添加3个升降桌

2、修复了航线读写错误问题；

HPPA/HPPA.cpp

@@ -178,7 +178,8 @@ HPPA::HPPA(QWidget *parent)
 	connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
 
 	//<2F>ٶ<EFBFBD>
-	QRegExp rx("\\d{0,3}[1-9]$");
+	//QRegExp rx("\\d{0,3}.[1-9]$");
+	QRegExp rx("^\\d+(\\.\\d+)?$");
 	ui.xmotor_speed_lineEdit->setValidator(new QRegExpValidator(rx));
 
 	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
@@ -417,7 +418,6 @@ void HPPA::onStartRecordStep1()
 		return;
 	}
 
-
 	//<2F><>ʼ<EFBFBD>ɼ<EFBFBD>
 	m_RecordState += 1;
 
@@ -454,10 +454,15 @@ void HPPA::onStartRecordStep1()
 		//ɾ<><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab
 		ui.ImageViewerTabWidget->clear();
 
+		//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼x<C2BC><78><EFBFBD><EFBFBD>λ<EFBFBD>õ<EFBFBD><C3B5>ļ<EFBFBD>
+		string x_location = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "x_location.pos";
+		m_hTimesFile = fopen(x_location.c_str(), "w+");
+
 		//<2F><>ʼѭ<CABC><D1AD>
 		m_ForLoopControl->setLoopCount(m_pathPlan->getRecordLineTableWidget()->rowCount());//Ϊѭ<CEAA><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 		emit StartLoopSignal();
 
+
 		//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ɫ
 		for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
 		{
@@ -521,6 +526,8 @@ void HPPA::onStartRecordStep2(int lineNumber)
 		m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor);
 		m_yMotor->MoveToLocation(ymotorPositionOfLine1);
 		m_timerYmotorLocationFeedBackAfterRecord->start(500);
+
+		fclose(m_hTimesFile);
 	}
 	else if (lineNumber == -2)
 	{
@@ -529,6 +536,7 @@ void HPPA::onStartRecordStep2(int lineNumber)
 		//ֹͣy<D6B9><79><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
 		m_yMotor->StopMotormove();
 
+		fclose(m_hTimesFile);
 	}
 }
 
@@ -1258,6 +1266,10 @@ void HPPA::ontimerMoveXmotor()
 	}
 
 	ByteBack MotorState = m_xMotor->GetState();
+	//<2F><>ȡϵͳʱ<CDB3><CAB1><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	long long timeOs = getNanosecondsSinceMidnight();
+	BroadcastXMotorPosSignal(timeOs, MotorState.Location);
+	fprintf(m_hTimesFile, "%lld,%d\n", timeOs, MotorState.Location);
 
 	//<2F><>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>÷<EFBFBD><C3B7><EFBFBD><EFBFBD><EFBFBD>slider<65><72>
 	if (MotorState.Speed != 0)
@@ -1271,8 +1283,7 @@ void HPPA::ontimerMoveXmotor()
 	}
 
 	//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD>ﷵ<EFBFBD>س<EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>ǰ<EFBFBD><C7B0>¼<EFBFBD><C2BC>λ<EFBFBD>ã<EFBFBD>m_lXmotorLocationOfStartRecord<72><64>
-	if (MotorState.Speed == 0 && MotorState.Location != m_lXmotorLocationOfStartRecord //x<><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD>
+	if (MotorState.Speed == 0 && MotorState.Location != m_lXmotorLocationOfStartRecord)//x<><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD>
-		|| !m_Imager->getRecordControlState())//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϻص<CFBB><D8B5><EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD>
 	{
 		//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
 		m_Imager->setRecordControlState(false);
@@ -1280,7 +1291,21 @@ void HPPA::ontimerMoveXmotor()
 		//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
 		m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
 		m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
+
+		//qDebug() << "x<><78><EFBFBD><EFBFBD>λ<EFBFBD>û<EFBFBD>ԭ<EFBFBD><D4AD>x<EFBFBD><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC>꣬<EFBFBD><EAA3AC><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>";
+		qDebug() << "11111111111111111111111111111111111111111111111111";
 	}
+	if (!m_Imager->getRecordControlState())//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϻص<CFBB><D8B5><EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD>
+	{
+		//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
+		m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
+		m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
+
+		//qDebug() << "x<><78><EFBFBD><EFBFBD>λ<EFBFBD>û<EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD><CBB6><EFBFBD>";
+		qDebug() << "222222222222222222222222222222222222222222222222222222";
+	}
+
+
 
 	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ɼ<EFBFBD><C9BC>ߵIJɼ<C4B2><C9BC><EFBFBD><EFBFBD><EFBFBD>
 	if (MotorState.Speed == 0 && MotorState.Location == m_lXmotorLocationOfStartRecord//<2F><>x<EFBFBD><78><EFBFBD>ﷵ<EFBFBD>س<EFBFBD>ʼλ<CABC><CEBB>

HPPA/HPPA.h

@@ -242,6 +242,8 @@ private:
 
 	PathPlan* m_pathPlan;
 
+	FILE* m_hTimesFile;
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage();
 	void PlotSpectral(int state);
@@ -337,6 +339,7 @@ signals:
 	void StartLoopSignal();
 	void StartRecordSignal();
 	void CopyFileThreadSignal(QString, QString);
+	void BroadcastXMotorPosSignal(long long, int);
 
 	void RecordWhiteSignal();
 	void RecordDarlSignal();

HPPA/ImagerOperationBase.cpp

@@ -208,17 +208,21 @@ void ImagerOperationBase::start_record()
 	string directory = fileOperation->getDirectoryFromString();
 	string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter);
 
-	FILE* m_fImage = fopen(imgPath.c_str(), "w+b");
+	FILE* m_fImage = fopen((imgPath + ".bil").c_str(), "w+b");
 
 	size_t x;
 	double pixelValueTmp;
 
+	string timesFile = imgPath + ".times";
+	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
+
 	imagerStartCollect();
 	while (m_bRecordControlState)
 	{
 		m_iFrameCounter++;
 
 		getFrame(buffer);
+		long long timeOs = getNanosecondsSinceMidnight();
 
 		//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
 		if (m_HasDark)
@@ -259,6 +263,7 @@ void ImagerOperationBase::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
+		fprintf(hTimesFile, "%d\n", timeOs);
 
 		//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@@ -298,6 +303,7 @@ void ImagerOperationBase::start_record()
 
 	//QThread::msleep(1001);
 	fclose(m_fImage);
+	fclose(hTimesFile);
 }
 
 void ImagerOperationBase::setFrameNumber(int FrameNumber)

HPPA/ImagerOperationBase.h

@@ -7,6 +7,7 @@
 #include <string>
 #include <opencv2/core/core.hpp> 
 #include "ImagerOperationBase.h"
+#include "utility_tc.h"
 
 class ImagerOperationBase :public QObject
 {

HPPA/PathPlan.cpp

@@ -247,7 +247,7 @@ void PathPlan::onReadRecordLineFile_btn()
 		return;
 	}
 
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "r");
+	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
 	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
 
 	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>

HPPA/ResononNirImager.cpp

@@ -287,13 +287,16 @@ void ResononNirImager::start_record()
 
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryFromString();
-	string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter)+".bil";
+	string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter);
 
-	FILE* m_fImage = fopen(imgPath.c_str(), "w+b");
+	FILE* m_fImage = fopen((imgPath + ".bil").c_str(), "w+b");
 
 	size_t x;
 	double pixelValueTmp;
 
+	string timesFile = imgPath + ".times";
+	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
+
 	reConnectImage();//nir<69>ڶ<EFBFBD><DAB6>βɼ<CEB2>ʱ<EFBFBD><CAB1>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imagerStartCollect()<29>ᱨ<EFBFBD><E1B1A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	imagerStartCollect();
 	while (m_bRecordControlState)
@@ -301,6 +304,8 @@ void ResononNirImager::start_record()
 		m_iFrameCounter++;
 
 		getFrame(buffer);
+		long long timeOs = getNanosecondsSinceMidnight();
+		//qDebug() << "time ns-------------------: " << timeOs;
 
 		//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
 		if (m_HasDark)
@@ -341,6 +346,7 @@ void ResononNirImager::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
+		fprintf(hTimesFile, "%lld\n", timeOs);
 
 		//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@@ -356,6 +362,7 @@ void ResononNirImager::start_record()
 		if (m_iFrameCounter >= m_iFrameNumber)
 		{
 			break;
+			//qDebug() << "<22><><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>";
 		}
 
 	}
@@ -380,6 +387,7 @@ void ResononNirImager::start_record()
 
 	//QThread::msleep(1001);
 	fclose(m_fImage);
+	fclose(hTimesFile);
 }
 
 void ResononNirImager::WriteHdr()

HPPA/about.ui

@@ -9,7 +9,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>756</width>
+    <width>523</width>
     <height>463</height>
    </rect>
   </property>
@@ -25,7 +25,7 @@
     <rect>
      <x>90</x>
      <y>250</y>
-     <width>578</width>
+     <width>341</width>
      <height>134</height>
     </rect>
    </property>
@@ -70,7 +70,7 @@
     </rect>
    </property>
    <property name="text">
-    <string>版本：1.8.2</string>
+    <string>版本：1.8.6</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_4">

HPPA/adjustTable.cpp

@@ -12,6 +12,10 @@ adjustTable::adjustTable(QWidget *parent)
 	connect(ui.objective_table2_up_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Up_btn()));
 	connect(ui.objective_table2_down_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Down_btn()));
 	connect(ui.objective_table2_stop_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Stop_btn()));
+
+	connect(ui.objective_table252_up_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable252Up_btn()));
+	connect(ui.objective_table252_down_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable252Down_btn()));
+	connect(ui.objective_table252_stop_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable252Stop_btn()));
 }
 
 adjustTable::~adjustTable()
@@ -63,3 +67,21 @@ void adjustTable::onObjectivTable2Stop_btn()
 	QString xx = "http://192.168.1.254/stopnow";
 	getRequest(xx);
 }
+
+void adjustTable::onObjectivTable252Up_btn()
+{
+	QString xx = "http://192.168.1.252/set_up";
+	getRequest(xx);
+}
+
+void adjustTable::onObjectivTable252Down_btn()
+{
+	QString xx = "http://192.168.1.252/set_down";
+	getRequest(xx);
+}
+
+void adjustTable::onObjectivTable252Stop_btn()
+{
+	QString xx = "http://192.168.1.252/stopnow";
+	getRequest(xx);
+}

HPPA/adjustTable.h

@@ -24,6 +24,10 @@ public Q_SLOTS:
 	void onObjectivTable2Down_btn();
 	void onObjectivTable2Stop_btn();
 
+	void onObjectivTable252Up_btn();
+	void onObjectivTable252Down_btn();
+	void onObjectivTable252Stop_btn();
+
 private:
 	Ui::adjustTableClass ui;
 

HPPA/adjustTable.ui

@@ -6,33 +6,66 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>348</width>
+    <width>687</width>
-    <height>194</height>
+    <height>389</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>adjustTable</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
-   <property name="leftMargin">
-    <number>0</number>
-   </property>
-   <property name="topMargin">
-    <number>0</number>
-   </property>
-   <property name="rightMargin">
-    <number>0</number>
-   </property>
-   <property name="bottomMargin">
-    <number>0</number>
-   </property>
-   <property name="spacing">
-    <number>0</number>
-   </property>
    <item row="0" column="0">
+    <widget class="QGroupBox" name="groupBox_8">
+     <property name="title">
+      <string>252号升降台</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_10">
+      <item row="0" column="0">
+       <widget class="QPushButton" name="objective_table252_up_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>上升</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QPushButton" name="objective_table252_down_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>下降</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QPushButton" name="objective_table252_stop_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>停止</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="0" column="1">
     <widget class="QGroupBox" name="groupBox_7">
      <property name="title">
-      <string>1号升降台</string>
+      <string>253号升降台</string>
      </property>
      <layout class="QGridLayout" name="gridLayout_11">
       <item row="0" column="0">
@@ -77,10 +110,10 @@
      </layout>
     </widget>
    </item>
-   <item row="0" column="1">
+   <item row="0" column="2">
     <widget class="QGroupBox" name="groupBox_6">
      <property name="title">
-      <string>2号升降台</string>
+      <string>254号升降台</string>
      </property>
      <layout class="QGridLayout" name="gridLayout_9">
       <item row="0" column="0">

HPPA/utility_tc.cpp

@@ -121,3 +121,28 @@ QList<QString> getFileInfo(QString file)
 
     return result;
 }
+
+long long getNanosecondsSinceMidnight()
+{
+    // 获取当前系统时间
+    auto now = std::chrono::system_clock::now();
+
+    // 转换为 time_t（秒级别的时间戳）
+    std::time_t t = std::chrono::system_clock::to_time_t(now);
+    std::tm local_tm = *std::localtime(&t); // 获取本地时间结构
+
+    // 将时间结构调整到当天 00:00:00
+    local_tm.tm_hour = 0;
+    local_tm.tm_min = 0;
+    local_tm.tm_sec = 0;
+    local_tm.tm_isdst = -1;  // 让 mktime 自动判断夏令时
+
+    // 获取当天 00:00:00 的时间点
+    auto midnight = std::chrono::system_clock::from_time_t(std::mktime(&local_tm));
+
+    // 计算从当天 00:00:00 到现在的时间差
+    auto nanoseconds_since_midnight = std::chrono::duration_cast<std::chrono::nanoseconds>(now - midnight);
+
+    // 返回纳秒数
+    return nanoseconds_since_midnight.count();
+}

HPPA/utility_tc.h

@@ -6,6 +6,7 @@
 
 #include <QString>
 #include <QDebug>
+#include <chrono>
 
 QString getFileNameBaseOnTime();
 
@@ -20,4 +21,6 @@ bool createDir(QString fullPath);
 
 QList<QString> getFileInfo(QString file);
 
+long long getNanosecondsSinceMidnight();
+
 #endif // UTILITY_TC_H

readme.txt

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+1、HPPA拼接
+每条航线的开始帧的位置不一样，无法直接将相邻航线拼接一起，否则航向有错位。
+1.1 步骤
+（1）采集每帧的同时，获取线性平台的位置，并写入文件；
+（2）根据位置信息匹配帧号，然后进行拼接；
+1.2 存在的问题及解决办法
+（1）马达库不知道是否能够支持20hz及以上的访问频率；
+或者按照一定频率采集线性平台位置，通过时间进行插值获取每帧位置；
+（2）列之间的重叠
+通过一个可调参数进行旁向拼接设置；
+1.3 拼接后裁剪
+
+1.4 根据每个像素的xy坐标进行拼接：放弃
+
+2、bug修复
+（1）反射率图像条纹：白板和暗电流都采集30帧进行平均；
+（2）轨迹2位小数
+（3）速度输入接受小数
+
+3、hppa升降桌无线控制模块
+如果没有配置过，那么默认ip为http://192.168.1.254，且默认wifi以iris1开头，默认wifi密码为123456789。
+配置网页为http://192.168.1.254/wificonfig.html，配置密码是licahk*******
+
+如果已经配置为252，那么可用下面网址控制
+http://192.168.1.252/stopnow
+http://192.168.1.252/set_up
+http://192.168.1.252/set_down
+http://192.168.1.252/wificonfig.html