From 09d224075a055d04a5e74168de99a318384df6e5 Mon Sep 17 00:00:00 2001
From: tangchao0503 <735056338@qq.com>
Date: Wed, 24 May 2023 16:38:10 +0800
Subject: [PATCH] =?UTF-8?q?1.=20=E9=80=9A=E8=BF=87sock=E5=8F=91=E9=80=81?=
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---
 Header_Files/udpserver.h     |  2 ++
 Header_Files/ximeaimager.h   |  5 ++++-
 Source_Files/udpserver.cpp   | 26 ++++++++++++++++++++++++++
 Source_Files/ximeaimager.cpp | 21 +++++++++++++++++----
 4 files changed, 49 insertions(+), 5 deletions(-)

diff --git a/Header_Files/udpserver.h b/Header_Files/udpserver.h
index 4b1f8d2..4b4f06d 100644
--- a/Header_Files/udpserver.h
+++ b/Header_Files/udpserver.h
@@ -66,6 +66,8 @@ public slots:
     void sendSbgAccuracyState(int Accuracy,int SatelliteCounter);
 
     void sendXimeaImageStatus(int ximeaImageStatus);
+    void sendXimeaAutoExposeMaxValueOfOneFrame(int autoExposeMaxValueOfOneFrame, double exposeTime);
+    void sendXimeaImageFrameRate(double frameRate);
     void sendCopyFileStatus(int fileStatus);
 };
 #endif // UDPSERVER_H
diff --git a/Header_Files/ximeaimager.h b/Header_Files/ximeaimager.h
index be4fada..30db9cc 100644
--- a/Header_Files/ximeaimager.h
+++ b/Header_Files/ximeaimager.h
@@ -125,7 +125,7 @@ public:
     void setFramerate(double framerate);
     double getFramerate();
     double setExposureTime(float exposureTime);
-    double wrapSetExposureTime(float exposureTime_in_us);
+    int wrapSetExposureTime(float exposureTime_in_us);
     double getExposureTime();
     double autoExposure();
     void setGain(double gain);
@@ -205,5 +205,8 @@ signals:
 
     void recordXimeaTemperatureSignal(QString);
     void startWriteDiskSignal();
+
+    void autoExposeMaxValueOfOneFrame(int, double);
+    void frameRateSignal(double);
 };
 #endif // XIMEAIMAGER_H
diff --git a/Source_Files/udpserver.cpp b/Source_Files/udpserver.cpp
index 1b67eea..03f2f21 100644
--- a/Source_Files/udpserver.cpp
+++ b/Source_Files/udpserver.cpp
@@ -50,6 +50,8 @@ UdpServer::UdpServer()
     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(frameRateSignal(double)),this, SLOT(sendXimeaImageFrameRate(double)));
     connect(m_copyFile, SIGNAL(copyFileStatus(int)),this, SLOT(sendCopyFileStatus(int)));
 
 
@@ -295,6 +297,30 @@ void UdpServer::sendXimeaImageStatus(int ximeaImageStatus)
     m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
 }
 
+void UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame(int autoExposeMaxValueOfOneFrame, double exposeTime)
+{
+//    std::cout<<"UdpServer::sendXimeaAutoExposeMaxValueOfOneFrame---------------------:"<< ximeaImageStatus <<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);
+}
+
+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);
+}
+
 void UdpServer::sendCopyFileStatus(int fileStatus)
 {
 //    std::cout<<"UdpServer::sendCopyFileStatus---------------------:"<< fileStatus <<std::endl;
diff --git a/Source_Files/ximeaimager.cpp b/Source_Files/ximeaimager.cpp
index f1ba62c..24ba669 100644
--- a/Source_Files/ximeaimager.cpp
+++ b/Source_Files/ximeaimager.cpp
@@ -160,6 +160,8 @@ void XimeaImager::setFramerate(double framerate)
 
         m_iImagerState=102;
         emit ximeaImageStatus(m_iImagerState);
+
+        emit frameRateSignal(framerate);
     }
     catch(int xiApiErrorCodes)
     {
@@ -216,12 +218,22 @@ double XimeaImager::setExposureTime(float exposureTime_in_us)
     }
 }
 
-double XimeaImager::wrapSetExposureTime(float exposureTime_in_us)
+int XimeaImager::wrapSetExposureTime(float exposureTime_in_us)
 {
-    setExposureTime(exposureTime_in_us);
+    double exposureTime = setExposureTime(exposureTime_in_us);
+
+    m_imager.start();
+    m_imager.get_frame(m_buffer);
+    m_imager.stop();
+
+    int maxValueOfOneFrame = getMaxValueOfOneFrame((short unsigned int*)m_imager.m_image.bp,m_imager.get_band_count()*m_imager.get_sample_count());
 
     m_iImagerState=103;
     emit ximeaImageStatus(m_iImagerState);
+
+    emit autoExposeMaxValueOfOneFrame(maxValueOfOneFrame, exposureTime/1000);
+
+    return maxValueOfOneFrame;
 }
 
 double XimeaImager::autoExposure()
@@ -247,6 +259,7 @@ double XimeaImager::autoExposure()
             m_imager.stop();
 
             maxValueOfOneFrame=getMaxValueOfOneFrame((short unsigned int*)m_imager.m_image.bp,m_imager.get_band_count()*m_imager.get_sample_count());
+            printf("本帧最大值为: %d.\n",maxValueOfOneFrame);
 
             if(maxValueOfOneFrame <= suitableMaxValue)
             {
@@ -281,6 +294,7 @@ double XimeaImager::autoExposure()
 
         m_iImagerState=103;
         emit ximeaImageStatus(m_iImagerState);
+        emit autoExposeMaxValueOfOneFrame(maxValueOfOneFrame, exposureTime/1000);
 
         std::cout<<"自动曝光完成!"<<std::endl;
         return exposureTime;
@@ -438,7 +452,6 @@ int XimeaImager::getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel)
             int a=0;
         }
     }
-    printf("本帧最大值为: %d.\n",maxValue);
 
     return maxValue;
 }
@@ -827,7 +840,7 @@ void WriteData2Disk::write2Disk()
         r_qtx.unlock();
 
         //构造rgb图像，用于推流到m300遥控器
-        m_rgbImage->FillRgbImage(dataBuffer);
+//        m_rgbImage->FillRgbImage(dataBuffer);
 
 
 //        std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//