fix：修复时间同步错误

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

@@ -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);
 
@@ -130,7 +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();
@@ -188,6 +190,7 @@ 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："<< "36." <<std::endl;
+    std::cout<<"ximeaAirborneSystem 版本："<< "39." <<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)
-            {
+            switch (mode) {
                 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;
                 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;
+                    m_bIsNAV_POSITION_MODE = false;
                     break;
                 case SBG_ECOM_SOL_MODE_AHRS:
-//                std::cout<<"此刻模式为: "<<"AHRS"<<std::endl;
+//                    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;
+//                    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;
+//                    std::cout << "此刻模式为: " << "NAV_POSITION" << std::endl;
+                    m_bIsNAV_POSITION_MODE = true;
 
                     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/ximeaimager.cpp

@@ -28,9 +28,14 @@ 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);
+    m_ximeaTemperature = new RecordXimeaTemperature(&m_imager, this);
     m_ximeaTemperature->moveToThread(m_recordTempThread);
     m_recordTempThread->start();
 
@@ -121,7 +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;
@@ -137,7 +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);
     }
@@ -186,14 +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)
     {
@@ -229,9 +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
         {
@@ -240,6 +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;
     }
@@ -263,7 +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;
 }
@@ -326,7 +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;
@@ -523,13 +547,11 @@ double XimeaImager::calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * image, do
 
 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;
         }
 
@@ -547,7 +569,8 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
 
         m_baseFileName=baseFileName;
 
-        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");
@@ -640,7 +663,7 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         double frameLossRate = frameLossed / m_imager.m_image.acq_nframe;
 
         std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<< ".bil" <<std::endl;
-        std::cout<<"采集时间为: "<<runTime<< "s" <<std::endl;
+        std::cout<<"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<<std::endl;
@@ -659,8 +682,6 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         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)
     {
@@ -894,10 +915,12 @@ 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()
@@ -909,11 +932,24 @@ 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)
+        {
+            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");
+        }
 
         QDateTime curDateTime = QDateTime::currentDateTime();
         QString currentTime = curDateTime.toString("yyyy/MM/dd hh:mm:ss");
@@ -921,7 +957,12 @@ void RecordXimeaTemperature::recordTemperature(QString filePath= nullptr)
         ximeaTemperatureFile << currentTime.toStdString() << "," << temp << "\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);
     }