447a1aafb1
2. 去掉多余的std::out，避免采集log过于杂乱； 3. 通过OpenCV从高光谱影像中提取rgb影像； 4. 在log中记录开始采集时间和停止采集时间； 5. 添加手动设置曝光时间的功能：127.0.0.1 7,2； 6. 头文件中写入仪器序列号；
318 lines
11 KiB
C++
318 lines
11 KiB
C++
#include "Header_Files/udpserver.h"
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//using namespace sbgtc;
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UdpServer::UdpServer()
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{
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m_udpSocket = new QUdpSocket(this);
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m_udpSocket->bind(45454, QUdpSocket::ShareAddress);
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connect(m_udpSocket, SIGNAL(readyRead()),this, SLOT(processPendingDatagrams()));
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m_RecordSbgThread=new QThread();
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m_sbgRecorder=new sbgtc::SbgRecorder();
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m_sbgRecorder->moveToThread(m_RecordSbgThread);
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m_RecordSbgThread->start();
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m_RecordThread=new QThread();
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m_imager=new XimeaImager();
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m_imager->moveToThread(m_RecordThread);
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m_RecordThread->start(QThread::HighestPriority);
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m_CopyFileThread=new QThread();
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m_copyFile=new FileOperation();
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m_copyFile->moveToThread(m_CopyFileThread);
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m_CopyFileThread->start();
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//系统采集步骤1:打开sbg串口并采集数据，打开光谱仪
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connect(this, SIGNAL(systemStart()),m_sbgRecorder, SLOT(startRecordSbg()));
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connect(this, SIGNAL(systemStart()),m_imager, SLOT(openImger()));
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connect(this, SIGNAL(systemStop()),m_sbgRecorder, SLOT(closeSerialPort()));//
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connect(this, SIGNAL(systemStop()),m_imager, SLOT(closeImger()));
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//系统采集步骤2:开始采集高光谱影像
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connect(this, SIGNAL(startRecordHyperspectralSignal()),m_sbgRecorder, SLOT(startRecordHyperspectral()));
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connect(m_sbgRecorder, SIGNAL(sbgReady(double,QString)),m_imager, SLOT(startRecord(double,QString)));
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connect(this, SIGNAL(recordXimeaOnlySignal(double,QString)),m_imager, SLOT(startRecord(double,QString)));
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//系统采集步骤3:停止采集
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connect(m_imager, SIGNAL(recordFinished()),this, SLOT(onRecordFinished()));
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//系统采集步骤4:拷贝文件
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connect(this, SIGNAL(startCopyFileSignal()),m_copyFile, SLOT(copyFile()));
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connect(this, SIGNAL(startDeleteFileSignal()),m_copyFile, SLOT(deleteFile()));
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//系统采集步骤5:进程间通讯
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connect(m_sbgRecorder, SIGNAL(serialPortStatus(int)),this, SLOT(sendSerialPortStatus(int)));
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connect(m_sbgRecorder, SIGNAL(sbgSolutionModeSignal(int)),this, SLOT(sendSbgSolutionModeState(int)));
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connect(m_sbgRecorder, SIGNAL(sbgAccuracySignal(int,int)),this, SLOT(sendSbgAccuracyState(int,int)));
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connect(m_imager, SIGNAL(ximeaImageStatus(int)),this, SLOT(sendXimeaImageStatus(int)));
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connect(m_copyFile, SIGNAL(copyFileStatus(int)),this, SLOT(sendCopyFileStatus(int)));
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//当软件不正常关闭并且重启后，通知其他psdk程序
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m_clientIpAddress=QHostAddress(QHostAddress::LocalHost);
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sendSerialPortStatus(0);
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sendXimeaImageStatus(0);
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sendCopyFileStatus(0);
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std::cout<<"UdpServer::UdpServer--------:System ready!"<<std::endl;
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}
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void UdpServer::processPendingDatagrams()
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{
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using namespace std;
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while (m_udpSocket->hasPendingDatagrams())
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{
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QByteArray datagram;
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datagram.resize(m_udpSocket->pendingDatagramSize());
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m_udpSocket->readDatagram(datagram.data(), datagram.size(),&m_clientIpAddress, &m_clientPort);
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printf("接收数据字节数: %d.\n",datagram.size());
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QList<QByteArray> datagramList=datagram.split(',');
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printf("有多少个list: %d.\n",datagramList.size());
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QString instruction=datagramList[0].data();// QByteArray转QString方法1
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switch (instruction.toInt())
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{
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case 1://启动系统: 打开sbg串口并采集数据，打开光谱仪
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{
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std::cout<<"1代表启动系统!"<<std::endl;
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system("sudo gpio write 10 1");
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sleep(4);//睡眠4秒，等待电脑打开usb电源，以便给相机供电
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emit systemStart();
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break;
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}
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case 2://关闭系统:关闭相机和sbg串口,关闭软件
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{
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std::cout<<"2代表关闭系统!"<<std::endl;
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if(m_sbgRecorder->getSbgState()>=1)
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{
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m_sbgRecorder->stopRecordSbg();
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}
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if(m_imager->getImagerState()>=101)
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{
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m_imager->stopRecord();
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}
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emit systemStop();
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sleep(4);//睡眠4秒，等待
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system("sudo gpio write 10 0");
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//QCoreApplication::quit();
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break;
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}
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case 3://系统开始采集高光谱影像
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{
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//emit startRecordHyperspectralSignal();//真实的影像开始采集通过惯导中的信号(sbgReady)触发
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m_sbgRecorder->startRecordHyperspectral();
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// if(m_sbgRecorder->getSbgState()==2)//开始采集前还需要判断相机的状态??????????????????????????????????????????
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// {
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// }
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// else if(m_sbgRecorder->getSbgState()==3)
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// {
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// std::cout<<"系统已经开始采集!"<<std::endl;
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// }
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break;
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}
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case 4://系统停止采集高光谱影像
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{
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std::cout<<"4代表系统停止采集高光谱影像!"<<std::endl;
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if(m_imager->getImagerState()>=101 && m_imager->getImagerState()<=104)
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{
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m_imager->stopRecord();
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}
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break;
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}
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case 5://
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{
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if(m_imager->getImagerState()>=101 && m_imager->getImagerState()<=103)
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{
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std::cout<<"5代表设置帧率!"<<std::endl;
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m_imager->setFramerate(datagramList[1].toFloat());
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}
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break;
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}
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case 6://
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{
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if(m_imager->getImagerState()>=101 && m_imager->getImagerState()<=103)
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{
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std::cout<<"6代表自动曝光!"<<std::endl;
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m_imager->autoExposure();
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}
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break;
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}
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case 7:
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{
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float time = datagramList[1].toFloat();//ms
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m_imager->wrapSetExposureTime(time*1000);
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std::cout<<"7，手动设置曝光时间为：" << time <<std::endl;
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break;
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}
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case 8:
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{
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;
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}
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case 9:
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{
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std::cout<<"9代表仅采集影像!"<<std::endl;
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if(datagramList[1].toInt()==1)
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{
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QString xx = getFileNameBaseOnTime();
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xx = xx + "testImage";
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emit recordXimeaOnlySignal(1000.0,xx);
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// emit recordXimeaOnlySignal(1000.0,"testImage");
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}
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else if(datagramList[1].toInt()==0)
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{
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m_imager->stopRecord();
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}
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break;
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}
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default:
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std::cout<<">=9没有意义!"<<std::endl;
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break;
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}
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}
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}
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double UdpServer::getTimeDifferenceBetweenSystemAndSbg(double secondSbg)
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{
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// time_t timer;//time_t就是long int 类型
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// struct tm *tblock;
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// 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
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// tblock = localtime(&timer);
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// printf("Local time is: %s\n", asctime(tblock));
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//https://blog.csdn.net/FUN6367/article/details/89787566
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struct timespec systemTime;
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clock_gettime(CLOCK_REALTIME,&systemTime);
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tm systemTime_rili;
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localtime_r(&systemTime.tv_sec, &systemTime_rili);
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// std::cout<<"systemTime_rili--年: "<<systemTime_rili.tm_year+1900<<std::endl;
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// std::cout<<"systemTime_rili--月: "<<systemTime_rili.tm_mon+1<<std::endl;
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// std::cout<<"systemTime_rili--日: "<<systemTime_rili.tm_mday<<std::endl;
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// std::cout<<"systemTime_rili--时: "<<systemTime_rili.tm_hour<<std::endl;
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// std::cout<<"systemTime_rili--分: "<<systemTime_rili.tm_min<<std::endl;
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// std::cout<<"systemTime_rili--秒: "<<systemTime_rili.tm_sec<<std::endl;
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// printf("Local time is: %s\n", asctime(&systemTime_rili));
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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;
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double nanosecondSystem=secondSystem+static_cast<double>(systemTime.tv_nsec)/1000000000;
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printf("UdpServer::getTimeDifferenceBetweenSystemAndSbg------%f\n", nanosecondSystem-secondSbg);
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return nanosecondSystem-secondSbg;
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}
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void UdpServer::sender(int status)
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{
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QByteArray datagram2send;
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datagram2send.operator =(QString::number(status).toStdString().c_str());
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m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, m_clientPort+1);
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}
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void UdpServer::sendSerialPortStatus(int serialPortStatus)
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{
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// std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< serialPortStatus <<std::endl;
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// std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< m_clientIpAddress.AnyIPv4 <<std::endl;
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QByteArray datagram2send;
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QString status = "sbg," + QString::number(serialPortStatus);
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datagram2send.operator =(status.toStdString().c_str());
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m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
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}
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void UdpServer::sendSbgSolutionModeState(int SolutionMode)
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{
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// std::cout<<"UdpServer::sendSbgSolutionModeState---------------------:"<< SolutionMode <<std::endl;
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QByteArray datagram2send;
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QString status = "SolutionMode," + QString::number(SolutionMode);
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datagram2send.operator =(status.toStdString().c_str());
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m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
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}
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void UdpServer::sendSbgAccuracyState(int Accuracy,int SatelliteCounter)
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{
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// std::cout<<"UdpServer::sendSbgAccuracyState---------------------:"<< Accuracy <<std::endl;
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QByteArray datagram2send;
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QString status = "Accuracy," + QString::number(Accuracy) + "," + QString::number(SatelliteCounter);
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datagram2send.operator =(status.toStdString().c_str());
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m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
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}
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void UdpServer::sendXimeaImageStatus(int ximeaImageStatus)
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{
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// std::cout<<"UdpServer::sendXimeaImageStatus---------------------:"<< ximeaImageStatus <<std::endl;
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QByteArray datagram2send;
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QString status = "ximea," + QString::number(ximeaImageStatus);
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datagram2send.operator =(status.toStdString().c_str());
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m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
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}
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void UdpServer::sendCopyFileStatus(int fileStatus)
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{
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// std::cout<<"UdpServer::sendCopyFileStatus---------------------:"<< fileStatus <<std::endl;
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QByteArray datagram2send;
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QString status = "file," + QString::number(fileStatus);
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datagram2send.operator =(status.toStdString().c_str());
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m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
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}
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void UdpServer::onRecordFinished()
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{
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std::cout<<"UdpServer::onRecordFinished----------------:影像停止采集"<<std::endl;
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}
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