#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <
libusb-1.0/
libusb.h>
#include <thread>
#include <iostream>
#include <fstream>
#include <iomanip>
#include <ctime>
#include <sstream>
#include <vector>
#include <atomic>
#include <chrono>
#include <pthread.h>
#include "CircularBuffer.h"
#include <spdlog/spdlog.h>
#include <spdlog/sinks/basic_file_sink.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <unordered_map>
#include <string>
#include <array>
#include <regex>
#include <sys/stat.h>
#include <arpa/inet.h>
#include "cy
usb.h"
#define SERVER_IP "192.168.1.103"
std::string win_ip_str = "192.168.1.104";
const char *WIN_IP = win_ip_str.c_str();
#define SERVER_PORT 8892
#define WIN_PORT 8893
#define TCP_BUFFER_SIZE 1024
// ======================== 常量定义 ========================
#define VENDOR_ID 0x04b4
#define PRODUCT_ID 0x00f1
#define ENDPOINT_IN 0x81
#define ENDPOINT_OUT 0x01
#define BAND_SIZE 200
#define QUEUE_SIZE 26
#define TRANSFER_LEN (1024 * 16 * 3)
#define OUT_BUF_LEN (4096 * 1)
#define FRAME_SIZE (4096 * 201)
#define LINE_SIZE (4096 * 1)
#define CIRCULAR_BUF_CAPACITY (4096 * 201 * 1000)
// ======================== UDP发数 ========================
#define UDP_BUF_SIZE (OUT_BUF_LEN * 5)
char udpBuf[UDP_BUF_SIZE];
int udpBufUsed = 0;
// ======================== 指令映射表 ========================
std::unordered_map<std::string, std::array<uint8_t, 8>> commandMap = {
{"SET_FPS_1", {0x92, 0xAC, 0x02, 0x92, 0xD1, 0x43, 0x00, 0x00}},
{"SET_FPS_2", {0x92, 0xAC, 0x02, 0x92, 0xD2, 0x40, 0x00, 0x00}},
{"SET_FPS_3", {0x92, 0xAC, 0x02, 0x92, 0xD3, 0x41, 0x00, 0x00}},
{"SET_FPS_4", {0x92, 0xAC, 0x02, 0x92, 0xD4, 0x46, 0x00, 0x00}},
{"SET_FPS_5", {0x92, 0xAC, 0x02, 0x92, 0xD5, 0x47, 0x00, 0x00}},
{"SET_FPS_6", {0x92, 0xAC, 0x02, 0x92, 0xD6, 0x44, 0x00, 0x00}},
{"SET_FPS_7", {0x92, 0xAC, 0x02, 0x92, 0xD7, 0x45, 0x00, 0x00}},
{"SET_FPS_8", {0x92, 0xAC, 0x02, 0x92, 0xD8, 0x4A, 0x00, 0x00}},
{"SET_FPS_9", {0x92, 0xAC, 0x02, 0x92, 0xD9, 0x4B, 0x00, 0x00}},
{"SET_FPS_10", {0x92, 0xAC, 0x02, 0x92, 0xDA, 0x48, 0x00, 0x00}},
{"SET_TIME_1", {0x92, 0xAC, 0x02, 0x92, 0xA1, 0x33, 0x00, 0x00}},
{"SET_TIME_2", {0x92, 0xAC, 0x02, 0x92, 0xA2, 0x30, 0x00, 0x00}},
{"SET_TIME_3", {0x92, 0xAC, 0x02, 0x92, 0xA3, 0x31, 0x00, 0x00}},
{"SET_TIME_4", {0x92, 0xAC, 0x02, 0x92, 0xA4, 0x36, 0x00, 0x00}},
{"SET_TIME_5", {0x92, 0xAC, 0x02, 0x92, 0xA5, 0x37, 0x00, 0x00}},
{"SET_TIME_6", {0x92, 0xAC, 0x02, 0x92, 0xA6, 0x34, 0x00, 0x00}},
{"SET_TIME_7", {0x92, 0xAC, 0x02, 0x92, 0xA7, 0x35, 0x00, 0x00}},
{"SET_TIME_8", {0x92, 0xAC, 0x02, 0x92, 0xA8, 0x3A, 0x00, 0x00}},
{"SET_TIME_9", {0x92, 0xAC, 0x02, 0x92, 0xA9, 0x3B, 0x00, 0x00}},
{"SET_TIME_10", {0x92, 0xAC, 0x02, 0x92, 0xAA, 0x38, 0x00, 0x00}},
{"SET_TIME_11", {0x92, 0xAC, 0x02, 0x92, 0xAB, 0x39, 0x00, 0x00}},
{"SET_TIME_12", {0x92, 0xAC, 0x02, 0x92, 0xAC, 0x3E, 0x00, 0x00}},
{"SET_TIME_13", {0x92, 0xAC, 0x02, 0x92, 0xAD, 0x3F, 0x00, 0x00}},
{"SET_TIME_14", {0x92, 0xAC, 0x02, 0x92, 0xAE, 0x3C, 0x00, 0x00}},
{"SET_TIME_15", {0x92, 0xAC, 0x02, 0x92, 0xAF, 0x3D, 0x00, 0x00}},
{"SET_START_IMG", {0x92, 0xAC, 0x02, 0x92, 0xE3, 0x71, 0x00, 0x00}},
{"SET_END_IMG", {0x92, 0xAC, 0x02, 0x92, 0xE4, 0x76, 0x00, 0x00}},
{"SET_REAL", {0x92, 0xAC, 0x02, 0x92, 0xE1, 0x73, 0x00, 0x00}},
{"SET_MOCK", {0x92, 0xAC, 0x02, 0x92, 0xE2, 0x70, 0x00, 0x00}},
{"SET_MASTER", {0x92, 0xAC, 0x02, 0x92, 0xF1, 0x63, 0x00, 0x00}},
{"SET_SLAVE", {0x92, 0xAC, 0x02, 0x92, 0xF2, 0x60, 0x00, 0x00}},
{"SET_GAIN_1", {0x92, 0xAC, 0x02, 0x92, 0xC1, 0x53, 0x00, 0x00}},
{"SET_GAIN_2", {0x92, 0xAC, 0x02, 0x92, 0xC2, 0x50, 0x00, 0x00}},
{"SET_GAIN_3", {0x92, 0xAC, 0x02, 0x92, 0xC3, 0x51, 0x00, 0x00}}};
// ======================== 全局变量 ========================
CircularBuffer _circular_buf;
CircularBuffer _circular_buf_write;
std::atomic<bool> run(true);
std::atomic<bool> is
UsbWorking(false);
std::atomic<bool> open(true);
// 在全局作用域添加线程变量声明
std::thread work_thread_proc;
std::thread work_thread_recv;
std::thread work_thread_write;
libusb_device_handle *handle = nullptr; // 添加全局
USB 设备句柄
// 存数
std::ofstream g_saveFile_dat;
std::ofstream g_saveFile_aux;
std::ofstream g_saveFile_hdr;
std::string dir = "/media/myssd/data/";
std::atomic<bool> isSaveDat(false);
// 全局变量声明
int frame_count = 0; // 实际写入的帧数
uint32_t last_picNO = 0xFFFFFFFF; // 上一帧号
bool is_frame_valid = false; // 当前帧是否有效
uint32_t last_aux_picNO = 0xFFFFFFFF; // 上一个aux包帧号
uint32_t last_lineNO =
-1;
std::atomic<bool> isNO1(false);
// RGB FLAG
int rFlag = 192;
int gFlag = 80;
int bFlag = 32;
// 修复链接错误：全局变量只在此处定义和初始化一次
std::atomic<bool> isCalcMean(false);
std::atomic<bool> meanReady(false);
std::vector<uint16_t> dark_mean(BAND_SIZE *(LINE_SIZE / 2), 0); // 每行的像素个数是 LINE_SIZE / 2
std::vector<bool> band_got(BAND_SIZE, false);
// 发送一帧波段数据到Win端
void
send_udp_to_win(const char *buf, size_t len, const char *win_ip, int win_port)
{
int sock = socket(AF_INET, SOCK_DGRAM, 0);
if (sock < 0)
return;
struct sockaddr_in dst;
memset(&dst, 0, sizeof(dst));
dst.sin_family = AF_INET;
dst.sin_port = htons(win_port);
inet_pton(AF_INET, win_ip, &dst.sin_addr);
sendto(sock, buf, len, 0, (struct sockaddr *)&dst, sizeof(dst));
close(sock);
}
// ===========
USB 设备初始化函数 ===========
bool init_
usb_device(
libusb_device_handle *&handle)
{
int rc =
libusb_init(NULL);
if (rc < 0)
{
spdlog::
error("
libusb_init failed: {}",
libusb_
error_name(rc));
return false;
}
// 打开指定设备
handle =
libusb_open_device_with_vid_pid(NULL, VENDOR_ID, PRODUCT_ID);
if (!handle)
{
spdlog::
error("Device not found");
libusb_exit(NULL);
return false;
}
// 声明接口
rc =
libusb_claim_interface(handle, 0);
if (rc != 0)
{
spdlog::
error("Failed to claim interface: {}",
libusb_
error_name(rc));
libusb_close(handle);
libusb_exit(NULL);
return false;
}
// 清除端点 halt 状态
rc =
libusb_clear_halt(handle, ENDPOINT_IN);
if (rc != 0)
{
spdlog::
error("Failed to clear halt on ENDPOINT_IN: {}",
libusb_
error_name(rc));
}
rc =
libusb_clear_halt(handle, ENDPOINT_OUT);
if (rc != 0)
{
spdlog::
error("Failed to clear halt on ENDPOINT_OUT: {}",
libusb_
error_name(rc));
}
// 设置配置
rc =
libusb_set_configuration(handle, 1);
if (rc != 0)
{
spdlog::
error("Failed to set configuration: {}",
libusb_
error_name(rc));
}
// 设置接口
rc =
libusb_set_interface_alt_setting(handle, 0, 0);
if (rc != 0)
{
spdlog::
error("Failed to set interface alt setting: {}",
libusb_
error_name(rc));
}
spdlog::info("
USB device initialized successfully");
is
UsbWorking = true;
return true;
}
// ===========
USB 重启函数 ===========
bool restart_
usb_device()
{
spdlog::info("Attempting to restart
USB device...");
// 先清理现有连接
if (handle)
{
libusb_release_interface(handle, 0);
libusb_close(handle);
handle = nullptr;
}
// 等待一小段时间
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
// 复用初始化函数
return init_
usb_device(handle);
}
// =========== 清理
USB 设备函数 ===========
void cleanup_
usb_device(
libusb_device_handle *handle)
{
if (handle)
{
libusb_release_interface(handle, 0);
libusb_close(handle);
}
libusb_exit(NULL);
is
UsbWorking = false;
}
// ===========
USB 异步回调上下文结构体 ===========
struct
usb_ctx
{
libusb_device_handle *handle;
unsigned char *buffer;
struct
libusb_transfer *transfer;
int idx; // 槽索引
};
// ===========
USB 异步回调函数 ===========
void transfer_callback(struct
libusb_transfer *transfer)
{
usb_ctx *ctx = (
usb_ctx *)transfer
->user_data;
if (transfer
->status ==
LIBUSB_TRANSFER_COMPLETED && transfer
->actual_length > 0)
{
if (_circular_buf.CanWrite(transfer
->actual_length))
{
_circular_buf.BlockWrite((const char *)transfer
->buffer, transfer
->actual_length);
}
else
{
spdlog::warn("Circular Buffer is full");
}
}
else
{
spdlog::
error("
USB Transfer
error, status: {}", transfer
->status);
}
// 如果还在运行，再次提交该槽的 transfer
if (open.load())
{
int r =
libusb_submit_transfer(transfer);
if (r != 0)
{
spdlog::
error("Failed to resubmit transfer: {}",
libusb_
error_name(r));
}
}
}
// ===========
USB 同步发送指令 ===========
bool
send_
usb_command(
libusb_device_handle *handle, unsigned char endpoint, const unsigned char *cmd, int length, unsigned
timeout_ms = 5000)
{
// 1. 检查 handle 是否有效
if (handle == nullptr)
{
spdlog::
error("
USB handle is null!");
return false;
}
// 2. 检查 endpoint 是否为合法端点（一般为0x01~0x0F或0x81~0x8F，具体看你的设备描述符）
if ((endpoint & 0xF0) != 0x00 && (endpoint & 0xF0) != 0x80)
{
spdlog::
error("
USB endpoint 0x{:02X} is invalid!", endpoint);
return false;
}
// 3. 检查 cmd 和 length
if (cmd == nullptr || length <= 0)
{
spdlog::
error("
USB command buffer is null or length <= 0!");
return false;
}
int transferred = 0;
int rc =
libusb_bulk_transfer(handle, endpoint, (unsigned char *)cmd, length, &transferred,
timeout_ms);
if (rc != 0 || transferred != length)
{
spdlog::
error("
USB Failed to
send command, code={}, ({}), transferred={}", rc,
libusb_
error_name(rc), transferred);
return false;
}
return true;
}
// ===========
USB异步采集线程 ===========
void _run_recv_async()
{
int retry_count = 0;
const int MAX_RETRIES = 3; // 最大重试次数
while (retry_count < MAX_RETRIES)
{
// 检查
USB 设备状态和句柄
if (!is
UsbWorking || !handle)
{
spdlog::
error("
USB device is not working or handle is invalid, attempt {}/{}",
retry_count + 1, MAX_RETRIES);
if (!restart_
usb_device())
{
retry_count++;
continue;
}
}
// 检查端点是否有效
if (ENDPOINT_IN == 0 || ENDPOINT_OUT == 0)
{
spdlog::
error("Invalid endpoint values: IN={}, OUT={}", ENDPOINT_IN, ENDPOINT_OUT);
if (!restart_
usb_device())
{
retry_count++;
continue;
}
}
// 发送控制命令
unsigned char cmd0[8] = {0x92, 0xAC, 0x02, 0x92, 0xE3, 0x71, 0x00, 0x00};
if (!
send_
usb_command(handle, ENDPOINT_OUT, cmd0, sizeof(cmd0)))
{
spdlog::
error("Failed to
send control command, attempt {}/{}",
retry_count + 1, MAX_RETRIES);
if (!restart_
usb_device())
{
retry_count++;
continue;
}
}
// 如果所有检查都通过，跳出重试循环
break;
}
// 如果重试次数用完仍然失败
if (retry_count >= MAX_RETRIES)
{
spdlog::
error("Failed to initialize
USB device after {} attempts", MAX_RETRIES);
return;
}
// ==== 异步收数流水线 ====
std::vector<
usb_ctx *> ctxs(QUEUE_SIZE, nullptr);
for (int i = 0; i < QUEUE_SIZE; ++i)
{
ctxs[i] = new
usb_ctx();
ctxs[i]
->handle = handle;
ctxs[i]
->idx = i;
ctxs[i]
->buffer = new unsigned char[TRANSFER_LEN];
ctxs[i]
->transfer =
libusb_alloc_transfer(0);
libusb_fill_bulk_transfer(
ctxs[i]
->transfer,
handle,
ENDPOINT_IN,
ctxs[i]
->buffer,
TRANSFER_LEN,
transfer_callback,
ctxs[i], // user_data
5000 //
timeout ms
);
int ret =
libusb_submit_transfer(ctxs[i]
->transfer);
if (ret < 0)
{
std::cerr << "submit_transfer failed: " <<
libusb_
error_name(ret) << std::endl;
// open = false;
break;
}
}
// 主循环，每秒统计一次速率
timeval tv = {0, 5000}; // 5ms一次
auto last_tp = std::chrono::steady_clock::now();
uint64_t last_bytes = 0;
while (open.load())
{
libusb_handle_events_
timeout(NULL, &tv);
}
// 停止后取消所有transfer
for (int i = 0; i < QUEUE_SIZE; ++i)
{
if (ctxs[i] && ctxs[i]
->transfer)
{
libusb_cancel_transfer(ctxs[i]
->transfer);
}
}
libusb_handle_events_completed(NULL, NULL);
// cleanup:
for (int i = 0; i < QUEUE_SIZE; ++i)
{
if (!ctxs[i])
continue;
if (ctxs[i]
->transfer)
libusb_free_transfer(ctxs[i]
->transfer);
if (ctxs[i]
->buffer)
delete[] ctxs[i]
->buffer;
delete ctxs[i];
}
//
libusb_release_interface(handle, 0);
//
libusb_close(handle);
//
libusb_exit(NULL);
}
// =========== 数据处理线程 ===========
void _run_proc()
{
char *outBuf = new char[OUT_BUF_LEN];
memset(outBuf, 0, OUT_BUF_LEN);
bool find_head = true;
std::vector<char> zeroLine(LINE_SIZE, 0);
while (open)
{
if (!_circular_buf.CanRead(OUT_BUF_LEN))
{
usleep(50000);
continue;
}
if (find_head)
{
_circular_buf.BlockRead(outBuf, OUT_BUF_LEN);
}
// 对齐帧头
if ((unsigned char)outBuf[0] != 0x0E ||
(unsigned char)outBuf[1] != 0xB9 ||
(unsigned char)outBuf[2] != 0x0E ||
(unsigned char)outBuf[3] != 0xB9)
{
find_head = false;
memmove(outBuf, outBuf + 1, OUT_BUF_LEN
- 1);
_circular_buf.BlockRead(outBuf + OUT_BUF_LEN
- 1, 1);
continue;
}
find_head = true;
if ((unsigned char)outBuf[7] == 0x12) // 图像数据
{
uint32_t a = 0xFF & ((unsigned char)outBuf[8]);
uint32_t b = 0xFF & ((unsigned char)outBuf[9]);
uint32_t c = 0xFF & ((unsigned char)outBuf[10]);
uint32_t d = 0xFF & ((unsigned char)outBuf[11]);
uint32_t e = 0xFF & ((unsigned char)outBuf[12]);
uint32_t f = 0xFF & ((unsigned char)outBuf[13]);
uint32_t picNO = (a << 24) | (b << 16) | (c << 8) | (d);
int lineNO = (e << 8) | f;
// ====== 采集暗帧 ======
if (isCalcMean && !meanReady)
{
if (lineNO
- 1 >= 0 && lineNO
- 1 < BAND_SIZE)
{
// 这里需要根据每行像素的字节数修改，将每个像素作为 2 字节来处理
for (int j = 0; j < LINE_SIZE / 2; ++j)
{
// 每个像素由 2 字节组成，读取时按小端格式组合
unsigned short pixel_value = (static_cast<unsigned char>(outBuf[j * 2 + 1]) << 8) | static_cast<unsigned char>(outBuf[j * 2]);
// 将每个像素值存储到 dark_mean 中
dark_mean[(lineNO
- 1) * (LINE_SIZE / 2) + j] = pixel_value; // 这里注意使用 LINE_SIZE / 2
}
// 统计已采集的波段数
band_got[lineNO
- 1] = true;
int got_count = 0;
for (int i = 0; i < BAND_SIZE; ++i)
{
if (band_got[i])
++got_count;
}
if (got_count == BAND_SIZE)
{
meanReady = true;
isCalcMean = false;
spdlog::info("Dark frame captured as mean.");
// 保存暗数据到 txt 文件
// 获取当前时间并格式化为字符串
auto now = std::chrono::system_clock::now();
std::time_t now_time_t = std::chrono::system_clock::to_time_t(now);
std::tm now_tm = *std::localtime(&now_time_t);
// 格式化时间为字符串（例如 "2025
-06
-25_12
-30
-45.txt"）
std::ostringstream filename_stream;
filename_stream << std::put_time(&now_tm, "%Y
-%m
-%d_%H
-%M
-%S");
std::string filename = "/media/myssd/data/dark_mean_" + filename_stream.str() + ".txt";
std::ofstream ofs(filename);
if (ofs.is_open())
{
for (int band = 0; band < BAND_SIZE; ++band)
{
for (int j = 0; j < LINE_SIZE / 2; ++j)
{
ofs << " " << dark_mean[band * (LINE_SIZE / 2) + j]; // 每个波段的像素
}
ofs << std::endl;
}
ofs.close();
spdlog::info("Dark frame saved to /media/myssd/data/dark_mean.txt");
}
else
{
spdlog::
error("Failed to open /media/myssd/data/dark_mean.txt for writing!");
}
}
}
}
// ========== 仅对 rFlag/gFlag/bFlag 波段做暗场扣除并UDP发送 ==========
if (lineNO == rFlag || lineNO == gFlag || lineNO == bFlag)
{
if (meanReady)
{
// 暗场已采集完成，做实时扣除
std::vector<char> corrected(OUT_BUF_LEN); // 存放扣除暗场后的数据
int band_idx = lineNO; // 当前行的波段号
for (int j = 0; j < LINE_SIZE / 2; ++j)
{
// 如果 j 在 0 到 9 之间，原样输出
if (j < 10)
{
// 直接将原始像素值复制到 corrected 数组中，不进行暗场扣除
corrected[j * 2] = outBuf[j * 2]; // 低字节
corrected[j * 2 + 1] = outBuf[j * 2 + 1]; // 高字节
}
else
{
// 获取原始像素值，2 字节合并（小端格式）
unsigned short pixel_value = (static_cast<unsigned char>(outBuf[j * 2 + 1]) << 8) | static_cast<unsigned char>(outBuf[j * 2]);
// 获取暗场值（dark_mean 使用小端存储，因此读取时无需额外处理）
unsigned short dark_value = dark_mean[band_idx * (LINE_SIZE / 2) + j];
// 扣除暗场值，确保结果在合法范围内
int corrected_pixel = pixel_value
- dark_value;
if (corrected_pixel < 0)
corrected_pixel = 0;
if (corrected_pixel > 65535)
corrected_pixel = 65535;
// 存储修正后的值，分为高字节和低字节（小端格式）
corrected[j * 2] = corrected_pixel & 0xFF; // 低字节
corrected[j * 2 + 1] = (corrected_pixel >> 8) & 0xFF; // 高字节
}
}
// 发送扣除暗场后的数据
// spdlog::info("UDP发送波段 {}，已做暗场扣除", lineNO);
send_udp_to_win(corrected.data(), OUT_BUF_LEN, WIN_IP, WIN_PORT);
}
else
{
// 暗场未采集完成，直接发送原始数据
send_udp_to_win(outBuf, OUT_BUF_LEN, WIN_IP, WIN_PORT);
}
}
// ========== 仅对 rFlag/gFlag/bFlag 波段做暗场扣除并UDP发送 END ==========
uint32_t now_lineNO = (picNO
- 1) * BAND_SIZE + lineNO;
int lostline = now_lineNO
- last_lineNO
- 1;
if (lostline != 0)
{
spdlog::warn("loasLine {}, now_lineNO {},last_lineNO {},picNO {},lineNO {}", lostline, now_lineNO, last_lineNO, picNO, lineNO);
}
if (isSaveDat)
{
// 这里就是要保证从第一行开始存
if (isNO1)
{
// 如果在保存，先把丢失的0 补充一下，再存当前的数据
if (lostline != 0)
{
for (uint32_t i = 0; i < lostline; ++i)
{
// 把这里换成压如新缓存
// g_saveFile_dat.write(zeroLine.data(), OUT_BUF_LEN);
if (_circular_buf_write.CanWrite(OUT_BUF_LEN)) // 如果 circular buffer 可以容纳数据
{
_circular_buf_write.BlockWrite(zeroLine.data(), OUT_BUF_LEN);
}
else
{
std::cout << "_circular_buf_write Buffer is full" << std::endl;
}
}
spdlog::warn("帧 {} 丢行，补 {} 行，丢失区间: {} / {}", picNO, lostline, last_lineNO + 1, now_lineNO
- 1);
}
// 把这里换成压如新缓存
// g_saveFile_dat.write(outBuf, OUT_BUF_LEN);
if (_circular_buf_write.CanWrite(OUT_BUF_LEN)) // 如果 circular buffer 可以容纳数据
{
_circular_buf_write.BlockWrite(outBuf, OUT_BUF_LEN);
}
else
{
std::cout << "_circular_buf_write Buffer is full" << std::endl;
}
}
}
last_lineNO = now_lineNO;
}
else if ((unsigned char)outBuf[7] == 0x11) // 辅助包
{
uint32_t a = 0xFF & ((unsigned char)outBuf[8]);
uint32_t b = 0xFF & ((unsigned char)outBuf[9]);
uint32_t c = 0xFF & ((unsigned char)outBuf[10]);
uint32_t d = 0xFF & ((unsigned char)outBuf[11]);
uint32_t picNO = (a << 24) | (b << 16) | (c << 8) | (d);
static uint32_t last_aux_picNO = 0xFFFFFFFF;
std::vector<char> zeroLine(OUT_BUF_LEN, 0);
// 判断帧号是否连续
if (last_aux_picNO != 0xFFFFFFFF && picNO != last_aux_picNO + 1)
{
uint32_t lost = picNO
- last_aux_picNO
- 1;
if (lost > 0)
{
if (isSaveDat)
{
for (uint32_t i = 0; i < lost; ++i)
g_saveFile_aux.write(zeroLine.data(), OUT_BUF_LEN);
}
spdlog::warn("辅助包帧号丢失，补 {} 个帧头，丢失区间: {} ~ {}", lost, last_aux_picNO + 1, picNO
- 1);
}
}
if (isSaveDat)
{
g_saveFile_aux.write(outBuf, OUT_BUF_LEN);
isNO1 = true;
frame_count++;
}
last_aux_picNO = picNO;
}
else
{
spdlog::warn("outBuf[7] is not right");
}
}
delete[] outBuf;
}
// =========== 数据保存线程 ===========
void _run_write()
{
char *outBuf = new char[OUT_BUF_LEN];
memset(outBuf, 0, OUT_BUF_LEN);
// 从新缓存里取数存入文件
while (run) {
if (!_circular_buf_write.CanRead(4096 * 1))
{
usleep(50000);
continue;
}
_circular_buf_write.BlockRead(outBuf, 4096 * 1);
g_saveFile_dat.write(outBuf, 4096 * 1);
}
delete[] outBuf;
}
// =========== 设置线程优先级 ===========
void set_thread_priority(std::thread &t, int priority)
{
pthread_t native_handle = t.native_handle();
struct sched_param param;
param.sched_priority = priority;
if (pthread_setschedparam(native_handle, SCHED_FIFO, ¶m) != 0)
{
std::cerr << "Failed to set thread priority." << std::endl;
}
}
// =========== 开始成像 ===========
void start_get_img()
{
open = true;
// 先检查并处理现有线程
if (work_thread_proc.joinable())
{
work_thread_proc.join();
}
if (work_thread_recv.joinable())
{
work_thread_recv.join();
}
if (work_thread_write.joinable())
{
work_thread_write.join();
}
// 检查
USB 设备状态
if (!is
UsbWorking)
{
spdlog::
error("
USB device is not working");
return;
}
// 然后创建新线程
work_thread_proc = std::thread(_run_proc);
usleep(50000);
work_thread_recv = std::thread(_run_recv_async);
usleep(50000);
work_thread_recv = std::thread(_run_write);
set_thread_priority(work_thread_recv, 99);
spdlog::info("START GET IMG");
}
// =========== 开始落数 ===========
void write_envi_hdr(int lines)
{
g_saveFile_hdr << "ENVI\n";
g_saveFile_hdr << "samples = 2048\n";
g_saveFile_hdr << "lines = " << lines
-1 << "\n";
g_saveFile_hdr << "bands = 200\n";
g_saveFile_hdr << "header offset = 0\n";
g_saveFile_hdr << "file type = ENVI Standard\n";
g_saveFile_hdr << "data type = 12\n";
g_saveFile_hdr << "interleave = bil\n";
g_saveFile_hdr << "byte order = 0\n";
g_saveFile_hdr.close();
// spdlog::info("ENVI hdr file written: {}", hdr_path);
}
void create_dir_if_not_exists(const std::string &dir)
{
struct stat st;
if (stat(dir.c_str(), &st) != 0)
{
mkdir(dir.c_str(), 0755);
}
}
void start_save_dat(const std::string &path)
{
// 重置全局统计和状态变量
frame_count = 0;
last_picNO = 0xFFFFFFFF;
last_lineNO =
-1;
is_frame_valid = false;
last_aux_picNO = 0xFFFFFFFF;
last_lineNO =
-1;
isNO1 = false;
// 去除后缀，得到子目录名
std::string baseName = std::regex_replace(path, std::regex("\\.[^.]*$"), "");
std::string subDir = dir + baseName + "/";
create_dir_if_not_exists(subDir);
// 关闭之前的文件（如果有）
if (g_saveFile_dat.is_open())
g_saveFile_dat.close();
if (g_saveFile_aux.is_open())
g_saveFile_aux.close();
if (g_saveFile_hdr.is_open())
g_saveFile_hdr.close();
std::string fullPath_dat = subDir + baseName + ".dat";
std::string fullPath_aux = subDir + baseName + ".aux";
std::string fullPath_hdr = subDir + baseName + ".hdr";
// 打开新文件
g_saveFile_dat.open(fullPath_dat, std::ios::out | std::ios::binary);
g_saveFile_aux.open(fullPath_aux, std::ios::out | std::ios::binary);
g_saveFile_hdr.open(fullPath_hdr, std::ios::out | std::ios::binary);
if (!g_saveFile_dat.is_open() || !g_saveFile_aux.is_open() || !g_saveFile_hdr.is_open())
{
spdlog::
error("Failed to open file(s): {}, {}, {}", fullPath_dat, fullPath_aux, fullPath_hdr);
isSaveDat = false;
return;
}
isSaveDat = true;
spdlog::info("START SAVE DAT, path: {}", fullPath_dat);
spdlog::info("START SAVE AUX, path: {}", fullPath_aux);
spdlog::info("START SAVE HDR, path: {}", fullPath_hdr);
}
// =========== 结束落数 ===========
void end_save_dat()
{
isSaveDat = false;
write_envi_hdr(frame_count);
if (g_saveFile_dat.is_open())
g_saveFile_dat.close();
if (g_saveFile_aux.is_open())
g_saveFile_aux.close();
if (g_saveFile_hdr.is_open())
g_saveFile_hdr.close();
spdlog::info("All save files closed.");
}
// =========== 结束成像 ===========
void end_get_img()
{
// 如果正在落数，先结束落数
if (isSaveDat)
end_save_dat();
usleep(50000);
unsigned char cmd0[8] = {0x92, 0xAC, 0x02, 0x92, 0xE4, 0x76, 0x00, 0x00};
send_
usb_command(handle, ENDPOINT_OUT, cmd0, sizeof(cmd0));
// usleep(200000);
open = false;
if (work_thread_recv.joinable())
work_thread_recv.join();
if (work_thread_proc.joinable())
work_thread_proc.join();
spdlog::info("END GET IMG");
}
// =========== 主程序入口 ===========
int main()
{
// 初始化相机线程和环形buffer
_circular_buf.Initialize(CIRCULAR_BUF_CAPACITY);
_circular_buf_write.Initialize(CIRCULAR_BUF_CAPACITY);
run = true;
// 创建日志器
auto logger = spdlog::get("vis_logger");
if (!logger)
{
logger = spdlog::basic_logger_mt("vis_logger", "/root/VisServer
-YB26/build/server_log.txt");
}
spdlog::set_default_logger(logger);
spdlog::set_level(spdlog::level::info); // 只记录info及以上级别日志
spdlog::flush_on(spdlog::level::info); // 每条 info 日志都立即写入文件
// 初始化
USB 设备
if (!init_
usb_device(handle))
{
spdlog::
error("Failed to initialize
USB device");
return
-1;
}
else
{
spdlog::info("
USB device initialized successfully");
}
// socket
int server_fd, client_fd;
struct sockaddr_in server_addr, client_addr;
socklen_t sin_size;
char buffer[TCP_BUFFER_SIZE];
// 创建socket
server_fd = socket(AF_INET, SOCK_STREAM, 0);
if (server_fd ==
-1)
{
spdlog::
error("socket
error: {}", str
error(errno));
return
-1;
}
// 设置 SO_REUSEADDR，避免端口占用导致 bind 失败
int opt = 1;
if (setsockopt(server_fd, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt)) < 0)
{
spdlog::
error("setsockopt
error: {}", str
error(errno));
close(server_fd);
return
-1;
}
// 设置服务器地址结构
memset(&server_addr, 0, sizeof(server_addr));
server_addr.sin_family = AF_INET;
server_addr.sin_addr.s_addr = INADDR_ANY; // 监听所有IP
server_addr.sin_port = htons(SERVER_PORT);
// 绑定
if (bind(server_fd, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0)
{
spdlog::
error("bind
error: {}", str
error(errno));
close(server_fd);
return
-1;
}
// 监听
if (listen(server_fd, 5) < 0)
{
spdlog::
error("listen
error: {}", str
error(errno));
close(server_fd);
spdlog::shutdown(); // 确保日志资源释放
return
-1;
}
spdlog::info("Server listening on port {}...", SERVER_PORT);
while (run)
{
sin_size = sizeof(client_addr);
client_fd = accept(server_fd, (struct sockaddr *)&client_addr, &sin_size);
if (client_fd < 0)
{
spdlog::
error("accept
error: {}", str
error(errno));
continue;
}
ssize_t recv_len = recv(client_fd, buffer, sizeof(buffer)
- 1, 0);
if (recv_len == 8) // 确保收到8字节
{
// 格式化为十六进制字符串
std::ostringstream oss;
oss << "Received cmd: ";
for (int i = 0; i < 8; ++i)
{
oss << std::hex << std::uppercase << std::setw(2) << std::setfill('0')
<< (static_cast<unsigned int>(static_cast<unsigned char>(buffer[i]))) << " ";
}
spdlog::info(oss.str());
}
else
{
// 变长字符串
std::string recvStr(buffer, recv_len);
spdlog::info("Received string: {}", recvStr);
// 查找指令映射表
auto it = commandMap.find(recvStr);
if (it != commandMap.end())
{
// 找到对应指令，处理8字节命令
const auto &cmd = it
->second;
std::ostringstream oss;
for (int i = 0; i < 8; ++i)
{
oss << std::hex << std::uppercase << std::setw(2) << std::setfill('0')
<< (int)cmd[i] << " ";
}
spdlog::info("指令名: {}, 指令内容: {}", recvStr, oss.str());
send_
usb_command(handle, ENDPOINT_OUT, cmd.data(), cmd.size());
}
if (recvStr.find("START_IMAGE") == 0)
{
spdlog::info("START_IMAGE");
start_get_img();
}
if (recvStr.find("END_IMAGE") == 0)
{
spdlog::info("END_IMAGE");
end_get_img();
}
if (recvStr.find("START SAVE DAT PATH =") == 0)
{
// 解析路径
size_t pos1 = recvStr.find('=');
size_t pos2 = recvStr.rfind(';');
if (pos1 != std::string::npos && pos2 != std::string::npos && pos2 > pos1)
{
std::string path = recvStr.substr(pos1 + 1, pos2
- pos1
- 1);
// 去除前后空格
path.erase(0, path.find_first_not_of(" \t"));
path.erase(path.find_last_not_of(" \t") + 1);
spdlog::info("Parsed save path: {}", path);
start_save_dat(path);
}
}
if (recvStr.find("STOP SAVE DAT") == 0)
{
spdlog::info("STOP SAVE DAT");
end_save_dat();
}
if (recvStr.rfind("UPLOAD_TXT ", 0) == 0)
{
std::string filename = recvStr.substr(strlen("UPLOAD_TXT "));
// 去掉收尾空格/回车换行
filename.erase(filename.find_last_not_of(" \r\n") + 1);
// 路径合法性检查，只允许 /mnt/temp/ 开头
if (filename.find("/media/myssd/data/calibration/") != 0)
{
spdlog::
error("拒绝非法路径: {}", filename);
close(client_fd);
continue;
}
std::ofstream ofs(filename, std::ios::binary);
if (!ofs)
{
spdlog::
error("无法打开 {} 进行写入！", filename);
close(client_fd);
continue;
}
// 继续读socket内容直到断开，把所有内容写入txt
ssize_t chunk;
while ((chunk = recv(client_fd, buffer, sizeof(buffer), 0)) > 0)
{
ofs.write(buffer, chunk);
}
ofs.close();
spdlog::info("TXT文件已保存到: {}", filename);
close(client_fd);
continue;
}
if (recvStr.find("SET_RGB_FLAG_") == 0)
{
spdlog::info("SET_RGB_FLAG");
std::string params = recvStr.substr(strlen("SET_RGB_FLAG_"));
// 分割字符串
size_t pos1 = params.find('_');
size_t pos2 = params.rfind('_');
if (pos1 != std::string::npos && pos2 != std::string::npos && pos1 != pos2)
{
try
{
rFlag = std::stoi(params.substr(0, pos1));
gFlag = std::stoi(params.substr(pos1 + 1, pos2
- pos1
- 1));
bFlag = std::stoi(params.substr(pos2 + 1));
spdlog::info("RGB flags: R={}, G={}, B={}", rFlag, gFlag, bFlag);
}
catch (const std::exception &e)
{
spdlog::
error("RGB参数解析失败: {}", e.what());
}
}
else
{
spdlog::
error("RGB参数格式错误: {}", params);
}
}
if (recvStr.find("SET_LOCAL_IP_") == 0)
{
spdlog::info("SET_LOCAL_IP");
std::string ip = recvStr.substr(strlen("SET_LOCAL_IP_")); // 或 13
win_ip_str = ip;
WIN_IP = win_ip_str.c_str();
spdlog::info("WIN_IP set to: {}", WIN_IP);
}
if (recvStr.find("CALC_MEAN") == 0)
{
spdlog::info("CALC_MEAN");
if (!isCalcMean)
{ // 只有没在采集时才允许启动
isCalcMean = true; // 启动采集
meanReady = false; // 标记为未完成
std::fill(band_got.begin(), band_got.end(), false);
}
else
{
spdlog::info("CALC_MEAN ignored: already collecting dark frame.");
}
}
if (recvStr.find("CLOSE_MEAN") == 0)
{
spdlog::info("CLOSE_MEAN");
if (!isCalcMean)
{
meanReady = false; // 标记为未完成
}
else
{
spdlog::info("CLOSE_MEAN no");
}
}
if (recvStr.find("QUIT") == 0)
{
spdlog::info("QUIT");
break;
}
}
close(client_fd);
usleep(100000); // 100ms空转
}
close(server_fd);
run = false;
std::cout << "Program end." << std::endl;
}帮我检查下
本文针对Linux环境下使用libusb库时遇到的usb_read_bulk()函数出现timeout error的问题，提供了一套从设备配置、指令确认、传输方式到硬件检查的四步骤解决方案，旨在帮助开发者有效排查并解决USB通讯故障。
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