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

@@ -45,6 +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/ximeaimager.h

@@ -130,7 +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();
@@ -188,6 +188,7 @@ private:
     }
 
     Configfile m_configfile;
+    ParameterConfigfile m_parameterConfigfile;
 
 
 

Source_Files/configfile.cpp

@@ -468,3 +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

@@ -3,7 +3,7 @@
 
 int main(int argc, char *argv[])
 {
-    std::cout<<"ximeaAirborneSystem 版本："<< "35." <<std::endl;
+    std::cout<<"ximeaAirborneSystem 版本："<< "38." <<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 & 0xf;
-//        uint32_t mode=status;//这是错的
 
         //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)
+            switch (mode) {
-            {
+                case SBG_ECOM_SOL_MODE_UNINITIALIZED:
-            case SBG_ECOM_SOL_MODE_UNINITIALIZED:
+//                    std::cout << "此刻模式为: " << "UNINITIALIZED" << std::endl;
-//                std::cout<<"此刻模式为: "<<"UNINITIALIZED"<<std::endl;
+                    m_bIsNAV_POSITION_MODE = false;
-                break;
+                    break;
-            case SBG_ECOM_SOL_MODE_VERTICAL_GYRO:
+                case SBG_ECOM_SOL_MODE_VERTICAL_GYRO:
-//                std::cout<<"此刻模式为: "<<"VERTICAL_GYRO"<<std::endl;
+//                    std::cout << "此刻模式为: " << "VERTICAL_GYRO" << std::endl;
-                break;
+                    m_bIsNAV_POSITION_MODE = false;
-            case SBG_ECOM_SOL_MODE_AHRS:
+                    break;
-//                std::cout<<"此刻模式为: "<<"AHRS"<<std::endl;
+                case SBG_ECOM_SOL_MODE_AHRS:
-                break;
+//                    std::cout << "此刻模式为: " << "AHRS" << std::endl;
-            case SBG_ECOM_SOL_MODE_NAV_VELOCITY:
+                    m_bIsNAV_POSITION_MODE = false;
-//                std::cout<<"此刻模式为: "<<"NAV_VELOCITY"<<std::endl;
+                    break;
-                break;
+                case SBG_ECOM_SOL_MODE_NAV_VELOCITY:
-            case SBG_ECOM_SOL_MODE_NAV_POSITION:
+//                    std::cout << "此刻模式为: " << "NAV_VELOCITY" << std::endl;
-//                std::cout<<"此刻模式为: "<<"NAV_POSITION"<<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;
+                    break;
-            default:
+                default:
-                break;
+                    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)
     {
         m_baseFileName=getFileNameBaseOnTime();
         emit sbgReady(calculateTimeDifferenceBetweenSystemAndSbg(logData),m_baseFileName);

Source_Files/ximeaimager.cpp

@@ -28,6 +28,11 @@ XimeaImager::XimeaImager()
         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);
@@ -121,7 +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;
@@ -186,14 +204,16 @@ void XimeaImager::setFramerate(double framerate)
     {
         m_imager.set_framerate(framerate);
 
-        int maxExposureTimeInUs=1/framerate*1000000*0.01;
+        int maxExposureTimeInUs=1/framerate*1000000;
-        setExposureTime(maxExposureTimeInUs);
+//        setExposureTime(maxExposureTimeInUs);
 //        setExposureTime(1000);
 
         m_iImagerState=102;
         emit ximeaImageStatus(m_iImagerState);
 
         emit frameRateSignal(framerate);
+
+        m_parameterConfigfile.setFrameRate(framerate);
     }
     catch(int xiApiErrorCodes)
     {
@@ -240,6 +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;
     }
@@ -528,8 +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;
         }
 
@@ -938,29 +958,9 @@ WriteData2Disk::WriteData2Disk()
 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 frameCounter = 0;
     int frameNumber;
     unsigned short * dataBuffer = new unsigned short[m_iFrameSizeInByte/2*m_iNumber_WriteDisk];
@@ -975,12 +975,18 @@ 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();
         int frameNumber = m_qFrameCounter->front();
@@ -996,77 +1002,23 @@ void WriteData2Disk::write2Disk()
 
 
 //        std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//
+        fwrite(dataBuffer,1,m_iFrameSizeInByte*frameNumber, 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，fwrite 调用次数：" << frameCounter <<std::endl;
 }
 
 void WriteData2Disk::exitWriteData2Disk()
 {
+    std::cout<< "执行函数：WriteData2Disk::exitWriteData2Disk" <<std::endl;
     isExitWriteData2Disk = true;
 }