1、添加配置文件控制推流参数；

2、解决遥控器解码时帧序混乱的问题（gop_size = 1）；
3、完善代码；

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.5.2)
 project(ximeaAirborneSystem)
 
 set(CMAKE_CXX_STANDARD 14)
@@ -9,7 +9,7 @@ set(CMAKE_AUTOUIC ON)
 set(CMAKE_AUTORCC ON)
 set(CMAKE_CXX_STANDARD 11)
 
-set(QT Core Network SerialPort)
+set(QT Core Network SerialPort Gui)
 set(TEMPLATE app)
 set(TARGET ximeaImageRecorder)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
@@ -17,9 +17,15 @@ find_package(Qt5 REQUIRED ${QT})#
 
 include_directories(.)
 include_directories(/home/300tc/library/ximeaControlDll/Header_Files)
-
 link_directories(/home/300tc/library/ximeaControlDll)
 
+find_package(OpenCV 4.2.0 REQUIRED)
+include_directories(/usr/local/include/opencv4/)
+link_directories(/usr/local/lib)
+
+include_directories(/home/300tc/library/ffmpeg_build/include)
+link_directories(/home/300tc/library/ffmpeg_build/lib)
+
 add_executable(${CMAKE_PROJECT_NAME}
         Source_Files/fileoperation.cpp
         Header_Files/fileoperation.h
@@ -41,10 +47,17 @@ add_executable(${CMAKE_PROJECT_NAME}
         Source_Files/ximeaimager.cpp
         Header_Files/ximeaimager.h
         Source_Files/configfile.cpp
-        Header_Files/configfile.h)
+        Header_Files/configfile.h
+        Header_Files/MemoryPool.tcc
+        Header_Files/MemoryPool.h Source_Files/rgbImage.cpp Header_Files/rgbImage.h)
 qt5_use_modules(${CMAKE_PROJECT_NAME} ${QT})
 
 target_link_libraries(${CMAKE_PROJECT_NAME}
         irisXimeaImager
         libconfig.so
-        libconfig++.so)
+        libconfig++.so
+        ${OpenCV_LIBS}
+        avformat
+        avcodec
+        swscale
+        avutil)

Header_Files/MemoryPool.h

@@ -0,0 +1,98 @@
+/*-
+ * Copyright (c) 2013 Cosku Acay, http://www.coskuacay.com
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef MEMORY_POOL_H
+#define MEMORY_POOL_H
+
+#include <climits>
+#include <cstddef>
+
+template <typename T, size_t BlockSize = 409200000>
+class MemoryPool
+{
+  public:
+    /* Member types */
+    typedef T               value_type;
+    typedef T*              pointer;
+    typedef T&              reference;
+    typedef const T*        const_pointer;
+    typedef const T&        const_reference;
+    typedef size_t          size_type;
+    typedef ptrdiff_t       difference_type;
+    typedef std::false_type propagate_on_container_copy_assignment;
+    typedef std::true_type  propagate_on_container_move_assignment;
+    typedef std::true_type  propagate_on_container_swap;
+
+    template <typename U> struct rebind {
+      typedef MemoryPool<U> other;
+    };
+
+    /* Member functions */
+    MemoryPool() noexcept;
+    MemoryPool(const MemoryPool& memoryPool) noexcept;
+    MemoryPool(MemoryPool&& memoryPool) noexcept;
+    template <class U> MemoryPool(const MemoryPool<U>& memoryPool) noexcept;
+
+    ~MemoryPool() noexcept;
+
+    MemoryPool& operator=(const MemoryPool& memoryPool) = delete;
+    MemoryPool& operator=(MemoryPool&& memoryPool) noexcept;
+
+    pointer address(reference x) const noexcept;
+    const_pointer address(const_reference x) const noexcept;
+
+    // Can only allocate one object at a time. n and hint are ignored
+    pointer allocate(size_type n = 1, const_pointer hint = 0);
+    void deallocate(pointer p, size_type n = 1);
+
+    size_type max_size() const noexcept;
+
+    template <class U, class... Args> void construct(U* p, Args&&... args);
+    template <class U> void destroy(U* p);
+
+    template <class... Args> pointer newElement(Args&&... args);
+    void deleteElement(pointer p);
+
+  private:
+    union Slot_ {
+      value_type element;
+      Slot_* next;
+    };
+
+    typedef char* data_pointer_;
+    typedef Slot_ slot_type_;
+    typedef Slot_* slot_pointer_;
+
+    slot_pointer_ currentBlock_;
+    slot_pointer_ currentSlot_;
+    slot_pointer_ lastSlot_;
+    slot_pointer_ freeSlots_;
+
+    size_type padPointer(data_pointer_ p, size_type align) const noexcept;
+    void allocateBlock();
+
+    static_assert(BlockSize >= 2 * sizeof(slot_type_), "BlockSize too small.");
+};
+
+#include "MemoryPool.tcc"
+
+#endif // MEMORY_POOL_H

Header_Files/MemoryPool.tcc

@@ -0,0 +1,235 @@
+/*-
+ * Copyright (c) 2013 Cosku Acay, http://www.coskuacay.com
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef MEMORY_BLOCK_TCC
+#define MEMORY_BLOCK_TCC
+
+
+
+template <typename T, size_t BlockSize>
+inline typename MemoryPool<T, BlockSize>::size_type
+MemoryPool<T, BlockSize>::padPointer(data_pointer_ p, size_type align)
+const noexcept
+{
+  uintptr_t result = reinterpret_cast<uintptr_t>(p);
+  return ((align - result) % align);
+}
+
+
+
+template <typename T, size_t BlockSize>
+MemoryPool<T, BlockSize>::MemoryPool()
+noexcept
+{
+  currentBlock_ = nullptr;
+  currentSlot_ = nullptr;
+  lastSlot_ = nullptr;
+  freeSlots_ = nullptr;
+}
+
+
+
+template <typename T, size_t BlockSize>
+MemoryPool<T, BlockSize>::MemoryPool(const MemoryPool& memoryPool)
+noexcept :
+MemoryPool()
+{}
+
+
+
+template <typename T, size_t BlockSize>
+MemoryPool<T, BlockSize>::MemoryPool(MemoryPool&& memoryPool)
+noexcept
+{
+  currentBlock_ = memoryPool.currentBlock_;
+  memoryPool.currentBlock_ = nullptr;
+  currentSlot_ = memoryPool.currentSlot_;
+  lastSlot_ = memoryPool.lastSlot_;
+  freeSlots_ = memoryPool.freeSlots;
+}
+
+
+template <typename T, size_t BlockSize>
+template<class U>
+MemoryPool<T, BlockSize>::MemoryPool(const MemoryPool<U>& memoryPool)
+noexcept :
+MemoryPool()
+{}
+
+
+
+template <typename T, size_t BlockSize>
+MemoryPool<T, BlockSize>&
+MemoryPool<T, BlockSize>::operator=(MemoryPool&& memoryPool)
+noexcept
+{
+  if (this != &memoryPool)
+  {
+    std::swap(currentBlock_, memoryPool.currentBlock_);
+    currentSlot_ = memoryPool.currentSlot_;
+    lastSlot_ = memoryPool.lastSlot_;
+    freeSlots_ = memoryPool.freeSlots;
+  }
+  return *this;
+}
+
+
+
+template <typename T, size_t BlockSize>
+MemoryPool<T, BlockSize>::~MemoryPool()
+noexcept
+{
+  slot_pointer_ curr = currentBlock_;
+  while (curr != nullptr) {
+    slot_pointer_ prev = curr->next;
+    operator delete(reinterpret_cast<void*>(curr));
+    curr = prev;
+  }
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline typename MemoryPool<T, BlockSize>::pointer
+MemoryPool<T, BlockSize>::address(reference x)
+const noexcept
+{
+  return &x;
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline typename MemoryPool<T, BlockSize>::const_pointer
+MemoryPool<T, BlockSize>::address(const_reference x)
+const noexcept
+{
+  return &x;
+}
+
+
+
+template <typename T, size_t BlockSize>
+void
+MemoryPool<T, BlockSize>::allocateBlock()
+{
+  // Allocate space for the new block and store a pointer to the previous one
+  data_pointer_ newBlock = reinterpret_cast<data_pointer_>
+                           (operator new(BlockSize));
+  reinterpret_cast<slot_pointer_>(newBlock)->next = currentBlock_;
+  currentBlock_ = reinterpret_cast<slot_pointer_>(newBlock);
+  // Pad block body to staisfy the alignment requirements for elements
+  data_pointer_ body = newBlock + sizeof(slot_pointer_);
+  size_type bodyPadding = padPointer(body, alignof(slot_type_));
+  currentSlot_ = reinterpret_cast<slot_pointer_>(body + bodyPadding);
+  lastSlot_ = reinterpret_cast<slot_pointer_>
+              (newBlock + BlockSize - sizeof(slot_type_) + 1);
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline typename MemoryPool<T, BlockSize>::pointer
+MemoryPool<T, BlockSize>::allocate(size_type n, const_pointer hint)
+{
+  if (freeSlots_ != nullptr) {
+    pointer result = reinterpret_cast<pointer>(freeSlots_);
+    freeSlots_ = freeSlots_->next;
+    return result;
+  }
+  else {
+    if (currentSlot_ >= lastSlot_)
+      allocateBlock();
+    return reinterpret_cast<pointer>(currentSlot_++);
+  }
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline void
+MemoryPool<T, BlockSize>::deallocate(pointer p, size_type n)
+{
+  if (p != nullptr) {
+    reinterpret_cast<slot_pointer_>(p)->next = freeSlots_;
+    freeSlots_ = reinterpret_cast<slot_pointer_>(p);
+  }
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline typename MemoryPool<T, BlockSize>::size_type
+MemoryPool<T, BlockSize>::max_size()
+const noexcept
+{
+  size_type maxBlocks = -1 / BlockSize;
+  return (BlockSize - sizeof(data_pointer_)) / sizeof(slot_type_) * maxBlocks;
+}
+
+
+
+template <typename T, size_t BlockSize>
+template <class U, class... Args>
+inline void
+MemoryPool<T, BlockSize>::construct(U* p, Args&&... args)
+{
+  new (p) U (std::forward<Args>(args)...);
+}
+
+
+
+template <typename T, size_t BlockSize>
+template <class U>
+inline void
+MemoryPool<T, BlockSize>::destroy(U* p)
+{
+  p->~U();
+}
+
+
+
+template <typename T, size_t BlockSize>
+template <class... Args>
+inline typename MemoryPool<T, BlockSize>::pointer
+MemoryPool<T, BlockSize>::newElement(Args&&... args)
+{
+  pointer result = allocate();
+  construct<value_type>(result, std::forward<Args>(args)...);
+  return result;
+}
+
+
+
+template <typename T, size_t BlockSize>
+inline void
+MemoryPool<T, BlockSize>::deleteElement(pointer p)
+{
+  if (p != nullptr) {
+    p->~value_type();
+    deallocate(p);
+  }
+}
+
+
+
+#endif // MEMORY_BLOCK_TCC

Header_Files/configfile.h

@@ -9,12 +9,15 @@
 #include <iomanip>
 #include <cstdlib>
 #include <libconfig.h++>
+#include <string>
 
 #include <QFileInfo>
 #include <QString>
 #include <QCoreApplication>
 #include <QDir>
 
+#include "utility_tc.h"
+
 using namespace std;
 using namespace libconfig;
 
@@ -31,7 +34,15 @@ 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);
+    bool getAcqBufferSize(int &acqBufferSize);
+
+    bool getPushFlowParam(int &flowSwitch, int &rgbHeight, int &framerateVideo);
 
     bool createConfigFile();
     bool updateConfigFile();
@@ -40,4 +51,55 @@ private:
     string m_configfilePath;
     Config cfg;
 };
+
+class ParameterConfigfile
+{
+public:
+    ParameterConfigfile();
+    void setConfigfilePath(string configfilePath);
+    bool isConfigfileExist();
+    bool parseConfigfile();
+
+    bool getFrameRate(int &frameRate);
+    bool setFrameRate(int frameRate);
+
+    bool getExposeTime(float &exposeTime);
+    bool setExposeTime(float exposeTime);
+
+    bool createConfigFile();
+//    bool updateConfigFile();
+    bool writeConfig2File();
+
+    string m_configfilePath;
+    Config cfg;
+private:
+};
+
+class StateOf300tcConfigfile:public ParameterConfigfile
+{
+public:
+    StateOf300tcConfigfile();
+
+    bool getSwitchState(bool &switchState);
+    bool setSwitchState(bool switchState);
+
+    bool getSbgState(int &sbgState);
+    bool setSbgState(int sbgState);
+
+    bool getSbgSolutionMode(int &sbgSolutionMode);
+    bool setSbgSolutionMode(int sbgSolutionMode);
+
+    bool getXimeaState(int &ximeaState);
+    bool setXimeaState(int ximeaState);
+
+    bool getExposeMaxValueOfOneFrame(int &exposeMaxValueOfOneFrame);
+    bool setExposeMaxValueOfOneFrame(int exposeMaxValueOfOneFrame);
+
+    bool createConfigFile();
+
+private:
+    bool getIntValue(int &value, string field);
+    bool setIntValue(int value, string field);
+
+};
 #endif //XIMEAIMAGERECORDER_CONFIGFILE_H

Header_Files/rgbImage.h

@@ -0,0 +1,84 @@
+//
+// Created by tangchao on 2022/12/24.
+//
+
+#ifndef XIMEAAIRBORNESYSTEM_RGBIMAGE_H
+#define XIMEAAIRBORNESYSTEM_RGBIMAGE_H
+
+#include <iostream>
+#include <string>
+
+#include <QObject>
+#include <QImage>
+#include <opencv2/opencv.hpp>//包含了所有东西，编译很慢
+#include "opencv2/imgproc/types_c.h"
+
+extern "C"
+{
+    #include <libavcodec/avcodec.h>
+    #include <libavutil/opt.h>
+    #include "libavutil/pixfmt.h"
+    #include "libswscale/swscale.h"
+    #include <libavutil/imgutils.h>
+    #include <libavutil/avutil.h>
+    #include "libavdevice/avdevice.h"
+}
+
+using namespace cv;
+class rgbImage :public QObject
+{
+
+Q_OBJECT
+public:
+    rgbImage(QWidget* pParent = NULL);
+    ~rgbImage();
+
+    void SetRgbImageWidthAndHeight(int BandCount, int Width, int height);
+    void SetRgbBandNumber(int redBandNumber, int greenBandNumber, int blueBandNumber);
+    void FillRgbImage(unsigned short *datacube);
+    void FillFocusGrayImage(unsigned short *datacube);
+    void FillFocusGrayQImage(unsigned short * datacube);
+
+    void FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsigned short *datacube);
+    QImage Mat2QImage(cv::Mat cvImg);//https://www.cnblogs.com/annt/p/ant003.html
+
+    QImage *m_QRgbImage;
+    cv::Mat *m_matRgbImage;
+    QImage m_Qphoto;
+
+    QImage *m_qimageFocusGrayImage;
+    cv::Mat *m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
+    //cv::Mat m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
+
+    CvVideoWriter *m_frame_writer;
+    VideoWriter m_VideoWriter;
+//    VideoWriter m_video("appsrc ! autovideoconvert ! filesink location=/media/nvme/delete/live.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));
+//    VideoWriter video("test.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));//
+
+    //控制该填充rgb图像第几帧（行）数据
+    //以下两种情况需要重置为0：1）调用函数SetRgbImageWidthAndHeight；2）每次开始填充数据前
+    int m_iFrameCounter;
+    int m_iFramerate;//
+
+protected:
+
+private:
+    int m_iSampleNumber;//
+    int m_iBandNumber;//
+
+    int m_iFrameNumber;//
+
+    void initffmpeg();
+
+    int m_iRedBandNumber;
+    int m_iGreenBandNumber;
+    int m_iBlueBandNumber;
+
+public slots:
+
+signals :
+    void sendstr(QString str);
+    void sendstr1(QString str);
+    void refreslabelimg(QImage* img1);
+};
+#endif //XIMEAAIRBORNESYSTEM_RGBIMAGE_H

Header_Files/sbgrecorder.h

@@ -69,8 +69,7 @@ namespace sbgtc
 
         void sbgSolutionModeSignal(int);
 
-        void sbgAccuracySignal(int);
-
+        void sbgAccuracySignal(int, int);
     };
 
 }

Header_Files/udpserver.h

@@ -11,17 +11,43 @@
 #include <QObject>
 #include <QThread>
 #include <QDir>
+#include <QtSerialPort/QSerialPort>
+#include <QtSerialPort/QSerialPortInfo>
 
 #include "ximeaimager.h"
 #include "sbgrecorder.h"
 #include "fileoperation.h"
 
+#include "configfile.h"
+
 extern "C"
 {
 //    #include <sbgEComLib.h>
     #include <stdlib.h>
 }
 
+class Record300TcTemperature : public QObject
+{
+Q_OBJECT
+
+public:
+    Record300TcTemperature();
+
+    void stopRecordTemperature();
+
+private:
+    bool m_bIsRecord;
+
+    QSerialPort * m_serial;
+
+    float parseMessage(QByteArray * data);
+public slots:
+    void recordTemperature(QString filePath);
+
+signals:
+
+};
+
 class UdpServer:public QObject
 {
     Q_OBJECT
@@ -48,6 +74,11 @@ class UdpServer:public QObject
 
     void sender(int status);
 
+    QThread * m_recordTempThread;
+    Record300TcTemperature * m_300tcTemperature;
+
+    StateOf300tcConfigfile stateOf300tc;
+
 signals:
     void systemStart();
     void systemStop();
@@ -56,6 +87,7 @@ signals:
     void startDeleteFileSignal();
 
     void recordXimeaOnlySignal(double,QString);
+    void record300tcTemperatureSignal(QString);
 
 public slots:
     void onRecordFinished();
@@ -63,9 +95,12 @@ public slots:
     void sendSerialPortStatus(int serialPortStatus);
 
     void sendSbgSolutionModeState(int SolutionMode);
-    void sendSbgAccuracyState(int Accuracy);
+    void sendSbgAccuracyState(int Accuracy,int SatelliteCounter);
 
     void sendXimeaImageStatus(int ximeaImageStatus);
+    void sendXimeaAutoExposeMaxValueOfOneFrame(int autoExposeMaxValueOfOneFrame, double exposeTime);
+    void sendXimeaBinState(int spatialBin, int spectralBin);
+    void sendXimeaImageFrameRate(double frameRate);
     void sendCopyFileStatus(int fileStatus);
 };
 #endif // UDPSERVER_H

Header_Files/utility_tc.h

@@ -2,15 +2,22 @@
 #define UTILITY_TC_H
 
 #include <iostream>
+#include <ctime>
 
 #include <QString>
 #include <QDebug>
 
 QString getFileNameBaseOnTime();
 
+QString formatTimeStr(char * format);
+
 //https://blog.csdn.net/MoreWindows/article/details/6657829
 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 +25,10 @@
 #include <fstream>
 #include <unistd.h>
 #include <exception>
+#include <fcntl.h>
+#include <sys/mman.h>
+#include <cmath>
+#include <vector>
 
 #include <QObject>
 #include <QDateTime>
@@ -37,6 +41,16 @@
 #include "math.h"
 #include "utility_tc.h"
 
+#include "MemoryPool.h"
+#include <queue>
+#include <QMutex>
+#include <QUdpSocket>
+
+#include "rgbImage.h"
+
+#define PUSH_FLOW_PORT 666
+
+
 
 //#ifdef WIN32
 //#include <xiApi.h>       // Windows
@@ -44,12 +58,30 @@
 //#include <m3api/xiApi.h> // Linux, OSX
 //#endif
 
+//struct DataBuffer
+//{
+//    unsigned short data[409200/2];
+//};
+
+class DataBuffer
+{
+public:
+    DataBuffer();
+    ~DataBuffer();
+
+    unsigned short data[41040000];//1368*300*100=41040000，为了兼容所有设置spectral bin和spatial bin
+
+private:
+
+};
+
+class XimeaImager;
 class RecordXimeaTemperature : public QObject
 {
 Q_OBJECT
 
 public:
-    RecordXimeaTemperature(Iris::IrisXimeaImager * imager);
+    RecordXimeaTemperature(Iris::IrisXimeaImager * imager, XimeaImager * ximeaImager);
 
     void stopRecordTemperature();
 
@@ -57,6 +89,7 @@ private:
     Iris::IrisXimeaImager * m_imager;
 
     bool m_bIsRecord;
+    XimeaImager * m_ximeaImager;
 public slots:
     void recordTemperature(QString filePath);
 
@@ -64,16 +97,74 @@ signals:
 
 };
 
+//queue<DataBuffer *> q;
+//static QMutex r_qtx{ QMutex::Recursive };
+static std::mutex r_qtx;
+
+class WriteData2Disk : public QObject
+{
+Q_OBJECT
+
+public:
+    WriteData2Disk();
+    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;
+    MemoryPool<DataBuffer> * m_pool;
+    bool isExitWriteData2Disk;
+
+    rgbImage * m_rgbImage;
+
+public slots:
+    void write2Disk();
+    void exitWriteData2Disk();
+
+signals:
+};
+
+class PushFlow : public QObject
+{
+Q_OBJECT
+
+public:
+    PushFlow();
+    void setParm(rgbImage * img, int width, int height, int framerateVideo);
+    void exitPushFlow();
+    void setVedioFilePath(QString path);
+
+private:
+    QString m_QVedioFilePath;
+    bool isExitPushFlow;
+
+    rgbImage * m_rgbImage;
+
+    int m_iWidth;
+    int m_iHeight;
+    int m_iFramerateVideo;
+
+public slots:
+    void encodePushFlow();
+
+signals:
+};
+
 class XimeaImager : public QObject
 {
     Q_OBJECT
 
 public:
     XimeaImager();
+    ~XimeaImager();
 
     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();
     void setGain(double gain);
@@ -85,8 +176,12 @@ public:
     int getWindowEndBand();
     double geWavelengthAtBand(int x);
 
+    static int findClosestIndex(const std::vector<double>& numbers, double target);
+    void getRgbBandNumber(int &redBandNumber, int &greenBandNumber, int &blueBandNumber);
+
     void stopRecord();
     int getFrameCounter();
+    void writeXiApiErrorCodes(QString filePath, int xiApiErrorCodes);
 
     int getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel);
 
@@ -96,46 +191,52 @@ 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;
+
+    QThread * m_pushFlowThread;
+    PushFlow * m_pushFlow;
+    int m_iFlowSwitch;
+
     QString m_baseFileName;
     QString m_ximeaTemperatureCSVPath;
 
     Iris::IrisXimeaImager m_imager;
     unsigned short * m_buffer;
+//    MemoryPool<unsigned short> m_pool;
     bool m_bRecordControl;
     int m_iFrameCounter;
     int m_iFrameSizeInByte;
+    rgbImage * m_rgbImage;
     void writeHdr();
 
     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;
+
+
 
 public slots:
     void openImger();
     void closeImger();
 
+    double calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * m_image, double timeDifferenceBetweenSbgAndOS);
     void startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName);
 
 signals:
@@ -143,5 +244,11 @@ signals:
     void ximeaImageStatus(int);
 
     void recordXimeaTemperatureSignal(QString);
+    void startWriteDiskSignal();
+    void startPushFlowSignal();
+
+    void autoExposeMaxValueOfOneFrame(int, double);
+    void frameRateSignal(double);
+    void binSignal(int, int);
 };
 #endif // XIMEAIMAGER_H

Source_Files/configfile.cpp

@@ -166,6 +166,86 @@ bool Configfile::getEffectiveWindowRoi(int &width, int &offsetx)
     return true;
 }
 
+bool Configfile::getPushFlowParam(int &flowSwitch, int &rgbHeight, int &framerateVideo)
+{
+    Setting& root = cfg.getRoot();
+
+    if (!root.exists("push_flow_param"))
+    {
+        // 配置项不存在，添加配置项
+        Setting & push_flow_param = root.add("push_flow_param", Setting::TypeGroup);
+
+        push_flow_param.add("flow_switch", Setting::TypeInt) = 0;
+        push_flow_param.add("rgb_height", Setting::TypeInt) = 720;
+        push_flow_param.add("framerate_video", Setting::TypeInt) = 5;
+
+        // 保存修改后的配置到文件
+        try
+        {
+            QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
+            bool ret = createDir(fileInfo[0]);
+
+            cfg.writeFile(m_configfilePath.c_str());
+            std::cout << "Config item 'push_flow_param' added." << std::endl;
+
+            flowSwitch = 0;
+            rgbHeight = 720;
+            framerateVideo = 5;
+
+            return true;
+        }
+        catch (const libconfig::FileIOException &fioex)
+        {
+            std::cerr << "I/O error while writing file." << std::endl;
+            return false;
+        }
+    }
+    else
+    {
+        try
+        {
+            const Setting &push_flow_param = root["push_flow_param"];
+
+            if(!(push_flow_param.lookupValue("rgb_height", rgbHeight)
+                 && push_flow_param.lookupValue("framerate_video", framerateVideo)
+                 && push_flow_param.lookupValue("flow_switch", flowSwitch)
+            ))
+            {
+                return false;
+            }
+        }
+        catch(const SettingNotFoundException &nfex)
+        {
+            // Ignore.
+            return false;
+        }
+
+        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 +286,95 @@ 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
+    {
+        std::string SN_tem = cfg.lookup("SN");
+        SN = QString::fromStdString(SN_tem);
+
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+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;
@@ -217,7 +386,7 @@ bool Configfile::createConfigFile()
 
     // Add some settings to the configuration.
     Setting &SN = root.add("SN", Setting::TypeString) = "0098";
-    Setting &spatialBin = root.add("spatialBin", Setting::TypeInt) = 1;
+    Setting &spatialBin = root.add("spatialBin", Setting::TypeInt) = 2;
     Setting &SpectralBin = root.add("spectralBin", Setting::TypeInt) = 2;
 
     Setting &effective_window = root.add("effective_window", Setting::TypeGroup);
@@ -228,13 +397,13 @@ bool Configfile::createConfigFile()
     Setting &effective_window_Bin2_spatial = effective_window_Bin2.add("spatial", Setting::TypeGroup);
     Setting &effective_window_Bin2_Spectral = effective_window_Bin2.add("spectral", Setting::TypeGroup);
 
-    effective_window_Bin1_spatial.add("width", Setting::TypeInt) = 1392;
-    effective_window_Bin1_spatial.add("offsetx", Setting::TypeInt) = 272;
+    effective_window_Bin1_spatial.add("width", Setting::TypeInt) = 1368;
+    effective_window_Bin1_spatial.add("offsetx", Setting::TypeInt) = 288;
     effective_window_Bin1_Spectral.add("height", Setting::TypeInt) = 300;
     effective_window_Bin1_Spectral.add("offsety", Setting::TypeInt) = 348;
 
-    effective_window_Bin2_spatial.add("width", Setting::TypeInt) = 712;
-    effective_window_Bin2_spatial.add("offsetx", Setting::TypeInt) = 128;
+    effective_window_Bin2_spatial.add("width", Setting::TypeInt) = 688;
+    effective_window_Bin2_spatial.add("offsetx", Setting::TypeInt) = 144;
     effective_window_Bin2_Spectral.add("height", Setting::TypeInt) = 150;
     effective_window_Bin2_Spectral.add("offsety", Setting::TypeInt) = 174;
 
@@ -263,10 +432,18 @@ 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 = QDir::cleanPath(QCoreApplication::applicationDirPath() + QDir::separator() + "ximea.cfg");
+    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;
 
@@ -349,3 +526,295 @@ bool Configfile::updateConfigFile()
 
     return true;
 }
+
+ParameterConfigfile::ParameterConfigfile()
+{
+
+}
+
+void ParameterConfigfile::setConfigfilePath(string configfilePath)
+{
+    m_configfilePath = configfilePath;
+}
+
+bool ParameterConfigfile::isConfigfileExist()
+{
+    QFileInfo info(QString::fromStdString(m_configfilePath));
+
+    return info.exists();
+}
+
+bool ParameterConfigfile::parseConfigfile()
+{
+    // Read the file. If there is an error, report it and exit.
+    try
+    {
+        cfg.readFile(m_configfilePath);
+
+        return true;
+    }
+    catch(const FileIOException &fioex)
+    {
+        std::cerr << "I/O error while reading file." << std::endl;
+        return false;
+    }
+    catch(const ParseException &pex)
+    {
+        std::cerr << "Parse error at " << pex.getFile() << ":" << pex.getLine()
+                  << " - " << pex.getError() << std::endl;
+        return false;
+    }
+}
+
+bool ParameterConfigfile::createConfigFile()
+{
+    using namespace std;
+    using namespace libconfig;
+
+    Config cfg;
+
+    Setting &root = cfg.getRoot();
+
+    // Add some settings to the configuration.
+//    Setting &SN = root.add("SN", Setting::TypeString) = "0098";
+//    Setting &spatialBin = root.add("spatialBin", Setting::TypeInt) = 2;
+//    Setting &SpectralBin = root.add("spectralBin", Setting::TypeInt) = 2;
+
+    Setting &ximeaParam = root.add("ximeaParam", Setting::TypeGroup);
+    ximeaParam.add("frameRate", Setting::TypeInt) = 100;
+    ximeaParam.add("exposeTime", Setting::TypeFloat) = 10.0;
+
+
+    // Write out the new configuration.
+    try
+    {
+        QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
+        bool ret = createDir(fileInfo[0]);
+
+        cfg.writeFile(m_configfilePath.c_str());
+        cerr << "New configuration successfully written to: " << m_configfilePath.c_str() << endl;
+
+    }
+    catch(const FileIOException &fioex)
+    {
+        cerr << "I/O error while writing configuration file: " << m_configfilePath.c_str() << endl;
+        return true;
+    }
+
+    return true;
+}
+
+bool ParameterConfigfile::getFrameRate(int &frameRate)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        const Setting &ximeaParam = root["ximeaParam"];
+        frameRate = ximeaParam.lookup("frameRate");
+
+//        std::cout << "ParameterConfigfile::getFrameRate："<< frameRate<<std::endl;
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'frameRate' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool ParameterConfigfile::setFrameRate(int frameRate)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        Setting &frameRate2 = root["ximeaParam"]["frameRate"];
+        frameRate2 = frameRate;
+
+        writeConfig2File();
+
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'frameRate' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool ParameterConfigfile::getExposeTime(float &exposeTime)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        const Setting &ximeaParam = root["ximeaParam"];
+        exposeTime = ximeaParam.lookup("exposeTime");
+
+//        std::cout << "ParameterConfigfile::getExposeTime"<< exposeTime<<std::endl;
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'exposeTime' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool ParameterConfigfile::setExposeTime(float exposeTime)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        Setting &frameRate2 = root["ximeaParam"]["exposeTime"];
+        frameRate2 = exposeTime;
+
+        writeConfig2File();
+
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'exposeTime' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool ParameterConfigfile::writeConfig2File()
+{
+    try
+    {
+        QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
+        bool ret = createDir(fileInfo[0]);
+
+        cfg.writeFile(m_configfilePath.c_str());
+//        cerr << "New configuration successfully written to: " << m_configfilePath.c_str() << endl;
+    }
+    catch(const FileIOException &fioex)
+    {
+        cerr << "I/O error while writing configuration file: " << m_configfilePath.c_str() << endl;
+        return false;
+    }
+    return true;
+}
+
+StateOf300tcConfigfile::StateOf300tcConfigfile()
+{
+}
+
+bool StateOf300tcConfigfile::getIntValue(int &value, string field)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        const Setting &ximeaParam = root["ximeaParam"];
+        value = ximeaParam.lookup(field);
+
+//        std::cout << "StateOf300tcConfigfile::getIntValue"<< value<<std::endl;
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool StateOf300tcConfigfile::setIntValue(int value, string field)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        Setting &frameRate2 = root["ximeaParam"][field];
+        frameRate2 = value;
+
+        writeConfig2File();
+
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool StateOf300tcConfigfile::createConfigFile()
+{
+    using namespace std;
+    using namespace libconfig;
+
+    Config cfg;
+
+    Setting &root = cfg.getRoot();
+
+    // Add some settings to the configuration.
+//    Setting &SN = root.add("SN", Setting::TypeString) = "0098";
+//    Setting &spatialBin = root.add("spatialBin", Setting::TypeInt) = 2;
+//    Setting &SpectralBin = root.add("spectralBin", Setting::TypeInt) = 2;
+
+    Setting &ximeaParam = root.add("ximeaParam", Setting::TypeGroup);
+    ximeaParam.add("sbgState", Setting::TypeInt) = 0;
+    ximeaParam.add("sbgSolutionMode", Setting::TypeInt) = 0;
+    ximeaParam.add("ximeaState", Setting::TypeInt) = 100;
+    ximeaParam.add("frameRate", Setting::TypeInt) = 0;
+    ximeaParam.add("exposeTime", Setting::TypeFloat) = 0.0;
+    ximeaParam.add("exposeMaxValueOfOneFrame", Setting::TypeInt) = 0;
+
+
+    // Write out the new configuration.
+    try
+    {
+        QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
+        bool ret = createDir(fileInfo[0]);
+
+        cfg.writeFile(m_configfilePath.c_str());
+        cerr << "New configuration successfully written to: " << m_configfilePath.c_str() << endl;
+
+    }
+    catch(const FileIOException &fioex)
+    {
+        cerr << "I/O error while writing configuration file: " << m_configfilePath.c_str() << endl;
+        return true;
+    }
+
+    return true;
+}
+
+bool StateOf300tcConfigfile::getSbgState(int &sbgState)
+{
+    return getIntValue(sbgState,"sbgState");
+}
+
+bool StateOf300tcConfigfile::setSbgState(int sbgState)
+{
+    return setIntValue(sbgState,"sbgState");
+}
+
+bool StateOf300tcConfigfile::getSbgSolutionMode(int &sbgSolutionMode)
+{
+    return getIntValue(sbgSolutionMode,"sbgSolutionMode");
+}
+
+bool StateOf300tcConfigfile::setSbgSolutionMode(int sbgSolutionMode)
+{
+    return setIntValue(sbgSolutionMode,"sbgSolutionMode");
+}
+
+bool StateOf300tcConfigfile::getXimeaState(int &ximeaState)
+{
+    return getIntValue(ximeaState,"ximeaState");
+}
+
+bool StateOf300tcConfigfile::setXimeaState(int ximeaState)
+{
+    return setIntValue(ximeaState,"ximeaState");
+}
+
+bool StateOf300tcConfigfile::getExposeMaxValueOfOneFrame(int &exposeMaxValueOfOneFrame)
+{
+    return getIntValue(exposeMaxValueOfOneFrame,"exposeMaxValueOfOneFrame");
+}
+
+bool StateOf300tcConfigfile::setExposeMaxValueOfOneFrame(int exposeMaxValueOfOneFrame)
+{
+    return setIntValue(exposeMaxValueOfOneFrame,"exposeMaxValueOfOneFrame");
+}

Source_Files/main.cpp

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

Source_Files/rgbImage.cpp

@@ -0,0 +1,307 @@
+//
+// Created by tangchao on 2022/12/24.
+//
+
+#include "../Header_Files/rgbImage.h"
+
+rgbImage::rgbImage(QWidget* pParent)
+{
+    m_QRgbImage = nullptr;
+    m_matRgbImage = nullptr;
+    m_matFocusGrayImage = nullptr;
+    m_qimageFocusGrayImage = nullptr;
+
+    m_iRedBandNumber = 0;
+    m_iGreenBandNumber = 0;
+    m_iBlueBandNumber = 0;
+}
+
+rgbImage::~rgbImage()
+{
+
+}
+
+void rgbImage::SetRgbBandNumber(int redBandNumber, int greenBandNumber, int blueBandNumber)
+{
+    m_iRedBandNumber = redBandNumber;
+    m_iGreenBandNumber = greenBandNumber;
+    m_iBlueBandNumber = blueBandNumber;
+
+//    std::cout<<"rgbImage::SetRgbBandNumber，红波段的波段号："<< redBandNumber <<std::endl;
+//    std::cout<<"rgbImage::SetRgbBandNumber，绿波段的波段号："<< greenBandNumber <<std::endl;
+//    std::cout<<"rgbImage::SetRgbBandNumber，蓝波段的波段号："<< blueBandNumber <<std::endl;
+}
+
+void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Width, int height)
+{
+    using namespace cv;
+
+    if (m_QRgbImage != nullptr)
+    {
+        delete m_QRgbImage;//有问题？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
+    }
+    //m_QRgbImage = new QImage(Width, height, QImage::Format_RGB888);
+
+
+    if (m_matRgbImage != nullptr)
+    {
+        delete m_matRgbImage;
+    }
+    m_matRgbImage = new Mat(height, Width, CV_8UC3, Scalar(0, 0, 0));
+
+//    int codec = VideoWriter::fourcc('H', '2', '6', '4');  // select desired codec (must be available at runtime)
+//    double fps = 20.0;// framerate of the created video stream
+//    std::string filename = "appsrc ! autovideoconvert ! filesink location=/media/nvme/live.mp4";//https://blog.csdn.net/ancientapesman/article/details/117324638
+////    std::string filename = "/media/nvme/live.mp4";
+//    auto ddddd=m_matRgbImage->size();
+//    m_VideoWriter.open(filename, codec, fps, Size(20, 1368), true);
+
+//    VideoWriter video("test.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));
+
+//    m_frame_writer = cvCreateVideoWriter("/media/nvme/delete/live.avi",  cv::VideoWriter::fourcc('M', 'J', 'P', 'G'), 20.0, Size(688, 688), false);
+
+
+
+
+
+    if (m_qimageFocusGrayImage == nullptr)
+    {
+        m_qimageFocusGrayImage = new QImage(Width, BandCount, QImage::Format_RGB32);
+    }
+
+
+    if (m_matFocusGrayImage == nullptr)
+    {
+        m_matFocusGrayImage = new Mat(BandCount, Width, CV_16U, Scalar(0));
+
+        //cv::Mat matAdjustPreview = Mat::zeros(BandCount, Width, CV_16U);
+    }
+
+    //cv::Mat matAdjustPreview = Mat::zeros(BandCount, Width, CV_16U);
+    //m_matFocusGrayImage = matAdjustPreview;
+
+    std::cout << "高光谱rgb图像设置高度：" << height << std::endl;
+
+    m_iFrameCounter = 0;//每次都重置为0
+    m_iSampleNumber = Width;
+    m_iBandNumber = BandCount;
+    m_iFrameNumber = height;
+
+    //std::cout << "rgb影像内存地址为：" << m_QRgbImage << std::endl;
+}
+
+void rgbImage::FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsigned short *datacube)
+{
+    //方式1：逐像素修改
+//    unsigned short r, g, b;
+//    for (int j = 0; j < m_iSampleNumber; j++)
+//    {
+//        //取值：一帧影像中，从左到右的rgb像元值
+//        r = *(datacube + m_iRedBandNumber * m_iSampleNumber + j)*255/4096;
+//        g = *(datacube + m_iGreenBandNumber * m_iSampleNumber + j)*255/4096;
+//        b = *(datacube + m_iBlueBandNumber * m_iSampleNumber + j)*255/4096;
+//
+////        r = *(datacube + m_iRedBandNumber * m_iSampleNumber + j);
+////        g = *(datacube + m_iGreenBandNumber * m_iSampleNumber + j);
+////        b = *(datacube + m_iBlueBandNumber * m_iSampleNumber + j);
+//
+//        //将像元值赋值到cv::Mat中，操作像元值：https://zhuanlan.zhihu.com/p/51842288
+//        //int dataType = m_matRgbImage->type();//当数据类型为CV_16UC3时，返回18
+//        //std::cout << "m_matRgbImage数据类型为：" << dataType << std::endl;
+//        if (matRgbImage->type() == CV_8UC3)
+//        {
+////            std::cout << "操作像素值！" << std::endl;
+//            matRgbImage->at<cv::Vec3b>(rowNumber, j)[2] = r;
+//            matRgbImage->at<cv::Vec3b>(rowNumber, j)[1] = g;
+//            matRgbImage->at<cv::Vec3b>(rowNumber, j)[0] = b;
+//
+////            QString savePath_cv = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_cv.png";
+////            cv::imwrite(savePath_cv.toStdString(), *matRgbImage);
+//        }
+//
+//        int column = 800;
+//        if(j == column)
+//        {
+//            std::cout << "行：" << rowNumber << "提取：第 " << column << " 列的 r g b 分别为 " << r <<  " " << g <<  " " << b << std::endl;
+//            std::cout << "mat：第 " << column << " 列的 r g b 分别为 " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[2] <<  " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[1] <<  " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[0] << std::endl;
+//        }
+//    }
+
+    //方式2：通过指针操作，更快
+    unsigned short r, g, b;
+    const int cols = matRgbImage->cols;
+    const int step = matRgbImage->channels();
+
+    unsigned char *p_row0_b = matRgbImage->ptr(rowNumber);
+    unsigned char *p_row0_g = matRgbImage->ptr(rowNumber) + 1;
+    unsigned char *p_row0_r = matRgbImage->ptr(rowNumber) + 2;
+
+    for (int j = 0; j < m_iSampleNumber; j++)
+    {
+        //取值：一帧影像中，从左到右的rgb像元值，线性拉伸
+        r = *(datacube + m_iRedBandNumber * m_iSampleNumber + j)*255/4096;
+        g = *(datacube + m_iGreenBandNumber * m_iSampleNumber + j)*255/4096;
+        b = *(datacube + m_iBlueBandNumber * m_iSampleNumber + j)*255/4096;
+
+        *p_row0_b = b;
+        *p_row0_g = g;
+        *p_row0_r = r;
+
+//        int column = 800;
+//        if(j == column)
+//        {
+//            std::cout << "行：" << rowNumber << "提取：第 " << column << " 列的 r g b 分别为 " << r <<  " " << g <<  " " << b << std::endl;
+////            std::cout << "修改后" << rowNumber << "提取：第 " << column << " 列的 r g b 分别为 " << (unsigned short)*p_row0_r <<  " " << (unsigned short)*p_row0_g <<  " " << (unsigned short)*p_row0_b << std::endl;
+////            std::cout << "mat：第 " << column << " 列的 r g b 分别为 " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[2] <<  " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[1] <<  " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[0] << std::endl;
+//        }
+
+        p_row0_b += step;
+        p_row0_g += step;
+        p_row0_r += step;
+    }
+
+    //方式3：通过内存拷贝快速提取rgb
+//    if (matRgbImage->isContinuous())// check mat is continuous or not
+//        matRgbImage->reshape(1, matRgbImage->rows * matRgbImage->cols).col(0).setTo(Scalar(value));
+//    else
+//    {
+//        for (int i = 0; i < matRgbImage->rows; i++)
+//            matRgbImage->row(i).reshape(1, matRgbImage->cols).col(0).setTo(Scalar(value));
+//    }
+}
+
+QImage rgbImage::Mat2QImage(cv::Mat cvImg)//https://www.cnblogs.com/annt/p/ant003.html
+{
+    QImage qImg;
+    if (cvImg.channels() == 3)//3 channels color image
+    {
+        cv::cvtColor(cvImg, cvImg, CV_BGR2RGB);
+        qImg = QImage((const unsigned char*)(cvImg.data),
+                      cvImg.cols, cvImg.rows,
+                      cvImg.cols*cvImg.channels(),
+                      QImage::Format_RGB888);
+    }
+    else if (cvImg.channels() == 1)//grayscale image
+    {
+        qImg = QImage((const unsigned char*)(cvImg.data),
+                      cvImg.cols, cvImg.rows,
+                      cvImg.cols*cvImg.channels(),
+                      QImage::Format_Indexed8);
+    }
+    else
+    {
+        qImg = QImage((const unsigned char*)(cvImg.data),
+                      cvImg.cols, cvImg.rows,
+                      cvImg.cols*cvImg.channels(),
+                      QImage::Format_RGB888);
+    }
+
+    return qImg;
+}
+
+void rgbImage::FillRgbImage(unsigned short *datacube)
+{
+    //从第二行开始，向下移动一行，https://blog.csdn.net/u014686356/article/details/65937750
+//    m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));//经tc验证：此行代码工作异常，为啥不加.clone()就异常？？？？？？
+//    m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).clone().copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));//此方式，ximea帧率130hz，1min左右就出现漏帧
+
+//    cv::Mat upperPart = m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).clone();//此方式，ximea帧率130hz，1min左右就出现漏帧
+//    upperPart.copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));
+
+    for (int i = m_matRgbImage->rows - 2; i >= 0; --i)//此方式，ximea帧率130hz，4.5min左右出现漏帧 → 此方式效率最高
+    {
+        m_matRgbImage->row(i).copyTo(m_matRgbImage->row(i+1));
+    }
+
+    FillOnerowofRgbImage(m_matRgbImage, 0, datacube);
+
+//    m_Qphoto = Mat2QImage(*m_matRgbImage);
+
+    //保存rgb图片
+//    if (m_iFrameCounter % m_iFramerate == 0 || m_iFrameCounter == m_iFrameNumber - 1)
+//    {
+////        QString savePath = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_qt.jpg";
+////        m_Qphoto.save(savePath);
+//
+//        QString savePath_cv = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_cv.jpg";
+//        cv::imwrite(savePath_cv.toStdString(), *m_matRgbImage);
+//    }
+//    m_VideoWriter.write(*m_matRgbImage);
+//    std::string rgbFilePathNoStrech = "/media/nvme/delete/" + std::to_string(m_iFrameCounter) + "ctmp_image_no_strech.png";
+//    cv::imwrite(rgbFilePathNoStrech, *m_matRgbImage);
+
+    m_iFrameCounter++;
+}
+
+void rgbImage::FillFocusGrayImage(unsigned short * datacube)
+{
+    int rowCount = m_matFocusGrayImage->rows;
+    int colCount = m_matFocusGrayImage->cols;
+    for (unsigned short i = 0; i < m_matFocusGrayImage->rows; i++)
+    {
+        for (unsigned short j = 0; j < m_matFocusGrayImage->cols; j++)
+        {
+            //m_matFocusGrayImage->at<ushort>(i, j) = *(datacube + m_matFocusGrayImage->cols*i + j);
+            m_matFocusGrayImage->at<ushort>(i, j) = datacube[m_matFocusGrayImage->cols*i + j];
+        }
+    }
+
+
+
+    //int rowCount = m_matFocusGrayImage.rows;
+    //int colCount = m_matFocusGrayImage.cols;
+    ////memcpy(m_matFocusGrayImage.data, datacube, rowCount*colCount);
+    //for (unsigned short i = 0; i < m_matFocusGrayImage.rows; i++)
+    //{
+    //	for (unsigned short j = 0; j < m_matFocusGrayImage.cols; j++)
+    //	{
+    //		m_matFocusGrayImage.at<ushort>(i, j) = *(datacube + m_matFocusGrayImage.cols*i + j);
+    //		//m_matFocusGrayImage.at<ushort>(i, j) = datacube[colCount*i + j];
+    //	}
+    //}
+
+    //将mat保存成文件
+    //cv::imwrite("D:/delete/2222222222/test.bmp", m_matFocusGrayImage);
+}
+
+void rgbImage::FillFocusGrayQImage(unsigned short * datacube)
+{
+    float two_eight = pow(2.0, 8);
+    float two_sixteen = pow(2.0, 12);
+
+    int width = m_qimageFocusGrayImage->width();
+    int height = m_qimageFocusGrayImage->height();
+    for (unsigned short i = 0; i < height; i++)
+    {
+        for (unsigned short j = 0; j < width; j++)
+        {
+            //uint tmp = (two_eight* *(datacube + width * i + j)) / two_sixteen;
+            uint tmp = (two_eight* datacube[width*i + j]) / two_sixteen;
+            //uint tmp = datacube[width*i + j];
+
+
+            //m_qimageFocusGrayImage->setPixel(j, i, tmp);
+            m_qimageFocusGrayImage->setPixel(j, i, qRgb((unsigned char)tmp, (unsigned char)tmp, (unsigned char)tmp));
+        }
+    }
+
+    m_qimageFocusGrayImage->save("D:/delete/2222222222/test.bmp");
+
+
+
+
+    /*float two_eight = pow(2.0, 8);
+    float two_sixteen = pow(2.0, 16);
+    QImage *qi = new QImage(imwidth, imheight, QImage::Format_RGB32);
+    for (int i = 0; i < imheight; i++)
+    {
+        for (int j = 0; j < imwidth; j++)
+        {
+            floatData[i*imwidth + j] = (two_eight* floatData[i*imwidth + j]) / two_sixteen;
+            qi->setPixel(j, i, qRgb((unsigned char)floatData[i*imwidth + j], (unsigned char)floatData[i*imwidth + j], (unsigned char)floatData[i*imwidth + j]));
+
+
+        }
+    }*/
+
+}

Source_Files/sbgrecorder.cpp

@@ -53,7 +53,7 @@ void sbgtc::SbgRecorder::openSerialPort()
     }
 
 //    QString portname = "sbg_serial_port";
-    QString portname = "ttyUSB2";
+    QString portname = "ttyUSB0";
 
     m_serial->setPortName(portname);
     m_serial->open(QIODevice::ReadWrite);
@@ -608,76 +608,51 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
     //判断模式是否为: NAV_POSITION
     if(receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_EKF_EULER)
     {
-        m_iSolutionModeCounter++;//
+        m_iSolutionModeCounter++;
 
         uint32_t status=logData.ekfEulerData.status;
-        uint32_t mode=status>>24;//?????????????????????????????????????
-//        uint32_t mode=status;//这是错的
+        uint32_t mode=status & 0xf;
 
         //一秒钟发射一次mode
         if(m_iSolutionModeCounter%200 == 0)
         {
             emit sbgSolutionModeSignal(mode);
+//            std::cout << "logData.ekfEulerData.status: " << status << std::endl;
 
-            switch (mode)
-            {
-            case SBG_ECOM_SOL_MODE_UNINITIALIZED:
-                std::cout<<"此刻模式为: "<<"UNINITIALIZED"<<std::endl;
-                break;
-            case SBG_ECOM_SOL_MODE_VERTICAL_GYRO:
-                std::cout<<"此刻模式为: "<<"VERTICAL_GYRO"<<std::endl;
-                break;
-            case SBG_ECOM_SOL_MODE_AHRS:
-                std::cout<<"此刻模式为: "<<"AHRS"<<std::endl;
-                break;
-            case SBG_ECOM_SOL_MODE_NAV_VELOCITY:
-                std::cout<<"此刻模式为: "<<"NAV_VELOCITY"<<std::endl;
-                break;
-            case SBG_ECOM_SOL_MODE_NAV_POSITION:
-                std::cout<<"此刻模式为: "<<"NAV_POSITION"<<std::endl;
+            switch (mode) {
+                case SBG_ECOM_SOL_MODE_UNINITIALIZED:
+//                    std::cout << "此刻模式为: " << "UNINITIALIZED" << std::endl;
+                    m_bIsNAV_POSITION_MODE = false;
+                    break;
+                case SBG_ECOM_SOL_MODE_VERTICAL_GYRO:
+//                    std::cout << "此刻模式为: " << "VERTICAL_GYRO" << std::endl;
+                    m_bIsNAV_POSITION_MODE = false;
+                    break;
+                case SBG_ECOM_SOL_MODE_AHRS:
+//                    std::cout << "此刻模式为: " << "AHRS" << std::endl;
+                    m_bIsNAV_POSITION_MODE = false;
+                    break;
+                case SBG_ECOM_SOL_MODE_NAV_VELOCITY:
+//                    std::cout << "此刻模式为: " << "NAV_VELOCITY" << std::endl;
+                    m_bIsNAV_POSITION_MODE = false;
+                    break;
+                case SBG_ECOM_SOL_MODE_NAV_POSITION:
+//                    std::cout << "此刻模式为: " << "NAV_POSITION" << std::endl;
+                    m_bIsNAV_POSITION_MODE = true;
 
-                break;
-            default:
-                break;
+                    break;
+                default:
+                    break;
             }
         }
-
-        switch (mode)
-        {
-        case SBG_ECOM_SOL_MODE_UNINITIALIZED:
-//            std::cout<<"此刻模式为: "<<"UNINITIALIZED"<<std::endl;
-            m_bIsNAV_POSITION_MODE=false;
-            break;
-        case SBG_ECOM_SOL_MODE_VERTICAL_GYRO:
-//            std::cout<<"此刻模式为: "<<"VERTICAL_GYRO"<<std::endl;
-            m_bIsNAV_POSITION_MODE=false;
-            break;
-        case SBG_ECOM_SOL_MODE_AHRS:
-//            std::cout<<"此刻模式为: "<<"AHRS"<<std::endl;
-            m_bIsNAV_POSITION_MODE=false;
-            break;
-        case SBG_ECOM_SOL_MODE_NAV_VELOCITY:
-//            std::cout<<"此刻模式为: "<<"NAV_VELOCITY"<<std::endl;
-            m_bIsNAV_POSITION_MODE=false;
-            break;
-        case SBG_ECOM_SOL_MODE_NAV_POSITION:
-//            std::cout<<"此刻模式为: "<<"NAV_POSITION"<<std::endl;
-            m_bIsNAV_POSITION_MODE=true;
-
-            break;
-        default:
-            break;
-        }
     }
     else if(receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_GPS1_POS)
     {
-//        std::cout<<"纬度精度为："<<logData.gpsPosData.latitudeAccuracy<<std::endl;
-
         float maximal=0;
         float latitudeAccuracy=logData.gpsPosData.latitudeAccuracy;
         float longitudeAccuracy=logData.gpsPosData.longitudeAccuracy;
         float altitudeAccuracy=logData.gpsPosData.altitudeAccuracy;
-
+        int satelliteCounter=(int)logData.gpsPosData.numSvUsed;
 
         if(latitudeAccuracy<longitudeAccuracy)
             maximal = longitudeAccuracy;
@@ -687,7 +662,14 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
         if(maximal<altitudeAccuracy)
             maximal = altitudeAccuracy;
 
-        emit sbgAccuracySignal(static_cast<int>(maximal));
+//        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);
 
         if(maximal<7)
         {
@@ -710,15 +692,10 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
         char setGpsTimeCommand[256];
         sprintf(setGpsTimeCommand,"date --set=\"%d%02d%02d %02d:%02d:%02d\"",year,month,day,hour,minute,second);//02中的2代表2位数字，0代表以0补全
 
-        system(setGpsTimeCommand);//
+//        system(setGpsTimeCommand);
 
         m_bIsSyncSystemTimeBaseGpstime=true;
     }
-    else if(receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_EKF_EULER)
-    {
-//        std::cout<<"1111111111111"<<"UTC time:"<<(int)logData.utcData.year<<","<<(int)logData.utcData.month<<","<<(int)logData.utcData.day<<","<<(int)logData.utcData.hour<<","<<(int)logData.utcData.minute<<","<<(int)(int)logData.utcData.second<<std::endl;
-//        std::cout<<"receivedMsg:"<<(int)receivedMsg<<std::endl;
-    }
     else if(receivedMsgClass!=SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_EKF_QUAT)
     {
         //std::cout<<"1111111111111------"<<"UTC time:"<<(int)logData.utcData.year<<","<<(int)logData.utcData.month<<","<<(int)logData.utcData.day<<","<<(int)logData.utcData.hour<<","<<(int)logData.utcData.minute<<","<<(int)(int)logData.utcData.second<<std::endl;
@@ -731,7 +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);
@@ -793,7 +770,7 @@ 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");
 
@@ -802,7 +779,7 @@ void sbgtc::SbgRecorder::startRecordSbg()
     while (m_bRecordControl)
     {
         //std::cout<<"SbgRecorder::startRecordSbg--------------:"<<std::endl;
-        if(m_serial->waitForReadyRead())
+        if(m_serial->waitForReadyRead(30000))
         {
             //requestData.resize(m_serial->size());
             requestData = m_serial->readAll();

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_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_RecordThread=new QThread();
-    m_imager=new XimeaImager();
-    m_imager->moveToThread(m_RecordThread);
-    m_RecordThread->start();
-
     m_CopyFileThread=new QThread();
     m_copyFile=new FileOperation();
     m_copyFile->moveToThread(m_CopyFileThread);
@@ -47,21 +47,45 @@ UdpServer::UdpServer()
     connect(m_sbgRecorder, SIGNAL(serialPortStatus(int)),this, SLOT(sendSerialPortStatus(int)));
 
     connect(m_sbgRecorder, SIGNAL(sbgSolutionModeSignal(int)),this, SLOT(sendSbgSolutionModeState(int)));
-    connect(m_sbgRecorder, SIGNAL(sbgAccuracySignal(int)),this, SLOT(sendSbgAccuracyState(int)));
+    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(binSignal(int, int)),this, SLOT(sendXimeaBinState(int, int)));
+    connect(m_imager, SIGNAL(frameRateSignal(double)),this, SLOT(sendXimeaImageFrameRate(double)));
     connect(m_copyFile, SIGNAL(copyFileStatus(int)),this, SLOT(sendCopyFileStatus(int)));
 
+    QString ximeaParamCfgFile = "/media/nvme/300TC/config/StateOf300tc.cfg";
+    stateOf300tc.setConfigfilePath(ximeaParamCfgFile.toStdString());
+    if(!stateOf300tc.isConfigfileExist())
+        stateOf300tc.createConfigFile();
+    stateOf300tc.parseConfigfile();
 
+    stateOf300tc.setSbgState(0);
+    stateOf300tc.setSbgSolutionMode(0);
+    stateOf300tc.setXimeaState(100);
+    stateOf300tc.setFrameRate(0);
+    stateOf300tc.setExposeTime(0);
+    stateOf300tc.setExposeMaxValueOfOneFrame(0);
 
     //当软件不正常关闭并且重启后，通知其他psdk程序
     m_clientIpAddress=QHostAddress(QHostAddress::LocalHost);
     sendSerialPortStatus(0);
-    sendXimeaImageStatus(0);
+    sendXimeaImageStatus(100);
     sendCopyFileStatus(0);
 
+    system("sudo gpio write 10 0");
 
+    m_recordTempThread=new QThread();
+    m_300tcTemperature = new Record300TcTemperature();
+    m_300tcTemperature->moveToThread(m_recordTempThread);
+    m_recordTempThread->start();
+    connect(this, SIGNAL(record300tcTemperatureSignal(QString)),m_300tcTemperature, SLOT(recordTemperature(QString)));
 
+    QDateTime curDateTime = QDateTime::currentDateTime();
+    QString currentTime = curDateTime.toString("yyyy_MM_dd_hh_mm_ss");
+    QString Temperature300tcCSVPath = QDir::cleanPath(QString::fromStdString("/media/nvme/300TC/programRunLog/300tcTemperature") + QDir::separator() + "300tcTemperature_" + currentTime + ".csv");
+    emit record300tcTemperatureSignal(Temperature300tcCSVPath);
 
     std::cout<<"UdpServer::UdpServer--------:System ready!"<<std::endl;
 }
@@ -99,7 +123,7 @@ void UdpServer::processPendingDatagrams()
         case 2://关闭系统:关闭相机和sbg串口,关闭软件
         {
             std::cout<<"2代表关闭系统!"<<std::endl;
-
+            m_300tcTemperature->stopRecordTemperature();
 
             if(m_sbgRecorder->getSbgState()>=1)
             {
@@ -122,26 +146,19 @@ 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();
             }
 
@@ -169,17 +186,11 @@ void UdpServer::processPendingDatagrams()
         }
         case 7:
         {
-            if(datagramList[1].toInt()==1)
+            if(m_imager->getImagerState()>=101 && m_imager->getImagerState()<=103)
             {
-                std::cout<<"拷贝数据!"<<std::endl;
-
-                emit startCopyFileSignal();
-            }
-            else if(datagramList[1].toInt()==0)
-            {
-                std::cout<<"删除数据!"<<std::endl;
-
-                emit startDeleteFileSignal();
+                float time = datagramList[1].toFloat();//μs
+                m_imager->wrapSetExposureTime(time);
+                std::cout<<"7，手动设置曝光时间为：" << time <<std::endl;
             }
 
             break;
@@ -207,8 +218,30 @@ void UdpServer::processPendingDatagrams()
 
             break;
         }
+        case 10:
+        {
+            std::cout<<"10代表!"<<std::endl;
+
+            int sbgState,sbgSolutionMode,ximeaState,frameRate,exposeMaxValueOfOneFrame;
+            float exposeTime;
+
+            stateOf300tc.getSbgState(sbgState);
+            stateOf300tc.getSbgSolutionMode(sbgSolutionMode);
+            stateOf300tc.getXimeaState(ximeaState);
+            stateOf300tc.getFrameRate(frameRate);
+            stateOf300tc.getExposeTime(exposeTime);
+            stateOf300tc.getExposeMaxValueOfOneFrame(exposeMaxValueOfOneFrame);
+
+            sendSerialPortStatus(sbgState);
+            sendSbgSolutionModeState(sbgSolutionMode);
+            sendXimeaImageStatus(ximeaState);
+            sendXimeaAutoExposeMaxValueOfOneFrame(exposeMaxValueOfOneFrame, exposeTime);
+            sendXimeaImageFrameRate(frameRate);
+
+            break;
+        }
         default:
-            std::cout<<">=9没有意义!"<<std::endl;
+            std::cout<<">=11没有意义!"<<std::endl;
 
             break;
         }
@@ -260,9 +293,9 @@ void UdpServer::sender(int status)
 
 void UdpServer::sendSerialPortStatus(int serialPortStatus)
 {
-    std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< serialPortStatus <<std::endl;
+//    std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< serialPortStatus <<std::endl;
 
-    std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< m_clientIpAddress.AnyIPv4 <<std::endl;
+//    std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< m_clientIpAddress.AnyIPv4 <<std::endl;
 
     QByteArray datagram2send;
 
@@ -270,11 +303,13 @@ void UdpServer::sendSerialPortStatus(int serialPortStatus)
 
     datagram2send.operator =(status.toStdString().c_str());
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+
+    stateOf300tc.setSbgState(serialPortStatus);
 }
 
 void UdpServer::sendSbgSolutionModeState(int SolutionMode)
 {
-    std::cout<<"UdpServer::sendSbgSolutionModeState---------------------:"<< SolutionMode <<std::endl;
+//    std::cout<<"UdpServer::sendSbgSolutionModeState---------------------:"<< SolutionMode <<std::endl;
 
     QByteArray datagram2send;
 
@@ -282,15 +317,17 @@ void UdpServer::sendSbgSolutionModeState(int SolutionMode)
 
     datagram2send.operator =(status.toStdString().c_str());
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+
+    stateOf300tc.setSbgSolutionMode(SolutionMode);
 }
 
-void UdpServer::sendSbgAccuracyState(int Accuracy)
+void UdpServer::sendSbgAccuracyState(int Accuracy,int SatelliteCounter)
 {
 //    std::cout<<"UdpServer::sendSbgAccuracyState---------------------:"<< Accuracy <<std::endl;
 
     QByteArray datagram2send;
 
-    QString status = "Accuracy," + QString::number(Accuracy);
+    QString status = "Accuracy," + QString::number(Accuracy) + "," + QString::number(SatelliteCounter);
 
     datagram2send.operator =(status.toStdString().c_str());
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
@@ -298,7 +335,7 @@ void UdpServer::sendSbgAccuracyState(int Accuracy)
 
 void UdpServer::sendXimeaImageStatus(int ximeaImageStatus)
 {
-    std::cout<<"UdpServer::sendXimeaImageStatus---------------------:"<< ximeaImageStatus <<std::endl;
+//    std::cout<<"UdpServer::sendXimeaImageStatus---------------------:"<< ximeaImageStatus <<std::endl;
 
     QByteArray datagram2send;
 
@@ -306,11 +343,54 @@ void UdpServer::sendXimeaImageStatus(int ximeaImageStatus)
 
     datagram2send.operator =(status.toStdString().c_str());
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+
+    stateOf300tc.setXimeaState(ximeaImageStatus);
+}
+
+void UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame(int autoExposeMaxValueOfOneFrame, double exposeTime)
+{
+//    std::cout<<"UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame---------------------:"<< exposeTime << " " << autoExposeMaxValueOfOneFrame <<std::endl;
+
+    QByteArray datagram2send;
+
+    QString status = "XimeaAutoExpose," + QString::number(autoExposeMaxValueOfOneFrame) + "," + QString::number(exposeTime, 'f', 2);
+
+    datagram2send.operator =(status.toStdString().c_str());
+    m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
+
+    stateOf300tc.setExposeTime(exposeTime);
+    stateOf300tc.setExposeMaxValueOfOneFrame(autoExposeMaxValueOfOneFrame);
+}
+
+void UdpServer::sendXimeaBinState(int spatialBin, int spectralBin)
+{
+//    std::cout<<"UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame---------------------:"<< ximeaImageStatus <<std::endl;
+
+    QByteArray datagram2send;
+
+    QString status = "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;
+
+    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);
+
+    stateOf300tc.setFrameRate(frameRate);
 }
 
 void UdpServer::sendCopyFileStatus(int fileStatus)
 {
-    std::cout<<"UdpServer::sendCopyFileStatus---------------------:"<< fileStatus <<std::endl;
+//    std::cout<<"UdpServer::sendCopyFileStatus---------------------:"<< fileStatus <<std::endl;
 
     QByteArray datagram2send;
 
@@ -324,3 +404,199 @@ void UdpServer::onRecordFinished()
 {
     std::cout<<"UdpServer::onRecordFinished----------------:影像停止采集"<<std::endl;
 }
+
+Record300TcTemperature::Record300TcTemperature()
+{
+    m_bIsRecord = true;
+}
+
+void Record300TcTemperature::stopRecordTemperature()
+{
+    m_bIsRecord = false;
+}
+
+void Record300TcTemperature::recordTemperature(QString filePath= nullptr)
+{
+    if(filePath== nullptr)
+        filePath="300tcTemperature.csv";
+    QList<QString> fileInfo = getFileInfo(filePath);
+    bool ret = createDir(fileInfo[0]);
+
+    ofstream temperatureFile300Tc(filePath.toStdString().c_str(),ios::app);
+    int counter = 0;
+
+    m_serial=new QSerialPort();
+
+    if(m_serial->isOpen())//如果串口已经打开了 先给他关闭了
+    {
+        m_serial->clear();
+        m_serial->close();
+    }
+
+    QString portname = "ttyUSB2";
+
+    m_serial->setPortName(portname);
+    m_serial->open(QIODevice::ReadWrite);
+
+    bool x=m_serial->setBaudRate(9600);
+
+    QByteArray requestData;
+    while (m_bIsRecord)
+    {
+        counter++;
+        if(m_serial->waitForReadyRead(30000))
+        {
+            requestData = m_serial->readAll();
+
+            float temp = parseMessage(&requestData);
+            if (temp == -10000)
+            {
+                continue;
+            }
+
+            QDateTime curDateTime = QDateTime::currentDateTime();
+            QString currentTime = curDateTime.toString("yyyy/MM/dd hh:mm:ss");
+
+            temperatureFile300Tc << currentTime.toStdString() << "," << temp << "\n";
+
+//            if(temp > 80)
+//            {
+//                system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,0");
+//            }
+//            if(temp > 90)
+//            {
+//                system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 2");
+//            }
+//
+            if (counter % 60 == 0)
+            {
+                temperatureFile300Tc.flush();
+            }
+            sleep(1);
+        }
+        else
+        {
+//            std::cout<<"Record300TcTemperature::recordTemperature--Wait response timeout."<<std::endl;
+        }
+    }
+    m_bIsRecord = true;
+
+    temperatureFile300Tc.close();
+}
+
+float Record300TcTemperature::parseMessage(QByteArray * data)
+{
+    float Lux;
+    float T;
+    float P;
+    float Hum;
+    float H;
+    bool hasTemperature = false;
+
+//    qDebug() << "Received data(hex): " << data->toHex();
+
+//    for (int i = 0; i < data->length(); ++i)
+//    {
+//        qDebug() << i << ":" << (int)data->at(i);
+//    }
+
+    QByteArray target = QByteArray::fromHex("5a5a"); // The pattern to search for
+
+    int offset_tmp = data->indexOf(target);
+    QList<int> offsets;
+
+    while (offset_tmp != -1)
+    {
+        offsets.append(offset_tmp);
+        offset_tmp = data->indexOf(target, offset_tmp + target.size());
+    }
+
+    if (offsets.isEmpty())
+    {
+//        qDebug() << "5A5A not found in the data.";
+        return -10000;
+    }
+//    qDebug() << "5A5A found at offsets:" << offsets;
+
+    for (int i = 0; i < offsets.length(); ++i)
+    {
+        int offset = offsets.at(i);
+
+        int messageClass = data->at(offset + 2);
+        int messageCount = data->at(offset + 3) + 5;
+//        qDebug() << "messageCount:" << messageCount;
+        if (offset + messageCount - 1 > data->length() - 1)
+        {
+            qDebug() << i << ": Some data of this frame is missing! Discarding the frame.";
+            continue;
+        }
+
+
+        int checksum = 0;
+        QList<int> numbers;
+        for (int j = 0; j < messageCount - 1; ++j)
+        {
+            if (i==offsets.length()-1 && j== messageCount-1)
+            {
+                int sdf=1;
+            }
+
+            int index = offset + j;
+
+            if (index >= data->length())//Some data of this frame is missing! Discarding the frame.
+            {
+                checksum = -1;
+                break;
+            }
+            int tmp = static_cast<int>(data->at(index));
+            numbers.append(tmp);
+            checksum += tmp;
+        }
+//        qDebug() << "jiaqilai:" << numbers;
+
+        if (checksum == -1)
+        {
+            qDebug() << "Some data of this frame is missing! Discarding the frame.";
+            continue;
+        }
+
+        if ((checksum & 0xFF) != data->at(offset + messageCount - 1))
+        {
+            qDebug() << "Checksum mismatch! Discarding the frame.";
+            continue;
+        }
+
+        //parse data
+        switch (messageClass)
+        {
+            case 0x15:
+                Lux = (float)((data->at(offset + 4)<<24)|(data->at(offset + 5)<<16)|(data->at(offset + 6)<<8)|data->at(offset + 7)) / 100;
+//                qDebug() << "lux: " << Lux;
+                break;
+            case 0x45:
+                T = (float)((data->at(offset + 4)<<8)|data->at(offset + 5)) / 100;
+                P = (float)((data->at(offset + 6)<<24)|(data->at(offset + 7)<<16)|(data->at(offset + 8)<<8)|data->at(offset + 9)) / 100;
+                Hum = (float)((data->at(offset + 10)<<8) | data->at(offset + 11)) / 100;
+                H = (float)((data->at(offset + 12)<<8)|data->at(offset + 13));
+
+                hasTemperature = true;
+
+//                qDebug() << "T: " << T;
+//                qDebug() << "P: " << P;
+//                qDebug() << "Hum: " << Hum;
+//                qDebug() << "H: " << H;
+                break;
+            default : // 可选的
+                ;
+
+        }
+    }
+    if (hasTemperature)
+    {
+        return T;
+    }
+    else
+    {
+        return -10000;
+    }
+}

Source_Files/utility_tc.cpp

@@ -1,6 +1,25 @@
 #include "Header_Files/utility_tc.h"
 #include <QDir>
 
+QString formatTimeStr(char * format)
+{
+    //获取系统时间
+    time_t timer;//time_t就是long int 类型
+    struct tm *tblock;
+    timer = time(NULL);//返回秒数(精度为秒)，从1970-1-1,00:00:00 可以当成整型输出或用于其它函数
+    tblock = localtime(&timer);
+    //printf("Local time is: %s\n", asctime(tblock));
+
+    //格式化时间为需要的格式
+    char timeStr_tmp[256] = { 0 };
+    strftime(timeStr_tmp, sizeof(timeStr_tmp), format, tblock);//
+
+    QString timeStr2(timeStr_tmp);
+//    qDebug() << "time is:" << timeStr2;
+
+    return timeStr2;
+}
+
 QString getFileNameBaseOnTime()
 {
     using namespace std;
@@ -69,3 +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;
+}