改变写线程退出方式，不再等待一段时间；

2. 增大内存池的大小，以便100帧写一次硬盘；
3. 增加ximea报错代码：10/11，将报错代码添加时间写入文件；

Header_Files/MemoryPool.h

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

Header_Files/configfile.h

@@ -16,6 +16,8 @@
 #include <QCoreApplication>
 #include <QDir>
 
+#include "utility_tc.h"
+
 using namespace std;
 using namespace libconfig;
 
@@ -35,6 +37,9 @@ public:
     bool getGainOffset(float &gain, float &offset);
     bool getSN(QString &SN);
 
+    bool getBufferPolicy(int &bufferPolicy);
+    bool getAcqBufferSize(int &acqBufferSize);
+
     bool createConfigFile();
     bool updateConfigFile();
 

Header_Files/udpserver.h

@@ -66,6 +66,8 @@ public slots:
     void sendSbgAccuracyState(int Accuracy,int SatelliteCounter);
 
     void sendXimeaImageStatus(int ximeaImageStatus);
+    void sendXimeaAutoExposeMaxValueOfOneFrame(int autoExposeMaxValueOfOneFrame, double exposeTime);
+    void sendXimeaImageFrameRate(double frameRate);
     void sendCopyFileStatus(int fileStatus);
 };
 #endif // UDPSERVER_H

Header_Files/utility_tc.h

@@ -16,4 +16,8 @@ void bubbleSort(unsigned short * a, int n);
 
 void swap(unsigned short * a, unsigned short * b);
 
+bool createDir(QString fullPath);
+
+QList<QString> getFileInfo(QString file);
+
 #endif // UTILITY_TC_H

Header_Files/ximeaimager.h

@@ -25,6 +25,8 @@
 #include <fstream>
 #include <unistd.h>
 #include <exception>
+#include <fcntl.h>
+#include <sys/mman.h>
 
 #include <QObject>
 #include <QDateTime>
@@ -62,7 +64,7 @@ public:
     DataBuffer();
     ~DataBuffer();
 
-    unsigned short data[425600];//304*1400=425600，为了兼容所有设置spectral bin和spatial bin
+    unsigned short data[41040000];//1368*300*100=41040000，为了兼容所有设置spectral bin和spatial bin
 
 private:
 
@@ -98,18 +100,21 @@ Q_OBJECT
 
 public:
     WriteData2Disk();
-    void setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage);
+    void setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage);
 
 private:
     queue<DataBuffer *> * m_q;
     QString m_QbaseFileName;
     int m_iFrameSizeInByte;
+    int m_iNumber_WriteDisk;
     MemoryPool<DataBuffer> * m_pool;
+    bool isExitWriteData2Disk;
 
     rgbImage * m_rgbImage;
 
 public slots:
     void write2Disk();
+    void exitWriteData2Disk();
 
 signals:
 };
@@ -125,7 +130,7 @@ public:
     void setFramerate(double framerate);
     double getFramerate();
     double setExposureTime(float exposureTime);
-    double wrapSetExposureTime(float exposureTime_in_us);
+    int wrapSetExposureTime(float exposureTime_in_us);
     double getExposureTime();
     double autoExposure();
     void setGain(double gain);
@@ -139,6 +144,7 @@ public:
 
     void stopRecord();
     int getFrameCounter();
+    void writeXiApiErrorCodes(QString filePath, int xiApiErrorCodes);
 
     int getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel);
 
@@ -205,5 +211,8 @@ signals:
 
     void recordXimeaTemperatureSignal(QString);
     void startWriteDiskSignal();
+
+    void autoExposeMaxValueOfOneFrame(int, double);
+    void frameRateSignal(double);
 };
 #endif // XIMEAIMAGER_H

Source_Files/configfile.cpp

@@ -222,6 +222,50 @@ bool Configfile::getSN(QString &SN)
     }
 }
 
+bool Configfile::getBufferPolicy(int &bufferPolicy)
+{
+    const Setting& root = cfg.getRoot();
+    const Setting &ximeadll = root["ximeadll"];
+
+    try
+    {
+        if(!(ximeadll.lookupValue("buffer_policy", bufferPolicy)
+        ))
+        {
+            return false;
+        }
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+
+    return true;
+}
+
+bool Configfile::getAcqBufferSize(int &acqBufferSize)
+{
+    const Setting& root = cfg.getRoot();
+    const Setting &ximeadll = root["ximeadll"];
+
+    try
+    {
+        if(!(ximeadll.lookupValue("acq_buffer_size", acqBufferSize)
+        ))
+        {
+            return false;
+        }
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+
+    return true;
+}
+
 bool Configfile::createConfigFile()
 {
     using namespace std;
@@ -279,10 +323,18 @@ bool Configfile::createConfigFile()
     gainOffsetSpectralBin2.add("offset", Setting::TypeFloat) = -299.46126663407176;
 
 
+    Setting &ximeadll = root.add("ximeadll", Setting::TypeGroup);
+    ximeadll.add("buffer_policy", Setting::TypeInt) = 0;
+    ximeadll.add("acq_buffer_size", Setting::TypeInt) = 400;
+
+
     // Write out the new configuration.
     QString output_file = "/media/nvme/300TC/config/ximea.cfg";
     try
     {
+        QList<QString> fileInfo = getFileInfo(output_file);
+        bool ret = createDir(fileInfo[0]);
+
         cfg.writeFile(output_file.toStdString().c_str());
         cerr << "New configuration successfully written to: " << output_file.toStdString().c_str() << endl;
 

Source_Files/sbgrecorder.cpp

@@ -789,7 +789,7 @@ void sbgtc::SbgRecorder::startRecordSbg()
 
     m_baseFileName=getFileNameBaseOnTime();
 
-    QString sbgFileName=m_baseFileName+".sbg";
+    QString sbgFileName=m_baseFileName+".bin";
 
     FILE * fileHandle=fopen(sbgFileName.toStdString().c_str(),"w+b");
 

Source_Files/udpserver.cpp

@@ -50,6 +50,8 @@ UdpServer::UdpServer()
     connect(m_sbgRecorder, SIGNAL(sbgAccuracySignal(int,int)),this, SLOT(sendSbgAccuracyState(int,int)));
 
     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(frameRateSignal(double)),this, SLOT(sendXimeaImageFrameRate(double)));
     connect(m_copyFile, SIGNAL(copyFileStatus(int)),this, SLOT(sendCopyFileStatus(int)));
 
 
@@ -122,26 +124,19 @@ void UdpServer::processPendingDatagrams()
         }
         case 3://系统开始采集高光谱影像
         {
-            //emit startRecordHyperspectralSignal();//真实的影像开始采集通过惯导中的信号(sbgReady)触发
-            m_sbgRecorder->startRecordHyperspectral();
-
-//            if(m_sbgRecorder->getSbgState()==2)//开始采集前还需要判断相机的状态??????????????????????????????????????????
-//            {
-
-//            }
-//            else if(m_sbgRecorder->getSbgState()==3)
-//            {
-//                std::cout<<"系统已经开始采集!"<<std::endl;
-//            }
+            if(m_imager->getImagerState()>=101 && m_imager->getImagerState()<=103)
+            {
+                std::cout<<"3代表系统开始采集高光谱影像!"<<std::endl;
+                m_sbgRecorder->startRecordHyperspectral();
+            }
 
             break;
         }
         case 4://系统停止采集高光谱影像
         {
-            std::cout<<"4代表系统停止采集高光谱影像!"<<std::endl;
-
             if(m_imager->getImagerState()>=101 && m_imager->getImagerState()<=104)
             {
+                std::cout<<"4代表系统停止采集高光谱影像!"<<std::endl;
                 m_imager->stopRecord();
             }
 
@@ -169,9 +164,12 @@ void UdpServer::processPendingDatagrams()
         }
         case 7:
         {
-            float time = datagramList[1].toFloat();//ms
-            m_imager->wrapSetExposureTime(time*1000);
-            std::cout<<"7，手动设置曝光时间为：" << time <<std::endl;
+            if(m_imager->getImagerState()>=101 && m_imager->getImagerState()<=103)
+            {
+                float time = datagramList[1].toFloat();//ms
+                m_imager->wrapSetExposureTime(time*1000);
+                std::cout<<"7，手动设置曝光时间为：" << time <<std::endl;
+            }
 
             break;
         }
@@ -299,6 +297,30 @@ void UdpServer::sendXimeaImageStatus(int ximeaImageStatus)
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
 }
 
+void UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame(int autoExposeMaxValueOfOneFrame, double exposeTime)
+{
+//    std::cout<<"UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame---------------------:"<< ximeaImageStatus <<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);
+}
+
+void UdpServer::sendXimeaImageFrameRate(double frameRate)
+{
+//    std::cout<<"UdpServer::sendXimeaImageFrameRate---------------------:"<< ximeaImageStatus <<std::endl;
+
+    QByteArray datagram2send;
+
+    QString status = "XimeaFrameRate," + QString::number(frameRate, 'f', 2);
+
+    datagram2send.operator =(status.toStdString().c_str());
+    m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+}
+
 void UdpServer::sendCopyFileStatus(int fileStatus)
 {
 //    std::cout<<"UdpServer::sendCopyFileStatus---------------------:"<< fileStatus <<std::endl;

Source_Files/utility_tc.cpp

@@ -88,3 +88,36 @@ void swap(unsigned short * a, unsigned short * b)
     *a=*b;
     *b=tmp;
 }
+
+
+bool createDir(QString fullPath)
+{
+    QDir dir(fullPath);
+    if (dir.exists()) {
+        return true;
+    } else {
+        bool ok = dir.mkpath(fullPath);//创建多级目录
+        return ok;
+    }
+}
+
+QList<QString> getFileInfo(QString file)
+{
+    QFileInfo fileInfo = QFileInfo(file);
+
+    QString fileName, fileSuffix, filePath;
+    filePath = fileInfo.absolutePath();//绝对路径
+    fileName = fileInfo.fileName();//文件名
+    fileSuffix = fileInfo.suffix();//文件后缀
+
+//    qDebug() << fileName <<endl
+//             << fileSuffix<< endl
+//             << filePath<< endl;
+
+    QList<QString> result;
+    result.append(filePath);
+    result.append(fileName);
+    result.append(fileSuffix);
+
+    return result;
+}

Source_Files/ximeaimager.cpp

@@ -7,8 +7,6 @@ XimeaImager::XimeaImager()
     m_iFrameCounter=0;
     m_iImagerState=100;
 
-    //connect(this, SIGNAL(recordFinished()),this, SLOT());
-
     QString ximeaCfgFile = "/media/nvme/300TC/config/ximea.cfg";
     m_configfile.setConfigfilePath(ximeaCfgFile.toStdString());
     if(!m_configfile.isConfigfileExist())
@@ -89,6 +87,18 @@ void XimeaImager::openImger()
 //            m_imager.setEffectiveWindowRoi(offsetx_roi, width_roi);
 //        }
 
+        int bufferPolicy, acqBufferSize;
+        ret1 = m_configfile.getBufferPolicy(bufferPolicy);
+        if (ret1)
+        {
+            m_imager.setBufferPolicy(bufferPolicy);
+        }
+        ret1 = m_configfile.getAcqBufferSize(acqBufferSize);
+        if (ret1)
+        {
+            m_imager.setAcqBufferSize(acqBufferSize);
+        }
+
         setFramerate(100);
 
         //经验证：frameSizeManual和frameSizeAuto相等
@@ -160,6 +170,8 @@ void XimeaImager::setFramerate(double framerate)
 
         m_iImagerState=102;
         emit ximeaImageStatus(m_iImagerState);
+
+        emit frameRateSignal(framerate);
     }
     catch(int xiApiErrorCodes)
     {
@@ -216,12 +228,22 @@ double XimeaImager::setExposureTime(float exposureTime_in_us)
     }
 }
 
-double XimeaImager::wrapSetExposureTime(float exposureTime_in_us)
+int XimeaImager::wrapSetExposureTime(float exposureTime_in_us)
 {
-    setExposureTime(exposureTime_in_us);
+    double exposureTime = setExposureTime(exposureTime_in_us);
+
+    m_imager.start();
+    m_imager.get_frame(m_buffer);
+    m_imager.stop();
+
+    int maxValueOfOneFrame = getMaxValueOfOneFrame((short unsigned int*)m_imager.m_image.bp,m_imager.get_band_count()*m_imager.get_sample_count());
 
     m_iImagerState=103;
     emit ximeaImageStatus(m_iImagerState);
+
+    emit autoExposeMaxValueOfOneFrame(maxValueOfOneFrame, exposureTime/1000);
+
+    return maxValueOfOneFrame;
 }
 
 double XimeaImager::autoExposure()
@@ -247,6 +269,7 @@ double XimeaImager::autoExposure()
             m_imager.stop();
 
             maxValueOfOneFrame=getMaxValueOfOneFrame((short unsigned int*)m_imager.m_image.bp,m_imager.get_band_count()*m_imager.get_sample_count());
+            printf("本帧最大值为: %d.\n",maxValueOfOneFrame);
 
             if(maxValueOfOneFrame <= suitableMaxValue)
             {
@@ -281,6 +304,7 @@ double XimeaImager::autoExposure()
 
         m_iImagerState=103;
         emit ximeaImageStatus(m_iImagerState);
+        emit autoExposeMaxValueOfOneFrame(maxValueOfOneFrame, exposureTime/1000);
 
         std::cout<<"自动曝光完成!"<<std::endl;
         return exposureTime;
@@ -438,7 +462,6 @@ int XimeaImager::getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel)
             int a=0;
         }
     }
-    printf("本帧最大值为: %d.\n",maxValue);
 
     return maxValue;
 }
@@ -477,14 +500,20 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
 
         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");
 
-        writeData2Disk->setParm(q,m_baseFileName,m_iFrameSizeInByte, m_pool, m_rgbImage);
+        int number_WriteDisk = 100;
+        writeData2Disk->setParm(q,m_baseFileName,m_iFrameSizeInByte, number_WriteDisk, m_pool, m_rgbImage);
         emit startWriteDiskSignal();
 
+        int indexofbuff;
+        DataBuffer * buffer;
+
         m_imager.start();
         struct timeval timeStart, timeEnd;
         double runTime=0;
@@ -492,6 +521,7 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         while (m_bRecordControl)
         {
             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);
@@ -499,56 +529,67 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
             //sync();//强制系统将系统文件缓冲的内容写入磁盘
 
 
+            indexofbuff = m_iFrameCounter % number_WriteDisk;
 
-            r_qtx.lock();
-            DataBuffer * buffer = m_pool->newElement();
-            r_qtx.unlock();
-//            m_pool->construct(buffer);
+            if (indexofbuff == 1)
+            {
+                r_qtx.lock();
+                buffer = m_pool->newElement();
+                r_qtx.unlock();
+            }
 
-//            memcpy(buffer->data,(unsigned short *)m_imager.m_image.bp,m_iFrameSizeInByte/2);
-            memcpy((void *)buffer->data,m_imager.m_image.bp,m_iFrameSizeInByte);
+            if (indexofbuff == 0)
+            {
+                memcpy((void *)buffer->data + (number_WriteDisk - 1) * m_iFrameSizeInByte,m_imager.m_image.bp,m_iFrameSizeInByte);
+            }
+            else
+            {
+                memcpy((void *)buffer->data + (indexofbuff - 1) * m_iFrameSizeInByte,m_imager.m_image.bp,m_iFrameSizeInByte);
+            }
 
-            r_qtx.lock();
-            q->push(buffer);
-            r_qtx.unlock();//
-
-//            std::cout<<"XimeaImager::startRecord，队列长度为："<< q->size() <<std::endl;//
-
-//            fwrite(buffer,1,m_iFrameSizeInByte,hFile);
-
-            m_iFrameCounter+=1;
+            if (indexofbuff == 0)
+            {
+                r_qtx.lock();
+                q->push(buffer);
+                r_qtx.unlock();
+            }
 
             double sbgTime=getSbgTime(TimeDifferenceBetweensOSAndSbg);
 
             fprintf(hHimesFile,"%f\n",sbgTime);
-            //fwrite(&sbgTime,sizeof(double),1,hHimesFile);
+//            fwrite(&sbgTime,sizeof(double),1,hHimesFile);
+//            timesFile<<sbgTime<< "\n";
 
 //            timesFileHandle << sbgTime << "\n";
-//            std::cout<<"XimeaImager::startRecord---std::cout: "<<sbgTime<<std::endl;
-
-//            unsigned char pixel = *(unsigned char*)image.bp;//Default value: XI_MONO8
-//            unsigned short pixel =*(unsigned short*)image.bp;//XI_RAW16
-//            printf("Image %d (%dx%d) received from camera. First pixel value: %d\n", m_iFrameCounter, (int)image.width, (int)image.height, pixel);
         }
         gettimeofday(&timeEnd, NULL);
         runTime = (timeEnd.tv_sec - timeStart.tv_sec ) + (double)(timeEnd.tv_usec -timeStart.tv_usec)/1000000;
         m_imager.stop();
+        writeData2Disk->exitWriteData2Disk();
 
-        double frameInTheory=runTime * getFramerate();
-        double frameLossed=frameInTheory - m_iFrameCounter;
-        double frameLossRate=frameLossed / frameInTheory;
+        m_iFrameCounter = m_iFrameCounter - indexofbuff;
+        if (indexofbuff != 0)
+        {
+            m_pool->deleteElement(buffer);
+        }
+
+        double frameInTheory=runTime * getFramerate() - indexofbuff;
+
+        double frameLossed=m_imager.m_image.acq_nframe - indexofbuff - m_iFrameCounter;
+        double frameLossRate=frameLossed / (m_imager.m_image.acq_nframe - indexofbuff);
 
         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<<"当前帧率为: "<<getFramerate() << "hz" <<std::endl;
         std::cout<<"每秒数据量为: "<<getFramerate()*m_iFrameSizeInByte/(1024*1024)<<"MB"<<std::endl;
-        std::cout<<"理论采集帧数为: "<<frameInTheory<<std::endl;
+        std::cout<<"理论采集帧数为: "<<m_imager.m_image.acq_nframe - indexofbuff<<std::endl;
         std::cout<<"实际采集帧数为："<<m_iFrameCounter<<std::endl;
         std::cout<<"丢失帧数为: "<<frameLossed<<std::endl;
         std::cout<<"丢帧率为: "<<frameLossRate * 100<< "%" <<std::endl;
 
         fclose(hHimesFile);
 //        timesFileHandle.close();
+//        timesFile.close();
 
         timeStr = formatTimeStr(timeFormat);
         printf("停止采集：%s!\n", timeStr.toStdString().c_str());
@@ -688,6 +729,18 @@ void XimeaImager::processXiApiErrorCodes(int xiApiErrorCodes)
         m_iImagerState=xiApiErrorCodes;
         emit ximeaImageStatus(m_iImagerState);
 
+        break;
+    case 10:
+        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Timeout!"<<std::endl;
+        m_iImagerState=xiApiErrorCodes;
+        emit ximeaImageStatus(m_iImagerState);
+
+        break;
+    case 11:
+        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Invalid arguments supplied!"<<std::endl;
+        m_iImagerState=xiApiErrorCodes;
+        emit ximeaImageStatus(m_iImagerState);
+
         break;
     case 12:
         std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Not supported!"<<std::endl;
@@ -714,20 +767,26 @@ void XimeaImager::processXiApiErrorCodes(int xiApiErrorCodes)
 
         break;
     default:
-        QString ximeaError="ximeaError.txt";
-        ofstream ximeaErrorFile(ximeaError.toStdString().c_str(),ios::app);
-
-        ximeaErrorFile<< xiApiErrorCodes << "\n";
-        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:未处理ximea异常代码："<< xiApiErrorCodes <<std::endl;
-
-        ximeaErrorFile.close();
-
-
-
         m_iImagerState=99;
         emit ximeaImageStatus(m_iImagerState);
         break;
     }
+
+    writeXiApiErrorCodes("/media/nvme/300TC/ximeaError.txt", xiApiErrorCodes);
+}
+
+void XimeaImager::writeXiApiErrorCodes(QString filePath, int xiApiErrorCodes)
+{
+    ofstream ximeaErrorFile(filePath.toStdString().c_str(),ios::app);
+
+    char * timeFormat="%Y%m%d_%H%M%S";
+    QString timeStr = formatTimeStr(timeFormat);
+
+    ximeaErrorFile<< timeStr.toStdString().c_str() << ": " << xiApiErrorCodes << "\n";
+
+    std::cout<<"XimeaImager::writeXiApiErrorCodes-----------:xiApiErrorCodes: "<<timeStr.toStdString().c_str()<< ": " << xiApiErrorCodes<<std::endl;
+
+    ximeaErrorFile.close();
 }
 
 void XimeaImager::stopRecord()
@@ -787,6 +846,7 @@ void RecordXimeaTemperature::recordTemperature(QString filePath= nullptr)
 
 WriteData2Disk::WriteData2Disk()
 {
+    isExitWriteData2Disk = false;
 }
 
 void WriteData2Disk::write2Disk()
@@ -794,57 +854,59 @@ void WriteData2Disk::write2Disk()
     QString imageFileName=m_QbaseFileName+".bil";
     FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
 
-    int sleepCounters=1;
     int frameCounter = 0;
-    unsigned short * dataBuffer = new unsigned short[m_iFrameSizeInByte/2];
+    unsigned short * dataBuffer = new unsigned short[m_iFrameSizeInByte/2*m_iNumber_WriteDisk];
+    isExitWriteData2Disk = false;
     while(true)
     {
         r_qtx.lock();
         bool bempty=m_q->empty();
         r_qtx.unlock();
-        if(bempty)
+        if(bempty && isExitWriteData2Disk)
+        {
+            std::cout<<"WriteData2Disk::write2Disk-----------------------队列为空，采集线程已经退出！"<<std::endl;
+            break;
+        }
+        else if(bempty && !isExitWriteData2Disk)
         {
-            QThread::msleep(sleepCounters * sleepCounters * 10);
-//            std::cout<<"WriteData2Disk::write2Disk-----------------------队列第几次为空：" << sleepCounters <<std::endl;
-            sleepCounters++;
-
-            if (sleepCounters == 10 && frameCounter != 0)//如果sleepCounters == 10时，队列还是空，就代表相机停止采集 → 退出此线程
-            {
-                break;
-            }
-
             continue;
         }
-        sleepCounters = 1;
 
 
         r_qtx.lock();
         DataBuffer * buffer = m_q->front();
-        memcpy(dataBuffer,buffer->data,m_iFrameSizeInByte);
+        memcpy(dataBuffer,buffer->data,m_iFrameSizeInByte*m_iNumber_WriteDisk);
 //        m_pool->destroy(m_q->front());
         m_pool->deleteElement(buffer);
         m_q->pop();
         r_qtx.unlock();
 
         //构造rgb图像，用于推流到m300遥控器
-        m_rgbImage->FillRgbImage(dataBuffer);
+//        m_rgbImage->FillRgbImage(dataBuffer);
 
 
 //        std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//
-        fwrite(dataBuffer,1,m_iFrameSizeInByte, hFile);
+        fwrite(dataBuffer,1,m_iFrameSizeInByte*m_iNumber_WriteDisk, hFile);
         frameCounter++;
     }
     m_rgbImage->m_VideoWriter.release();
+    fclose(hFile);
 
     std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，内存池可达到的最多元素数：" << m_pool->max_size() <<std::endl;
-    std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，共写帧数：" << frameCounter <<std::endl;
+    std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，共写帧数：" << frameCounter*m_iNumber_WriteDisk <<std::endl;
 }
 
-void WriteData2Disk::setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
+void WriteData2Disk::exitWriteData2Disk()
+{
+    isExitWriteData2Disk = true;
+}
+
+void WriteData2Disk::setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
 {
     m_q = q;
     m_QbaseFileName = baseFileName;
     m_iFrameSizeInByte = frameSizeInByte;
+    m_iNumber_WriteDisk = number_WriteDisk;
 
     m_pool = pool;