStr(timeFormat);
         printf("停止采集：%s!\n", timeStr.toStdString().c_str());
 
-        writeHdr();
-
         m_iImagerState=m_iImagerStateTemp;
         emit ximeaImageStatus(m_iImagerState);
 
@@ -641,6 +720,9 @@ void XimeaImager::writeHdr()
     hdrFileHandle << "wavelength units = nanometers\n";
     hdrFileHandle << "wavelength = {";
     //hdrFileHandle << std::setprecision(5);
+
+    if (m_imager.getSpectralBin() == 1)
+    {
         for (int i = getWindowStartBand(); i < getWindowEndBand(); i++)
         {
             hdrFileHandle << geWavelengthAtBand(i);
@@ -651,6 +733,30 @@ void XimeaImager::writeHdr()
                 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();
 }
@@ -854,7 +960,9 @@ 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 +975,26 @@ 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 +1002,30 @@ 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;