ximeaAirborneSystem/Source_Files/udpserver.cpp

#include "Header_Files/udpserver.h"

//using namespace sbgtc;

UdpServer::UdpServer()
{
    m_udpSocket = new QUdpSocket(this);
    m_udpSocket->bind(45454, QUdpSocket::ShareAddress);
    connect(m_udpSocket, SIGNAL(readyRead()),this, SLOT(processPendingDatagrams()));

    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(QThread::HighestPriority);

    m_CopyFileThread=new QThread();
    m_copyFile=new FileOperation();
    m_copyFile->moveToThread(m_CopyFileThread);
    m_CopyFileThread->start();

    //系统采集步骤1:打开sbg串口并采集数据，打开光谱仪
    connect(this, SIGNAL(systemStart()),m_sbgRecorder, SLOT(startRecordSbg()));
    connect(this, SIGNAL(systemStart()),m_imager, SLOT(openImger()));

    connect(this, SIGNAL(systemStop()),m_sbgRecorder, SLOT(closeSerialPort()));//
    connect(this, SIGNAL(systemStop()),m_imager, SLOT(closeImger()));


    //系统采集步骤2:开始采集高光谱影像
    connect(this, SIGNAL(startRecordHyperspectralSignal()),m_sbgRecorder, SLOT(startRecordHyperspectral()));
    connect(m_sbgRecorder, SIGNAL(sbgReady(double,QString)),m_imager, SLOT(startRecord(double,QString)));
    connect(this, SIGNAL(recordXimeaOnlySignal(double,QString)),m_imager, SLOT(startRecord(double,QString)));

    //系统采集步骤3:停止采集
    connect(m_imager, SIGNAL(recordFinished()),this, SLOT(onRecordFinished()));

    //系统采集步骤4:拷贝文件
    connect(this, SIGNAL(startCopyFileSignal()),m_copyFile, SLOT(copyFile()));
    connect(this, SIGNAL(startDeleteFileSignal()),m_copyFile, SLOT(deleteFile()));

    //系统采集步骤5:进程间通讯
    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,int)),this, SLOT(sendSbgAccuracyState(int,int)));

    connect(m_imager, SIGNAL(ximeaImageStatus(int)),this, SLOT(sendXimeaImageStatus(int)));
    connect(m_copyFile, SIGNAL(copyFileStatus(int)),this, SLOT(sendCopyFileStatus(int)));



    //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);
    sendCopyFileStatus(0);




    std::cout<<"UdpServer::UdpServer--------:System ready!"<<std::endl;
}

void UdpServer::processPendingDatagrams()
{
    using namespace std;
    while (m_udpSocket->hasPendingDatagrams())
    {
        QByteArray datagram;

        datagram.resize(m_udpSocket->pendingDatagramSize());
        m_udpSocket->readDatagram(datagram.data(), datagram.size(),&m_clientIpAddress, &m_clientPort);


        printf("接收数据字节数: %d.\n",datagram.size());

        QList<QByteArray> datagramList=datagram.split(',');
        printf("有多少个list: %d.\n",datagramList.size());

        QString instruction=datagramList[0].data();// QByteArray转QString方法1
        switch (instruction.toInt())
        {
        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;
        }
        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;


            if(m_sbgRecorder->getSbgState()>=1)
            {
                m_sbgRecorder->stopRecordSbg();
            }


            if(m_imager->getImagerState()>=101)
            {
                m_imager->stopRecord();
            }

            emit systemStop();

            sleep(4);//睡眠4秒，等待
            system("sudo gpio write 10 0");

            //QCoreApplication::quit();
            break;
        }
        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;
//            }

            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)
            {
                m_imager->stopRecord();
            }

            break;
        }
        case 5://
        {
            if(m_imager->getImagerState()>=101 && m_imager->getImagerState()<=103)
            {
                std::cout<<"5代表设置帧率!"<<std::endl;
                m_imager->setFramerate(datagramList[1].toFloat());
            }

            break;
        }
        case 6://
        {
            if(m_imager->getImagerState()>=101 && m_imager->getImagerState()<=103)
            {
                std::cout<<"6代表自动曝光!"<<std::endl;
                m_imager->autoExposure();
            }

            break;
        }
        case 7:
        {
            float time = datagramList[1].toFloat();//ms
            m_imager->wrapSetExposureTime(time*1000);
            std::cout<<"7，手动设置曝光时间为：" << time <<std::endl;

            break;
        }
        case 8:
        {
            ;
        }
        case 9:
        {
            std::cout<<"9代表仅采集影像!"<<std::endl;

            if(datagramList[1].toInt()==1)
            {
                QString xx = getFileNameBaseOnTime();
                xx = xx + "testImage";
                emit recordXimeaOnlySignal(1000.0,xx);

//                emit recordXimeaOnlySignal(1000.0,"testImage");
            }
            else if(datagramList[1].toInt()==0)
            {
                m_imager->stopRecord();
            }

            break;
        }
        default:
            std::cout<<">=9没有意义!"<<std::endl;

            break;
        }
    }
}

double UdpServer::getTimeDifferenceBetweenSystemAndSbg(double secondSbg)
{
//    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));



    //https://blog.csdn.net/FUN6367/article/details/89787566
    struct timespec systemTime;
    clock_gettime(CLOCK_REALTIME,&systemTime);
    tm systemTime_rili;
    localtime_r(&systemTime.tv_sec, &systemTime_rili);

//    std::cout<<"systemTime_rili--年: "<<systemTime_rili.tm_year+1900<<std::endl;
//    std::cout<<"systemTime_rili--月: "<<systemTime_rili.tm_mon+1<<std::endl;
//    std::cout<<"systemTime_rili--日: "<<systemTime_rili.tm_mday<<std::endl;
//    std::cout<<"systemTime_rili--时: "<<systemTime_rili.tm_hour<<std::endl;
//    std::cout<<"systemTime_rili--分: "<<systemTime_rili.tm_min<<std::endl;
//    std::cout<<"systemTime_rili--秒: "<<systemTime_rili.tm_sec<<std::endl;

//    printf("Local time is: %s\n", asctime(&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("UdpServer::getTimeDifferenceBetweenSystemAndSbg------%f\n", nanosecondSystem-secondSbg);

    return nanosecondSystem-secondSbg;
}

void UdpServer::sender(int status)
{
    QByteArray datagram2send;

    datagram2send.operator =(QString::number(status).toStdString().c_str());
    m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, m_clientPort+1);
}

void UdpServer::sendSerialPortStatus(int serialPortStatus)
{
//    std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< serialPortStatus <<std::endl;

//    std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< m_clientIpAddress.AnyIPv4 <<std::endl;

    QByteArray datagram2send;

    QString status = "sbg," + QString::number(serialPortStatus);

    datagram2send.operator =(status.toStdString().c_str());
    m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
}

void UdpServer::sendSbgSolutionModeState(int SolutionMode)
{
//    std::cout<<"UdpServer::sendSbgSolutionModeState---------------------:"<< SolutionMode <<std::endl;

    QByteArray datagram2send;

    QString status = "SolutionMode," + QString::number(SolutionMode);

    datagram2send.operator =(status.toStdString().c_str());
    m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
}

void UdpServer::sendSbgAccuracyState(int Accuracy,int SatelliteCounter)
{
//    std::cout<<"UdpServer::sendSbgAccuracyState---------------------:"<< Accuracy <<std::endl;

    QByteArray datagram2send;

    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);
}

void UdpServer::sendXimeaImageStatus(int ximeaImageStatus)
{
//    std::cout<<"UdpServer::sendXimeaImageStatus---------------------:"<< ximeaImageStatus <<std::endl;

    QByteArray datagram2send;

    QString status = "ximea," + QString::number(ximeaImageStatus);

    datagram2send.operator =(status.toStdString().c_str());
    m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
}

void UdpServer::sendCopyFileStatus(int fileStatus)
{
//    std::cout<<"UdpServer::sendCopyFileStatus---------------------:"<< fileStatus <<std::endl;

    QByteArray datagram2send;

    QString status = "file," + QString::number(fileStatus);

    datagram2send.operator =(status.toStdString().c_str());
    m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
}

void UdpServer::onRecordFinished()
{
    std::cout<<"UdpServer::onRecordFinished----------------:影像停止采集"<<std::endl;
}