新增 + 修改

1. 分离空间维（水平）和光谱维（垂直）的bin1和bin2有效窗口的参数：configfile.cpp和ximeaimager.cpp都需要修改相应代码；
2. 为了减少光谱仪的热量累积，加入了usb开电、断电功能，udpserver.cpp需要增加相应开电、断电代码：
3. 使用了云一峰的新板子，linux识别的惯导串口号改变：sbgrecorder.cpp；

.gitignore

@@ -1,2 +1,4 @@
 .idea
 build
+/温度测试
+扩展板接口.txt

Header_Files/configfile.h

@@ -12,6 +12,8 @@
 
 #include <QFileInfo>
 #include <QString>
+#include <QCoreApplication>
+#include <QDir>
 
 using namespace std;
 using namespace libconfig;
@@ -25,7 +27,8 @@ public:
     bool isConfigfileExist();
     bool parseConfigfile();
 
-    bool getBin(int &bin);
+    bool getSpectralBin(int &spectralBin);
+    bool getspatialBin(int &spatialBin);
     bool getEffectiveWindow(int &width, int &offsetx, int &height, int &offsety);
     bool getEffectiveWindowRoi(int &width, int &offsetx);
     bool getGainOffset(float &gain, float &offset);

Header_Files/ximeaimager.h

@@ -29,6 +29,7 @@
 #include <QObject>
 #include <QDateTime>
 #include <qthread.h>
+#include <QDir>
 
 #include "configfile.h"
 

Source_Files/configfile.cpp

@@ -43,17 +43,32 @@ bool Configfile::parseConfigfile()
     }
 }
 
-bool Configfile::getBin(int &bin)
+bool Configfile::getSpectralBin(int &spectralBin)
 {
     try
     {
-        bin = cfg.lookup("bin");
+        spectralBin = cfg.lookup("spectralBin");
 
         return true;
     }
     catch(const SettingNotFoundException &nfex)
     {
-        cerr << "No 'bin' setting in configuration file." << endl;
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool Configfile::getspatialBin(int &spatialBin)
+{
+    try
+    {
+        spatialBin = cfg.lookup("spatialBin");
+
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'spatialBin' setting in configuration file." << endl;
         return false;
     }
 }
@@ -62,22 +77,41 @@ bool Configfile::getEffectiveWindow(int &width, int &offsetx, int &height, int &
 {
     const Setting& root = cfg.getRoot();
 
-    // Output a list of all books in the inventory.
     try
     {
-        const Setting &effective_window = root["effective_window"];
+        int spatialBin;
-        int count = effective_window.getLength();
+        int spectralBin;
+        getspatialBin(spatialBin);
+        getSpectralBin(spectralBin);
 
-        int bin;
+        string spatialBinString;
-        getBin(bin);
+        if(spatialBin == 1)
+        {
+            spatialBinString = "bin1";
+        }
+        else
+        {
+            spatialBinString = "bin2";
+        }
+        const Setting &spatialArgument = root["effective_window"][spatialBinString]["spatial"];
+        if(!(spatialArgument.lookupValue("width", width)
+             && spatialArgument.lookupValue("offsetx", offsetx)))
+        {
+            return false;
+        }
 
-        const Setting &window = effective_window[bin-1];
+        string spectralBinString;
-        string name = window.getName();
+        if(spectralBin == 1)
-
+        {
-        if(!(window.lookupValue("width", width)
+            spectralBinString = "bin1";
-             && window.lookupValue("offsetx", offsetx)
+        }
-             && window.lookupValue("height", height)
+        else
-             && window.lookupValue("offsety", offsety)))
+        {
+            spectralBinString = "bin2";
+        }
+        const Setting &spectralArgument = root["effective_window"][spectralBinString]["spectral"];
+        if(!(spectralArgument.lookupValue("height", height)
+             && spectralArgument.lookupValue("offsety", offsety)))
         {
             return false;
         }
@@ -95,16 +129,25 @@ bool Configfile::getEffectiveWindowRoi(int &width, int &offsetx)
 {
     const Setting& root = cfg.getRoot();
 
-    // Output a list of all books in the inventory.
     try
     {
         const Setting &effective_window = root["effective_window_roi"];
         int count = effective_window.getLength();
 
-        int bin;
+        int spatialBin;
-        getBin(bin);
+        getspatialBin(spatialBin);
 
-        const Setting &window = effective_window[bin-1];
+        string spatialBinString;
+        if(spatialBin == 1)
+        {
+            spatialBinString = "spatialBin1";
+        }
+        else
+        {
+            spatialBinString = "spatialBin2";
+        }
+
+        const Setting &window = effective_window[spatialBinString];
         string name = window.getName();
 
         if(!(window.lookupValue("width", width)
@@ -127,16 +170,25 @@ bool Configfile::getGainOffset(float &gain, float &offset)
 {
     const Setting& root = cfg.getRoot();
 
-    // Output a list of all books in the inventory.
     try
     {
         const Setting &gainOffset = root["gainOffset"];
         int count = gainOffset.getLength();
 
-        int bin;
+        int spectralBin;
-        getBin(bin);
+        getSpectralBin(spectralBin);
 
-        const Setting &gainOffsetSetting = gainOffset[bin-1];
+        string spectralBinString;
+        if(spectralBin == 1)
+        {
+            spectralBinString = "spectralBin1";
+        }
+        else
+        {
+            spectralBinString = "spectralBin2";
+        }
+
+        const Setting &gainOffsetSetting = gainOffset[spectralBinString];
         string name = gainOffsetSetting.getName();
 
         if(!(gainOffsetSetting.lookupValue("gain", gain)
@@ -159,64 +211,69 @@ bool Configfile::createConfigFile()
     using namespace std;
     using namespace libconfig;
 
-    static const char *output_file = "ximea.cfg";
     Config cfg;
 
     Setting &root = cfg.getRoot();
 
     // Add some settings to the configuration.
-    Setting &bin = root.add("bin", Setting::TypeInt) = 1;
     Setting &SN = root.add("SN", Setting::TypeString) = "0098";
+    Setting &spatialBin = root.add("spatialBin", Setting::TypeInt) = 1;
+    Setting &SpectralBin = root.add("spectralBin", Setting::TypeInt) = 2;
 
     Setting &effective_window = root.add("effective_window", Setting::TypeGroup);
     Setting &effective_window_Bin1 = effective_window.add("bin1", Setting::TypeGroup);
+    Setting &effective_window_Bin1_spatial = effective_window_Bin1.add("spatial", Setting::TypeGroup);
+    Setting &effective_window_Bin1_Spectral = effective_window_Bin1.add("spectral", Setting::TypeGroup);
     Setting &effective_window_Bin2 = effective_window.add("bin2", Setting::TypeGroup);
+    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.add("width", Setting::TypeInt) = 1392;
+    effective_window_Bin1_spatial.add("width", Setting::TypeInt) = 1392;
-    effective_window_Bin1.add("offsetx", Setting::TypeInt) = 272;
+    effective_window_Bin1_spatial.add("offsetx", Setting::TypeInt) = 272;
-    effective_window_Bin1.add("height", Setting::TypeInt) = 300;
+    effective_window_Bin1_Spectral.add("height", Setting::TypeInt) = 300;
-    effective_window_Bin1.add("offsety", Setting::TypeInt) = 348;
+    effective_window_Bin1_Spectral.add("offsety", Setting::TypeInt) = 348;
 
-    effective_window_Bin2.add("width", Setting::TypeInt) = 712;
+    effective_window_Bin2_spatial.add("width", Setting::TypeInt) = 712;
-    effective_window_Bin2.add("offsetx", Setting::TypeInt) = 128;
+    effective_window_Bin2_spatial.add("offsetx", Setting::TypeInt) = 128;
-    effective_window_Bin2.add("height", Setting::TypeInt) = 151;
+    effective_window_Bin2_Spectral.add("height", Setting::TypeInt) = 150;
-    effective_window_Bin2.add("offsety", Setting::TypeInt) = 174;
+    effective_window_Bin2_Spectral.add("offsety", Setting::TypeInt) = 174;
 
     Setting &effective_window_roi = root.add("effective_window_roi", Setting::TypeGroup);
-    Setting &effective_window_roi_Bin1 = effective_window_roi.add("bin1", Setting::TypeGroup);
+    Setting &effective_window_roi_spatialBin1 = effective_window_roi.add("spatialBin1", Setting::TypeGroup);
-    Setting &effective_window_roi_Bin2 = effective_window_roi.add("bin2", Setting::TypeGroup);
+    Setting &effective_window_roi_spatialBin2 = effective_window_roi.add("spatialBin2", Setting::TypeGroup);
 
-    effective_window_roi_Bin1.add("width", Setting::TypeInt) = 1364;
+    effective_window_roi_spatialBin1.add("width", Setting::TypeInt) = 1364;
-    effective_window_roi_Bin1.add("offsetx", Setting::TypeInt) = 14;
+    effective_window_roi_spatialBin1.add("offsetx", Setting::TypeInt) = 14;
 //    effective_window_roi_Bin1.add("height", Setting::TypeInt) = 300;
 //    effective_window_roi_Bin1.add("offsety", Setting::TypeInt) = 348;
 
-    effective_window_roi_Bin2.add("width", Setting::TypeInt) = 682;
+    effective_window_roi_spatialBin2.add("width", Setting::TypeInt) = 682;
-    effective_window_roi_Bin2.add("offsetx", Setting::TypeInt) = 15;
+    effective_window_roi_spatialBin2.add("offsetx", Setting::TypeInt) = 15;
 //    effective_window_roi_Bin2.add("height", Setting::TypeInt) = 151;
 //    effective_window_roi_Bin2.add("offsety", Setting::TypeInt) = 174;
 
     Setting &gainOffset = root.add("gainOffset", Setting::TypeGroup);
-    Setting &gainOffsetBin1 = gainOffset.add("bin1", Setting::TypeGroup);
+    Setting &gainOffsetSpectralBin1 = gainOffset.add("spectralBin1", Setting::TypeGroup);
-    Setting &gainOffsetBin2 = gainOffset.add("bin2", Setting::TypeGroup);
+    Setting &gainOffsetSpectralBin2 = gainOffset.add("spectralBin2", Setting::TypeGroup);
 
-    gainOffsetBin1.add("gain", Setting::TypeFloat) = 2.00313433;
+    gainOffsetSpectralBin1.add("gain", Setting::TypeFloat) = 2.00313433;
-    gainOffsetBin1.add("offset", Setting::TypeFloat) = -300.46283157590585;
+    gainOffsetSpectralBin1.add("offset", Setting::TypeFloat) = -300.46283157590585;
 
-    gainOffsetBin2.add("gain", Setting::TypeFloat) = 4.00626868;
+    gainOffsetSpectralBin2.add("gain", Setting::TypeFloat) = 4.00626868;
-    gainOffsetBin2.add("offset", Setting::TypeFloat) = -299.46126663407176;
+    gainOffsetSpectralBin2.add("offset", Setting::TypeFloat) = -299.46126663407176;
 
 
     // Write out the new configuration.
+    QString output_file = QDir::cleanPath(QCoreApplication::applicationDirPath() + QDir::separator() + "ximea.cfg");
     try
     {
-        cfg.writeFile(output_file);
+        cfg.writeFile(output_file.toStdString().c_str());
-        cerr << "New configuration successfully written to: " << output_file << endl;
+        cerr << "New configuration successfully written to: " << output_file.toStdString().c_str() << endl;
 
     }
     catch(const FileIOException &fioex)
     {
-        cerr << "I/O error while writing configuration file: " << output_file << endl;
+        cerr << "I/O error while writing configuration file: " << output_file.toStdString().c_str() << endl;
         return true;
     }
 

Source_Files/sbgrecorder.cpp

@@ -53,7 +53,7 @@ void sbgtc::SbgRecorder::openSerialPort()
     }
 
 //    QString portname = "sbg_serial_port";
-    QString portname = "ttyS4";
+    QString portname = "ttyUSB2";
 
     m_serial->setPortName(portname);
     m_serial->open(QIODevice::ReadWrite);

Source_Files/udpserver.cpp

@@ -88,6 +88,10 @@ void UdpServer::processPendingDatagrams()
         case 1://启动系统: 打开sbg串口并采集数据，打开光谱仪
         {
             std::cout<<"1代表启动系统!"<<std::endl;
+
+            system("sudo gpio write 10 1");
+            sleep(4);//睡眠4秒，等待电脑打开usb电源，以便给相机供电
+
             emit systemStart();
 
             break;
@@ -110,6 +114,9 @@ void UdpServer::processPendingDatagrams()
 
             emit systemStop();
 
+            sleep(4);//睡眠4秒，等待
+            system("sudo gpio write 10 0");
+
             //QCoreApplication::quit();
             break;
         }

Source_Files/ximeaimager.cpp

@@ -9,7 +9,8 @@ XimeaImager::XimeaImager()
 
     //connect(this, SIGNAL(recordFinished()),this, SLOT());
 
-    m_configfile.setConfigfilePath("ximea.cfg");
+    QString ximeaCfgFile = QDir::cleanPath(QCoreApplication::applicationDirPath() + QDir::separator() + "ximea.cfg");
+    m_configfile.setConfigfilePath(ximeaCfgFile.toStdString());
     if(!m_configfile.isConfigfileExist())
         m_configfile.createConfigFile();
     m_configfile.parseConfigfile();
@@ -36,14 +37,16 @@ void XimeaImager::openImger()
         //std::cout<<"XimeaImager::openImger111111111111111111111:正在打开相机!"<<std::endl;
         m_imager.connect();
 
-        bool ret;
+        bool ret, ret1, ret2;
 
-        int bin=0;
+        int spatialBin;
-        ret = m_configfile.getBin(bin);
+        int spectralBin;
-        if (ret)
+        ret1 = m_configfile.getspatialBin(spatialBin);
+        ret2 = m_configfile.getSpectralBin(spectralBin);
+        if (ret1 & ret2)
         {
-            bool haha = m_imager.setSpectralBin(bin);
+            bool haha = m_imager.setSpectralBin(spectralBin);
-            bool haha2 = m_imager.setSpatialBin(bin);
+            bool haha2 = m_imager.setSpatialBin(spatialBin);
         }
 
         float gain, offset;//用于生成头文件中的波长信息
@@ -80,7 +83,10 @@ void XimeaImager::openImger()
         m_iImagerState = 101;
         emit ximeaImageStatus(m_iImagerState);
 
-        m_ximeaTemperatureCSVPath = "/home/rock/programRunLog/ximeaTemperature.csv";
+        QDateTime curDateTime = QDateTime::currentDateTime();
+        QString currentTime = curDateTime.toString("yyyy_MM_dd_hh_mm_ss");
+        m_ximeaTemperatureCSVPath = QDir::cleanPath(QString::fromStdString("/home/programRunLog/hyperspectralLog") + QDir::separator() + "ximeaTemperature_" + currentTime + ".csv");
+//        m_ximeaTemperatureCSVPath = "/home/ximeaTemperature.csv";
         emit recordXimeaTemperatureSignal(m_ximeaTemperatureCSVPath);
     }
     catch(int xiApiErrorCodes)
@@ -128,7 +134,7 @@ void XimeaImager::setFramerate(double framerate)
     {
         m_imager.set_framerate(framerate);
 
-        int maxExposureTimeInUs=1/framerate*1000000*0.8;
+        int maxExposureTimeInUs=1/framerate*1000000*0.01;
         setExposureTime(maxExposureTimeInUs);
 //        setExposureTime(1000);
 
@@ -480,6 +486,10 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
 //            {
 //                break;
 //            }
+//            if(m_iFrameCounter/getFramerate() > 5*60) //这个判断会导致丢帧率的大幅升高：5% → 20%，推测原因：除法耗时；
+//            {
+//                break;
+//            }
 
 //            unsigned char pixel = *(unsigned char*)image.bp;//Default value: XI_MONO8
 //            unsigned short pixel =*(unsigned short*)image.bp;//XI_RAW16
@@ -669,6 +679,7 @@ void XimeaImager::processXiApiErrorCodes(int xiApiErrorCodes)
         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();