拍照version

PROTOCOL.md

@@ -98,7 +98,7 @@ SkyLink 是一个多平台实时视频传输系统的通信协议，设计用于
    ↓
 3. 检查魔数是否为 0xAA55
    ✗ 否 → 丢弃该包
-   ✓ 是 → 继续
+    是 → 继续
    ↓
 4. 根据 frame_id 找到对应的帧缓冲区
    如果不存在 → 创建新的缓冲区

skylink_android_app/app/src/main/java/com/skylink/app/network/PacketDef.kt

@@ -165,6 +165,7 @@ data class DecodedFrame(
     val lat: Double,
     val lon: Double,
     val alt: Double,
+    val photoNumber: Int = 0,       // 照片编号（从reserve字段提取）
     val receivedTime: Long = System.currentTimeMillis()
 ) {
     override fun equals(other: Any?): Boolean {
@@ -207,6 +208,7 @@ data class FrameBuffer(
     val lat: Double = 0.0,
     val lon: Double = 0.0,
     val alt: Double = 0.0,
+    val photoNumber: Int = 0,  // 照片编号（从reserve字段提取）
     val receiveTimestamp: Long = System.currentTimeMillis()
 ) {
     /**

skylink_android_app/app/src/main/java/com/skylink/app/network/UdpReceiver.kt

@@ -89,7 +89,7 @@ class UdpReceiver(
                     Log.i(TAG, "UDP 接收缓冲区大小已设置为: ${socket!!.receiveBufferSize}")
                 }
 
-                Log.i(TAG, "✓ UDP 接收器启动，监听端口 $listenPort")
+                Log.i(TAG, " UDP 接收器启动，监听端口 $listenPort")
 
                 startReceiving()
             } catch (e: Exception) {
@@ -185,7 +185,8 @@ class UdpReceiver(
                     timestamp = header.timestamp,
                     lat = header.lat,
                     lon = header.lon,
-                    alt = header.alt
+                    alt = header.alt,
+                    photoNumber = header.reserve  // 从reserve字段提取照片编号
                 )
             }
 
@@ -228,7 +229,8 @@ class UdpReceiver(
                 timestamp = frame.timestamp,
                 lat = frame.lat,
                 lon = frame.lon,
-                alt = frame.alt
+                alt = frame.alt,
+                photoNumber = frame.photoNumber  // 传递照片编号
             )
 
             totalFrames++

skylink_android_app/app/src/main/java/com/skylink/app/ui/HomeFragment.kt

@@ -11,6 +11,9 @@
 package com.skylink.app.ui
 
 import android.graphics.Bitmap
+import android.graphics.Canvas
+import android.graphics.Paint
+import android.graphics.Color
 import android.os.Bundle
 import android.view.LayoutInflater
 import android.view.View
@@ -19,6 +22,9 @@ import android.widget.Button
 import android.widget.ImageView
 import android.widget.TextView
 import android.widget.Toast
+import android.widget.EditText
+import android.widget.ArrayAdapter
+import androidx.appcompat.app.AlertDialog
 import androidx.fragment.app.Fragment
 import androidx.lifecycle.lifecycleScope
 import com.skylink.app.R
@@ -31,6 +37,10 @@ import kotlinx.coroutines.launch
 import kotlinx.coroutines.withContext
 import java.text.SimpleDateFormat
 import java.util.*
+import okhttp3.*
+import okhttp3.MediaType.Companion.toMediaType
+import okhttp3.RequestBody.Companion.toRequestBody
+import org.json.JSONObject
 
 class HomeFragment : Fragment(), UdpReceiverListener {
 
@@ -48,6 +58,16 @@ class HomeFragment : Fragment(), UdpReceiverListener {
     private var statusTextView: TextView? = null
     private var saveButton: Button? = null
     private var recordButton: Button? = null
+    private var triggerCaptureButton: Button? = null
+    private var triggerCaptureOriginalButton: Button? = null
+    private var triggerCaptureThumbnailButton: Button? = null
+    
+    // HTTP客户端（用于调用ROS2服务）
+    private val httpClient = OkHttpClient()
+    
+    // ROS2节点配置
+    private var ros2NodeIp = "192.168.1.100"  // 默认IP，需要配置
+    private var ros2HttpPort = 8080
 
     // ========================================================================
     // 业务逻辑
@@ -56,6 +76,7 @@ class HomeFragment : Fragment(), UdpReceiverListener {
     private var udpReceiver: UdpReceiver? = null
     private var currentFrame: DecodedFrame? = null
     private var isRecording = false
+    private var totalPhotosReceived = 0  // 接收到的总照片数
 
     // ========================================================================
     // 生命周期方法
@@ -92,6 +113,9 @@ class HomeFragment : Fragment(), UdpReceiverListener {
         statusTextView = view.findViewById(R.id.status_text)
         saveButton = view.findViewById(R.id.save_button)
         recordButton = view.findViewById(R.id.record_button)
+        triggerCaptureButton = view.findViewById(R.id.trigger_capture_button)
+        triggerCaptureOriginalButton = view.findViewById(R.id.trigger_capture_original_button)
+        triggerCaptureThumbnailButton = view.findViewById(R.id.trigger_capture_thumbnail_button)
 
         // 设置按钮点击监听
         saveButton?.setOnClickListener {
@@ -101,6 +125,18 @@ class HomeFragment : Fragment(), UdpReceiverListener {
         recordButton?.setOnClickListener {
             onRecordToggled()
         }
+        
+        triggerCaptureButton?.setOnClickListener {
+            showTriggerCaptureDialog()
+        }
+        
+        triggerCaptureOriginalButton?.setOnClickListener {
+            triggerCapture(0) // 原图模式
+        }
+        
+        triggerCaptureThumbnailButton?.setOnClickListener {
+            triggerCapture(1) // 缩略图模式
+        }
     }
 
     // ========================================================================
@@ -126,6 +162,11 @@ class HomeFragment : Fragment(), UdpReceiverListener {
 
     override fun onFrameDecoded(frame: DecodedFrame) {
         currentFrame = frame
+        
+        // 更新照片计数
+        if (frame.photoNumber > 0) {
+            totalPhotosReceived++
+        }
 
         // 移到后台线程执行解码，避免阻塞 UI 线程，进而影响 UDP 接收协程（如果是单核或高负载）
         lifecycleScope.launch(Dispatchers.Default) {
@@ -133,7 +174,13 @@ class HomeFragment : Fragment(), UdpReceiverListener {
              if (bitmap != null) {
                  withContext(Dispatchers.Main) {
                      view?.let {
-                         videoImageView?.setImageBitmap(bitmap)
+                         // 在图像上叠加显示照片编号
+                         val bitmapWithText = if (frame.photoNumber > 0) {
+                             addPhotoNumberToBitmap(bitmap, frame.photoNumber)
+                         } else {
+                             bitmap
+                         }
+                         videoImageView?.setImageBitmap(bitmapWithText)
                          updateGpsInfo(frame)
                      }
                  }
@@ -142,10 +189,12 @@ class HomeFragment : Fragment(), UdpReceiverListener {
     }
 
     override fun onStatsUpdated(fps: Int, kbps: Int, packetLoss: Double) {
-        statsTextView?.text = String.format(
+        val statsText = StringBuilder()
-            "FPS: %d\nSpeed: %d KB/s\nPacket Loss: %.1f%%",
+        statsText.append(String.format("FPS: %d\nSpeed: %d KB/s\nPacket Loss: %.1f%%", fps, kbps, packetLoss))
-            fps, kbps, packetLoss
+        if (totalPhotosReceived > 0) {
-        )
+            statsText.append(String.format("\nTotal Photos: %d", totalPhotosReceived))
+        }
+        statsTextView?.text = statsText.toString()
     }
 
     override fun onError(message: String, exception: Exception?) {
@@ -201,4 +250,217 @@ class HomeFragment : Fragment(), UdpReceiverListener {
         val formatter = SimpleDateFormat("HH:mm:ss", Locale.getDefault())
         return formatter.format(Date(millis))
     }
+    
+    /**
+     * 在图像上叠加显示照片编号
+     */
+    private fun addPhotoNumberToBitmap(bitmap: Bitmap, photoNumber: Int): Bitmap {
+        val mutableBitmap = bitmap.copy(Bitmap.Config.ARGB_8888, true)
+        val canvas = Canvas(mutableBitmap)
+        
+        val text = "Photo #$photoNumber"
+        val paint = Paint().apply {
+            color = Color.WHITE
+            textSize = 48f
+            isAntiAlias = true
+            style = Paint.Style.FILL
+        }
+        
+        val textPaint = Paint(paint)
+        val textBounds = android.graphics.Rect()
+        textPaint.getTextBounds(text, 0, text.length, textBounds)
+        
+        // 绘制半透明背景
+        val bgPaint = Paint().apply {
+            color = Color.argb(180, 0, 0, 0)
+            style = Paint.Style.FILL
+        }
+        val padding = 10
+        canvas.drawRect(
+            10f, 10f,
+            (textBounds.width() + padding * 2).toFloat(),
+            (textBounds.height() + padding * 2).toFloat(),
+            bgPaint
+        )
+        
+        // 绘制文字
+        canvas.drawText(text, (10 + padding).toFloat(), (10 + padding + textBounds.height()).toFloat(), textPaint)
+        
+        return mutableBitmap
+    }
+    
+    /**
+     * 显示触发拍照参数输入对话框
+     */
+    private fun showTriggerCaptureDialog() {
+        val view = layoutInflater.inflate(R.layout.dialog_trigger_capture, null)
+        val durationEdit = view.findViewById<EditText>(R.id.duration_edit)
+        val countEdit = view.findViewById<EditText>(R.id.count_edit)
+        val intervalEdit = view.findViewById<EditText>(R.id.interval_edit)
+        val modeSpinner = view.findViewById<android.widget.Spinner>(R.id.mode_spinner)
+        
+        // 设置Spinner适配器
+        val modes = arrayOf("原图", "缩略图")
+        val adapter = ArrayAdapter(requireContext(), android.R.layout.simple_spinner_item, modes)
+        adapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item)
+        modeSpinner.adapter = adapter
+        
+        // 设置默认值
+        durationEdit.setText("5.0")
+        countEdit.setText("10")
+        intervalEdit.setText("0.5")
+        
+        AlertDialog.Builder(requireContext())
+            .setTitle("触发拍照")
+            .setView(view)
+            .setPositiveButton("确定") { _, _ ->
+                val duration = durationEdit.text.toString().toDoubleOrNull() ?: 5.0
+                val count = countEdit.text.toString().toIntOrNull() ?: 10
+                val interval = intervalEdit.text.toString().toDoubleOrNull() ?: 0.5
+                val mode = modeSpinner.selectedItemPosition // 0=原图, 1=缩略图
+                
+                triggerCaptureWithParams(duration, count, interval, mode)
+            }
+            .setNegativeButton("取消", null)
+            .setNeutralButton("设置") { _, _ ->
+                // 显示IP和端口配置对话框
+                showConfigDialog()
+            }
+            .show()
+    }
+    
+    /**
+     * 显示配置对话框（IP和端口）
+     */
+    private fun showConfigDialog() {
+        val view = layoutInflater.inflate(android.R.layout.simple_list_item_2, null)
+        val ipEdit = EditText(requireContext())
+        ipEdit.hint = "ROS2节点IP地址"
+        ipEdit.setText(ros2NodeIp)
+        
+        val portEdit = EditText(requireContext())
+        portEdit.hint = "HTTP端口"
+        portEdit.inputType = android.text.InputType.TYPE_CLASS_NUMBER
+        portEdit.setText(ros2HttpPort.toString())
+        
+        val layout = android.widget.LinearLayout(requireContext()).apply {
+            orientation = android.widget.LinearLayout.VERTICAL
+            setPadding(50, 40, 50, 10)
+            addView(ipEdit)
+            addView(portEdit)
+        }
+        
+        AlertDialog.Builder(requireContext())
+            .setTitle("ROS2节点配置")
+            .setView(layout)
+            .setPositiveButton("确定") { _, _ ->
+                ros2NodeIp = ipEdit.text.toString().ifEmpty { "192.168.1.100" }
+                ros2HttpPort = portEdit.text.toString().toIntOrNull() ?: 8080
+                Toast.makeText(context, "配置已保存: $ros2NodeIp:$ros2HttpPort", Toast.LENGTH_SHORT).show()
+            }
+            .setNegativeButton("取消", null)
+            .show()
+    }
+    
+    /**
+     * 快速触发拍照（使用默认参数）
+     */
+    private fun triggerCapture(mode: Int) {
+        triggerCaptureWithParams(5.0, 10, 0.5, mode)
+    }
+    
+    /**
+     * 使用参数触发拍照
+     */
+    private fun triggerCaptureWithParams(duration: Double, count: Int, interval: Double, mode: Int) {
+        val modeStr = if (mode == 0) "原图" else "缩略图"
+        
+        lifecycleScope.launch(Dispatchers.IO) {
+            try {
+                // 构建JSON请求
+                val json = JSONObject().apply {
+                    put("duration", duration)
+                    put("count", count)
+                    put("interval", interval)
+                    put("transmission_mode", mode)
+                }
+                
+                val requestBody = json.toString().toRequestBody("application/json".toMediaType())
+                val url = "http://$ros2NodeIp:$ros2HttpPort/api/v1/trigger_capture"
+                
+                val request = Request.Builder()
+                    .url(url)
+                    .post(requestBody)
+                    .addHeader("User-Agent", "SkyLink-Android/1.0")
+                    .build()
+                
+                val response = httpClient.newCall(request).execute()
+                
+                withContext(Dispatchers.Main) {
+                    if (response.isSuccessful) {
+                        val responseBody = response.body?.string()
+                        if (responseBody != null) {
+                            try {
+                                val responseJson = JSONObject(responseBody)
+                                val success = responseJson.optBoolean("success", false)
+                                val message = responseJson.optString("message", "")
+                                val totalPhotos = responseJson.optInt("total_photos", 0)
+                                
+                                if (success) {
+                                    Toast.makeText(context, 
+                                        "拍照任务已启动！\n$message\n总照片数: $totalPhotos", 
+                                        Toast.LENGTH_LONG).show()
+                                    updateStatus("拍照任务已启动 ($modeStr)")
+                                } else {
+                                    Toast.makeText(context, 
+                                        "请求失败: $message", 
+                                        Toast.LENGTH_LONG).show()
+                                    updateStatus("请求失败: $message")
+                                }
+                            } catch (e: Exception) {
+                                Toast.makeText(context, 
+                                    "响应解析失败: ${e.message}", 
+                                    Toast.LENGTH_SHORT).show()
+                                updateStatus("响应解析失败")
+                            }
+                        } else {
+                            Toast.makeText(context, "服务器返回空响应", Toast.LENGTH_SHORT).show()
+                            updateStatus("服务器返回空响应")
+                        }
+                    } else {
+                        val errorMsg = when (response.code) {
+                            400 -> "请求参数错误"
+                            404 -> "API端点不存在"
+                            500 -> "服务器内部错误"
+                            else -> "HTTP错误: ${response.code}"
+                        }
+                        Toast.makeText(context, errorMsg, Toast.LENGTH_LONG).show()
+                        updateStatus(errorMsg)
+                    }
+                }
+                
+            } catch (e: java.net.SocketTimeoutException) {
+                withContext(Dispatchers.Main) {
+                    Toast.makeText(context, 
+                        "请求超时，请检查网络连接和ROS2节点IP地址 ($ros2NodeIp:$ros2HttpPort)", 
+                        Toast.LENGTH_LONG).show()
+                    updateStatus("请求超时")
+                }
+            } catch (e: java.net.ConnectException) {
+                withContext(Dispatchers.Main) {
+                    Toast.makeText(context, 
+                        "无法连接到ROS2节点 ($ros2NodeIp:$ros2HttpPort)\n请确认HTTP服务器正在运行", 
+                        Toast.LENGTH_LONG).show()
+                    updateStatus("连接失败")
+                }
+            } catch (e: Exception) {
+                withContext(Dispatchers.Main) {
+                    Toast.makeText(context, 
+                        "调用失败: ${e.message}", 
+                        Toast.LENGTH_LONG).show()
+                    updateStatus("调用失败: ${e.message}")
+                }
+            }
+        }
+    }
 }

skylink_android_app/app/src/main/java/com/skylink/app/utils/BitmapUtils.kt

@@ -44,7 +44,7 @@ object BitmapUtils {
 
             // 实际解码
             val bitmap = BitmapFactory.decodeByteArray(jpegData, 0, jpegData.size, options)
-            // Log.i(TAG, "✓ Bitmap 解码成功: ${bitmap?.width}x${bitmap?.height}") // 移除高频日志
+            // Log.i(TAG, " Bitmap 解码成功: ${bitmap?.width}x${bitmap?.height}") // 移除高频日志
             bitmap
         } catch (e: Exception) {
             Log.e(TAG, "Bitmap 解码失败", e)

skylink_android_app/app/src/main/res/layout/dialog_trigger_capture.xml

@@ -0,0 +1,66 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:orientation="vertical"
+    android:padding="16dp">
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="总时间 (秒, 0=默认):"
+        android:textSize="14sp"
+        android:layout_marginBottom="4dp" />
+    
+    <EditText
+        android:id="@+id/duration_edit"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:inputType="numberDecimal"
+        android:hint="5.0"
+        android:layout_marginBottom="16dp" />
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="拍照数量 (0=默认):"
+        android:textSize="14sp"
+        android:layout_marginBottom="4dp" />
+    
+    <EditText
+        android:id="@+id/count_edit"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:inputType="number"
+        android:hint="10"
+        android:layout_marginBottom="16dp" />
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="时间间隔 (秒, 0=自动):"
+        android:textSize="14sp"
+        android:layout_marginBottom="4dp" />
+    
+    <EditText
+        android:id="@+id/interval_edit"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:inputType="numberDecimal"
+        android:hint="0.5"
+        android:layout_marginBottom="16dp" />
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="传输模式:"
+        android:textSize="14sp"
+        android:layout_marginBottom="4dp" />
+    
+    <Spinner
+        android:id="@+id/mode_spinner"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:entries="@array/transmission_modes" />
+
+</LinearLayout>

skylink_android_app/app/src/main/res/layout/fragment_home.xml

@@ -68,8 +68,44 @@
             android:layout_height="wrap_content"
             android:layout_weight="1"
             android:layout_marginStart="4dp"
+            android:layout_marginEnd="4dp"
             android:text="⏺ 开始录制" />
 
+        <Button
+            android:id="@+id/trigger_capture_button"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:layout_marginStart="4dp"
+            android:text="📷 触发拍照" />
+
+    </LinearLayout>
+    
+    <!-- 第二行按钮 -->
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal"
+        android:gravity="center_horizontal"
+        android:layout_marginTop="8dp"
+        android:baselineAligned="false">
+
+        <Button
+            android:id="@+id/trigger_capture_original_button"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:layout_marginEnd="4dp"
+            android:text="📷 原图拍照" />
+
+        <Button
+            android:id="@+id/trigger_capture_thumbnail_button"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:layout_marginStart="4dp"
+            android:text="📷 缩略图拍照" />
+
     </LinearLayout>
 
 </LinearLayout>

skylink_android_app/app/src/main/res/values/arrays.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <string-array name="transmission_modes">
+        <item>原图</item>
+        <item>缩略图</item>
+    </string-array>
+</resources>

skylink_qt_station/build/Desktop_Qt_6_5_3_GCC_64bit-Debug/.ninja_log

@@ -1,27 +1,40 @@
 # ninja log v6
-1	237	1768965744018577716	skylink_station_autogen/timestamp	67b8a88a4f836678
-1	237	1768965744018577716	/home/flower/code/camera/flyLink/skylink_qt_station/build/Desktop_Qt_6_5_3_GCC_64bit-Debug/skylink_station_autogen/mocs_compilation.cpp	67b8a88a4f836678
-1	237	1768965744018577716	skylink_station_autogen/mocs_compilation.cpp	67b8a88a4f836678
-1	237	1768965744018577716	/home/flower/code/camera/flyLink/skylink_qt_station/build/Desktop_Qt_6_5_3_GCC_64bit-Debug/skylink_station_autogen/timestamp	67b8a88a4f836678
-237	246	1768965744032578704	skylink_station_autogen/EWIEGA46WW/qrc_resources.cpp	e63e0a667a42556f
-237	246	1768965744032578704	/home/flower/code/camera/flyLink/skylink_qt_station/build/Desktop_Qt_6_5_3_GCC_64bit-Debug/skylink_station_autogen/EWIEGA46WW/qrc_resources.cpp	e63e0a667a42556f
-247	259	1768965744034578845	CMakeFiles/skylink_station.dir/skylink_station_autogen/EWIEGA46WW/qrc_resources.cpp.o	b144aef3415b71b2
-247	1139	1768965744034578845	CMakeFiles/skylink_station.dir/src/main.cpp.o	7a56a74093adf479
-247	2179	1768965744034578845	CMakeFiles/skylink_station.dir/src/GroundReceiver.cpp.o	6c56ad0b07b7bab9
-247	1231	1768965744034578845	CMakeFiles/skylink_station.dir/src/DataLogger.cpp.o	3aaa238c7e188637
-2	233	1768965948743624643	skylink_station_autogen/timestamp	67b8a88a4f836678
-2	233	1768965948743624643	skylink_station_autogen/mocs_compilation.cpp	67b8a88a4f836678
-2	233	1768965948743624643	/home/flower/code/camera/flyLink/skylink_qt_station/build/Desktop_Qt_6_5_3_GCC_64bit-Debug/skylink_station_autogen/timestamp	67b8a88a4f836678
-2	233	1768965948743624643	/home/flower/code/camera/flyLink/skylink_qt_station/build/Desktop_Qt_6_5_3_GCC_64bit-Debug/skylink_station_autogen/mocs_compilation.cpp	67b8a88a4f836678
-235	246	1768965948751625104	CMakeFiles/skylink_station.dir/skylink_station_autogen/EWIEGA46WW/qrc_resources.cpp.o	af974169bd9ed7a4
 234	1112	1768965948750625047	CMakeFiles/skylink_station.dir/src/DataLogger.cpp.o	b87ed818438f6507
-2	234	1768966062311868601	skylink_station_autogen/timestamp	67b8a88a4f836678
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  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qmalloc.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qmap.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qmargins.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qmath.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qmetacontainer.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qmetatype.h
@@ -1012,9 +1059,7 @@
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qobjectdefs_impl.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qoverload.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qpair.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qpoint.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qprocessordetection.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qrect.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qrefcount.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qscopedpointer.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qscopeguard.h
@@ -1023,7 +1068,6 @@
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qshareddata_impl.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qsharedpointer.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qsharedpointer_impl.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qsize.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qstring.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qstringalgorithms.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qstringbuilder.h
@@ -1045,7 +1089,6 @@
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qtdeprecationmarkers.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qtenvironmentvariables.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qtextstream.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qtimer.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qtmetamacros.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qtnoop.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qtpreprocessorsupport.h
@@ -1056,66 +1099,21 @@
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qtversionchecks.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qtypeinfo.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qtypes.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qurl.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qutf8stringview.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qvariant.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qvarlengtharray.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qversiontagging.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtCore/qxptype_traits.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/QImage
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qaction.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qbitmap.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qbrush.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qcolor.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qcursor.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qfont.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qfontinfo.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qfontmetrics.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qicon.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qimage.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qkeysequence.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qpaintdevice.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qpalette.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qpicture.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qpixelformat.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qpixmap.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qpolygon.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qregion.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qrgb.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qrgba64.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qtextdocument.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qtgui-config.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qtguiexports.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qtguiglobal.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qtransform.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtGui/qwindowdefs.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtNetwork/QHostAddress
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtNetwork/QTcpSocket
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtNetwork/QUdpSocket
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtNetwork/qabstractsocket.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtNetwork/qhostaddress.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtNetwork/qtcpsocket.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtNetwork/qtnetwork-config.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtNetwork/qtnetworkexports.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtNetwork/qtnetworkglobal.h
  mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtNetwork/qudpsocket.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/QLabel
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/QMainWindow
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/QPushButton
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qabstractbutton.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qframe.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qlabel.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qmainwindow.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qpushbutton.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qsizepolicy.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qtabwidget.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qtwidgets-config.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qtwidgetsexports.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qtwidgetsglobal.h
- mdp:/home/flower/app/Qt/6.5.3/gcc_64/include/QtWidgets/qwidget.h
  mdp:/home/flower/code/camera/flyLink/skylink_qt_station/protocol/protocol.h
  mdp:/home/flower/code/camera/flyLink/skylink_qt_station/src/DeviceInfo.h
- mdp:/home/flower/code/camera/flyLink/skylink_qt_station/src/DeviceInfoReceiver.h
  mdp:/usr/include/alloca.h
  mdp:/usr/include/asm-generic/errno-base.h
  mdp:/usr/include/asm-generic/errno.h
@@ -1371,5 +1369,7 @@
  mdp:/usr/lib/gcc/x86_64-linux-gnu/12/include/stdarg.h
  mdp:/usr/lib/gcc/x86_64-linux-gnu/12/include/stdbool.h
  mdp:/usr/lib/gcc/x86_64-linux-gnu/12/include/stddef.h
-/home/flower/code/camera/flyLink/skylink_qt_station/src/GroundReceiver.cpp
+/home/flower/code/camera/flyLink/skylink_qt_station/src/DeviceInfoReceiver.cpp
-/home/flower/code/camera/flyLink/skylink_qt_station/src/main.cpp
+/home/flower/code/camera/flyLink/skylink_qt_station/src/DeviceInfo.h
+/home/flower/code/camera/flyLink/skylink_qt_station/src/DataLogger.cpp
+/home/flower/code/camera/flyLink/skylink_qt_station/src/DataLogger.h

skylink_qt_station/build/Desktop_Qt_6_5_3_GCC_64bit-Debug/Testing/Temporary/LastTest.log

@@ -1,3 +1,3 @@
-Start testing: Jan 21 11:24 CST
+Start testing: Feb 02 16:41 CST
 ----------------------------------------------------------
-End testing: Jan 21 11:24 CST
+End testing: Feb 02 16:41 CST

skylink_qt_station/build/Desktop_Qt_6_5_3_GCC_64bit-Debug/skylink_station_autogen/UVLADIE3JM/moc_GroundReceiver.cpp

@@ -45,6 +45,8 @@ static constexpr auto qt_meta_stringdata_CLASSGroundReceiverENDCLASS = QtMocHelp
     "lat",
     "lon",
     "alt",
+    "uint32_t",
+    "photo_number",
     "statsUpdated",
     "fps",
     "kbs",
@@ -56,7 +58,7 @@ static constexpr auto qt_meta_stringdata_CLASSGroundReceiverENDCLASS = QtMocHelp
 );
 #else  // !QT_MOC_HAS_STRING_DATA
 struct qt_meta_stringdata_CLASSGroundReceiverENDCLASS_t {
-    uint offsetsAndSizes[30];
+    uint offsetsAndSizes[34];
     char stringdata0[15];
     char stringdata1[13];
     char stringdata2[1];
@@ -64,14 +66,16 @@ struct qt_meta_stringdata_CLASSGroundReceiverENDCLASS_t {
     char stringdata4[4];
     char stringdata5[4];
     char stringdata6[4];
-    char stringdata7[13];
+    char stringdata7[9];
-    char stringdata8[4];
+    char stringdata8[13];
-    char stringdata9[4];
+    char stringdata9[13];
-    char stringdata10[6];
+    char stringdata10[4];
-    char stringdata11[10];
+    char stringdata11[4];
-    char stringdata12[18];
+    char stringdata12[6];
-    char stringdata13[13];
+    char stringdata13[10];
-    char stringdata14[19];
+    char stringdata14[18];
+    char stringdata15[13];
+    char stringdata16[19];
 };
 #define QT_MOC_LITERAL(ofs, len) \
     uint(sizeof(qt_meta_stringdata_CLASSGroundReceiverENDCLASS_t::offsetsAndSizes) + ofs), len 
@@ -84,14 +88,16 @@ Q_CONSTINIT static const qt_meta_stringdata_CLASSGroundReceiverENDCLASS_t qt_met
         QT_MOC_LITERAL(33, 3),  // "lat"
         QT_MOC_LITERAL(37, 3),  // "lon"
         QT_MOC_LITERAL(41, 3),  // "alt"
-        QT_MOC_LITERAL(45, 12),  // "statsUpdated"
+        QT_MOC_LITERAL(45, 8),  // "uint32_t"
-        QT_MOC_LITERAL(58, 3),  // "fps"
+        QT_MOC_LITERAL(54, 12),  // "photo_number"
-        QT_MOC_LITERAL(62, 3),  // "kbs"
+        QT_MOC_LITERAL(67, 12),  // "statsUpdated"
-        QT_MOC_LITERAL(66, 5),  // "error"
+        QT_MOC_LITERAL(80, 3),  // "fps"
-        QT_MOC_LITERAL(72, 9),  // "error_msg"
+        QT_MOC_LITERAL(84, 3),  // "kbs"
-        QT_MOC_LITERAL(82, 17),  // "on_udp_read_ready"
+        QT_MOC_LITERAL(88, 5),  // "error"
-        QT_MOC_LITERAL(100, 12),  // "on_udp_error"
+        QT_MOC_LITERAL(94, 9),  // "error_msg"
-        QT_MOC_LITERAL(113, 18)   // "on_cleanup_timeout"
+        QT_MOC_LITERAL(104, 17),  // "on_udp_read_ready"
+        QT_MOC_LITERAL(122, 12),  // "on_udp_error"
+        QT_MOC_LITERAL(135, 18)   // "on_cleanup_timeout"
     },
     "GroundReceiver",
     "frameDecoded",
@@ -100,6 +106,8 @@ Q_CONSTINIT static const qt_meta_stringdata_CLASSGroundReceiverENDCLASS_t qt_met
     "lat",
     "lon",
     "alt",
+    "uint32_t",
+    "photo_number",
     "statsUpdated",
     "fps",
     "kbs",
@@ -127,19 +135,19 @@ Q_CONSTINIT static const uint qt_meta_data_CLASSGroundReceiverENDCLASS[] = {
        3,       // signalCount
 
  // signals: name, argc, parameters, tag, flags, initial metatype offsets
-       1,    4,   50,    2, 0x06,    1 /* Public */,
+       1,    5,   50,    2, 0x06,    1 /* Public */,
-       7,    2,   59,    2, 0x06,    6 /* Public */,
+       9,    2,   61,    2, 0x06,    7 /* Public */,
-      10,    1,   64,    2, 0x06,    9 /* Public */,
+      12,    1,   66,    2, 0x06,   10 /* Public */,
 
  // slots: name, argc, parameters, tag, flags, initial metatype offsets
-      12,    0,   67,    2, 0x08,   11 /* Private */,
+      14,    0,   69,    2, 0x08,   12 /* Private */,
-      13,    0,   68,    2, 0x08,   12 /* Private */,
+      15,    0,   70,    2, 0x08,   13 /* Private */,
-      14,    0,   69,    2, 0x08,   13 /* Private */,
+      16,    0,   71,    2, 0x08,   14 /* Private */,
 
  // signals: parameters
-    QMetaType::Void, QMetaType::QImage, QMetaType::Double, QMetaType::Double, QMetaType::Double,    3,    4,    5,    6,
+    QMetaType::Void, QMetaType::QImage, QMetaType::Double, QMetaType::Double, QMetaType::Double, 0x80000000 | 7,    3,    4,    5,    6,    8,
-    QMetaType::Void, QMetaType::Int, QMetaType::Int,    8,    9,
+    QMetaType::Void, QMetaType::Int, QMetaType::Int,   10,   11,
-    QMetaType::Void, QMetaType::QString,   11,
+    QMetaType::Void, QMetaType::QString,   13,
 
  // slots: parameters
     QMetaType::Void,
@@ -164,6 +172,7 @@ Q_CONSTINIT const QMetaObject GroundReceiver::staticMetaObject = { {
         QtPrivate::TypeAndForceComplete<double, std::false_type>,
         QtPrivate::TypeAndForceComplete<double, std::false_type>,
         QtPrivate::TypeAndForceComplete<double, std::false_type>,
+        QtPrivate::TypeAndForceComplete<uint32_t, std::false_type>,
         // method 'statsUpdated'
         QtPrivate::TypeAndForceComplete<void, std::false_type>,
         QtPrivate::TypeAndForceComplete<int, std::false_type>,
@@ -187,7 +196,7 @@ void GroundReceiver::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _
         auto *_t = static_cast<GroundReceiver *>(_o);
         (void)_t;
         switch (_id) {
-        case 0: _t->frameDecoded((*reinterpret_cast< std::add_pointer_t<QImage>>(_a[1])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[2])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[3])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[4]))); break;
+        case 0: _t->frameDecoded((*reinterpret_cast< std::add_pointer_t<QImage>>(_a[1])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[2])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[3])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[4])),(*reinterpret_cast< std::add_pointer_t<uint32_t>>(_a[5]))); break;
         case 1: _t->statsUpdated((*reinterpret_cast< std::add_pointer_t<int>>(_a[1])),(*reinterpret_cast< std::add_pointer_t<int>>(_a[2]))); break;
         case 2: _t->error((*reinterpret_cast< std::add_pointer_t<QString>>(_a[1]))); break;
         case 3: _t->on_udp_read_ready(); break;
@@ -198,7 +207,7 @@ void GroundReceiver::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _
     } else if (_c == QMetaObject::IndexOfMethod) {
         int *result = reinterpret_cast<int *>(_a[0]);
         {
-            using _t = void (GroundReceiver::*)(const QImage & , double , double , double );
+            using _t = void (GroundReceiver::*)(const QImage & , double , double , double , uint32_t );
             if (_t _q_method = &GroundReceiver::frameDecoded; *reinterpret_cast<_t *>(_a[1]) == _q_method) {
                 *result = 0;
                 return;
@@ -252,9 +261,9 @@ int GroundReceiver::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
 }
 
 // SIGNAL 0
-void GroundReceiver::frameDecoded(const QImage & _t1, double _t2, double _t3, double _t4)
+void GroundReceiver::frameDecoded(const QImage & _t1, double _t2, double _t3, double _t4, uint32_t _t5)
 {
-    void *_a[] = { nullptr, const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t1))), const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t2))), const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t3))), const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t4))) };
+    void *_a[] = { nullptr, const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t1))), const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t2))), const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t3))), const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t4))), const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t5))) };
     QMetaObject::activate(this, &staticMetaObject, 0, _a);
 }
 

skylink_qt_station/build/Desktop_Qt_6_5_3_GCC_64bit-Debug/skylink_station_autogen/UVLADIE3JM/moc_MainWindow.cpp

@@ -46,6 +46,8 @@ static constexpr auto qt_meta_stringdata_CLASSMainWindowENDCLASS = QtMocHelpers:
     "lat",
     "lon",
     "alt",
+    "uint32_t",
+    "photo_number",
     "on_stats_updated",
     "fps",
     "kbs",
@@ -53,13 +55,14 @@ static constexpr auto qt_meta_stringdata_CLASSMainWindowENDCLASS = QtMocHelpers:
     "on_record_toggled",
     "checked",
     "on_settings_clicked",
+    "on_trigger_capture_clicked",
     "on_device_info_received",
     "DeviceInfo",
     "info"
 );
 #else  // !QT_MOC_HAS_STRING_DATA
 struct qt_meta_stringdata_CLASSMainWindowENDCLASS_t {
-    uint offsetsAndSizes[34];
+    uint offsetsAndSizes[40];
     char stringdata0[11];
     char stringdata1[18];
     char stringdata2[1];
@@ -67,16 +70,19 @@ struct qt_meta_stringdata_CLASSMainWindowENDCLASS_t {
     char stringdata4[4];
     char stringdata5[4];
     char stringdata6[4];
-    char stringdata7[17];
+    char stringdata7[9];
-    char stringdata8[4];
+    char stringdata8[13];
-    char stringdata9[4];
+    char stringdata9[17];
-    char stringdata10[22];
+    char stringdata10[4];
-    char stringdata11[18];
+    char stringdata11[4];
-    char stringdata12[8];
+    char stringdata12[22];
-    char stringdata13[20];
+    char stringdata13[18];
-    char stringdata14[24];
+    char stringdata14[8];
-    char stringdata15[11];
+    char stringdata15[20];
-    char stringdata16[5];
+    char stringdata16[27];
+    char stringdata17[24];
+    char stringdata18[11];
+    char stringdata19[5];
 };
 #define QT_MOC_LITERAL(ofs, len) \
     uint(sizeof(qt_meta_stringdata_CLASSMainWindowENDCLASS_t::offsetsAndSizes) + ofs), len 
@@ -89,16 +95,19 @@ Q_CONSTINIT static const qt_meta_stringdata_CLASSMainWindowENDCLASS_t qt_meta_st
         QT_MOC_LITERAL(34, 3),  // "lat"
         QT_MOC_LITERAL(38, 3),  // "lon"
         QT_MOC_LITERAL(42, 3),  // "alt"
-        QT_MOC_LITERAL(46, 16),  // "on_stats_updated"
+        QT_MOC_LITERAL(46, 8),  // "uint32_t"
-        QT_MOC_LITERAL(63, 3),  // "fps"
+        QT_MOC_LITERAL(55, 12),  // "photo_number"
-        QT_MOC_LITERAL(67, 3),  // "kbs"
+        QT_MOC_LITERAL(68, 16),  // "on_stats_updated"
-        QT_MOC_LITERAL(71, 21),  // "on_save_frame_clicked"
+        QT_MOC_LITERAL(85, 3),  // "fps"
-        QT_MOC_LITERAL(93, 17),  // "on_record_toggled"
+        QT_MOC_LITERAL(89, 3),  // "kbs"
-        QT_MOC_LITERAL(111, 7),  // "checked"
+        QT_MOC_LITERAL(93, 21),  // "on_save_frame_clicked"
-        QT_MOC_LITERAL(119, 19),  // "on_settings_clicked"
+        QT_MOC_LITERAL(115, 17),  // "on_record_toggled"
-        QT_MOC_LITERAL(139, 23),  // "on_device_info_received"
+        QT_MOC_LITERAL(133, 7),  // "checked"
-        QT_MOC_LITERAL(163, 10),  // "DeviceInfo"
+        QT_MOC_LITERAL(141, 19),  // "on_settings_clicked"
-        QT_MOC_LITERAL(174, 4)   // "info"
+        QT_MOC_LITERAL(161, 26),  // "on_trigger_capture_clicked"
+        QT_MOC_LITERAL(188, 23),  // "on_device_info_received"
+        QT_MOC_LITERAL(212, 10),  // "DeviceInfo"
+        QT_MOC_LITERAL(223, 4)   // "info"
     },
     "MainWindow",
     "on_frame_received",
@@ -107,6 +116,8 @@ Q_CONSTINIT static const qt_meta_stringdata_CLASSMainWindowENDCLASS_t qt_meta_st
     "lat",
     "lon",
     "alt",
+    "uint32_t",
+    "photo_number",
     "on_stats_updated",
     "fps",
     "kbs",
@@ -114,6 +125,7 @@ Q_CONSTINIT static const qt_meta_stringdata_CLASSMainWindowENDCLASS_t qt_meta_st
     "on_record_toggled",
     "checked",
     "on_settings_clicked",
+    "on_trigger_capture_clicked",
     "on_device_info_received",
     "DeviceInfo",
     "info"
@@ -128,7 +140,7 @@ Q_CONSTINIT static const uint qt_meta_data_CLASSMainWindowENDCLASS[] = {
       11,       // revision
        0,       // classname
        0,    0, // classinfo
-       6,   14, // methods
+       7,   14, // methods
        0,    0, // properties
        0,    0, // enums/sets
        0,    0, // constructors
@@ -136,20 +148,22 @@ Q_CONSTINIT static const uint qt_meta_data_CLASSMainWindowENDCLASS[] = {
        0,       // signalCount
 
  // slots: name, argc, parameters, tag, flags, initial metatype offsets
-       1,    4,   50,    2, 0x08,    1 /* Private */,
+       1,    5,   56,    2, 0x08,    1 /* Private */,
-       7,    2,   59,    2, 0x08,    6 /* Private */,
+       9,    2,   67,    2, 0x08,    7 /* Private */,
-      10,    0,   64,    2, 0x08,    9 /* Private */,
+      12,    0,   72,    2, 0x08,   10 /* Private */,
-      11,    1,   65,    2, 0x08,   10 /* Private */,
+      13,    1,   73,    2, 0x08,   11 /* Private */,
-      13,    0,   68,    2, 0x08,   12 /* Private */,
+      15,    0,   76,    2, 0x08,   13 /* Private */,
-      14,    1,   69,    2, 0x08,   13 /* Private */,
+      16,    0,   77,    2, 0x08,   14 /* Private */,
+      17,    1,   78,    2, 0x08,   15 /* Private */,
 
  // slots: parameters
-    QMetaType::Void, QMetaType::QImage, QMetaType::Double, QMetaType::Double, QMetaType::Double,    3,    4,    5,    6,
+    QMetaType::Void, QMetaType::QImage, QMetaType::Double, QMetaType::Double, QMetaType::Double, 0x80000000 | 7,    3,    4,    5,    6,    8,
-    QMetaType::Void, QMetaType::Int, QMetaType::Int,    8,    9,
+    QMetaType::Void, QMetaType::Int, QMetaType::Int,   10,   11,
     QMetaType::Void,
-    QMetaType::Void, QMetaType::Bool,   12,
+    QMetaType::Void, QMetaType::Bool,   14,
     QMetaType::Void,
-    QMetaType::Void, 0x80000000 | 15,   16,
+    QMetaType::Void,
+    QMetaType::Void, 0x80000000 | 18,   19,
 
        0        // eod
 };
@@ -169,6 +183,7 @@ Q_CONSTINIT const QMetaObject MainWindow::staticMetaObject = { {
         QtPrivate::TypeAndForceComplete<double, std::false_type>,
         QtPrivate::TypeAndForceComplete<double, std::false_type>,
         QtPrivate::TypeAndForceComplete<double, std::false_type>,
+        QtPrivate::TypeAndForceComplete<uint32_t, std::false_type>,
         // method 'on_stats_updated'
         QtPrivate::TypeAndForceComplete<void, std::false_type>,
         QtPrivate::TypeAndForceComplete<int, std::false_type>,
@@ -180,6 +195,8 @@ Q_CONSTINIT const QMetaObject MainWindow::staticMetaObject = { {
         QtPrivate::TypeAndForceComplete<bool, std::false_type>,
         // method 'on_settings_clicked'
         QtPrivate::TypeAndForceComplete<void, std::false_type>,
+        // method 'on_trigger_capture_clicked'
+        QtPrivate::TypeAndForceComplete<void, std::false_type>,
         // method 'on_device_info_received'
         QtPrivate::TypeAndForceComplete<void, std::false_type>,
         QtPrivate::TypeAndForceComplete<const DeviceInfo &, std::false_type>
@@ -193,12 +210,13 @@ void MainWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id,
         auto *_t = static_cast<MainWindow *>(_o);
         (void)_t;
         switch (_id) {
-        case 0: _t->on_frame_received((*reinterpret_cast< std::add_pointer_t<QImage>>(_a[1])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[2])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[3])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[4]))); break;
+        case 0: _t->on_frame_received((*reinterpret_cast< std::add_pointer_t<QImage>>(_a[1])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[2])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[3])),(*reinterpret_cast< std::add_pointer_t<double>>(_a[4])),(*reinterpret_cast< std::add_pointer_t<uint32_t>>(_a[5]))); break;
         case 1: _t->on_stats_updated((*reinterpret_cast< std::add_pointer_t<int>>(_a[1])),(*reinterpret_cast< std::add_pointer_t<int>>(_a[2]))); break;
         case 2: _t->on_save_frame_clicked(); break;
         case 3: _t->on_record_toggled((*reinterpret_cast< std::add_pointer_t<bool>>(_a[1]))); break;
         case 4: _t->on_settings_clicked(); break;
-        case 5: _t->on_device_info_received((*reinterpret_cast< std::add_pointer_t<DeviceInfo>>(_a[1]))); break;
+        case 5: _t->on_trigger_capture_clicked(); break;
+        case 6: _t->on_device_info_received((*reinterpret_cast< std::add_pointer_t<DeviceInfo>>(_a[1]))); break;
         default: ;
         }
     }
@@ -223,13 +241,13 @@ int MainWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     if (_id < 0)
         return _id;
     if (_c == QMetaObject::InvokeMetaMethod) {
-        if (_id < 6)
+        if (_id < 7)
             qt_static_metacall(this, _c, _id, _a);
-        _id -= 6;
+        _id -= 7;
     } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
-        if (_id < 6)
+        if (_id < 7)
             *reinterpret_cast<QMetaType *>(_a[0]) = QMetaType();
-        _id -= 6;
+        _id -= 7;
     }
     return _id;
 }

skylink_qt_station/src/GroundReceiver.cpp

@@ -47,7 +47,7 @@ void GroundReceiver::start() {
         return;
     }
     
-    std::cout << "✓ UDP 接收器已启动，监听端口: " << listen_port_ << std::endl;
+    std::cout << " UDP 接收器已启动，监听端口: " << listen_port_ << std::endl;
 }
 
 void GroundReceiver::stop() {
@@ -147,6 +147,7 @@ void GroundReceiver::process_packet(const uint8_t* data, size_t len) {
             fb.lon = header->lon;
             fb.alt = header->alt;
             fb.receive_time_ms = QDateTime::currentMSecsSinceEpoch();
+            fb.photo_number = header->reserve;  // 从reserve字段提取照片编号
             
             it = frame_buffers_.insert({header->frame_id, fb}).first;
         }
@@ -343,10 +344,10 @@ void GroundReceiver::handle_complete_frame(const FrameBuffer& frame) {
         last_complete_frame_id_ = frame.frame_id;
     }
     
-    // 发出信号
+    // 发出信号（包含照片编号）
     qDebug() << "帧" << frame.frame_id << "解码成功，图像大小:" << image.width() << "x" << image.height()
-             << "格式:" << image.format() << "准备发出frameDecoded信号";
+             << "格式:" << image.format() << "照片编号:" << frame.photo_number << "准备发出frameDecoded信号";
-    emit frameDecoded(image, frame.lat, frame.lon, frame.alt);
+    emit frameDecoded(image, frame.lat, frame.lon, frame.alt, frame.photo_number);
     qDebug() << "frameDecoded信号已发出";
 }
 

skylink_qt_station/src/GroundReceiver.h

@@ -44,6 +44,7 @@ struct FrameBuffer {
     double timestamp;
     double lat, lon, alt;
     uint64_t receive_time_ms;
+    uint32_t photo_number = 0;  // 照片编号（从reserve字段提取）
     
     /**
      * @brief 检查是否所有分片都已接收
@@ -139,8 +140,9 @@ signals:
      * @param lat 纬度
      * @param lon 经度
      * @param alt 海拔
+     * @param photo_number 照片编号
      */
-    void frameDecoded(const QImage& img, double lat, double lon, double alt);
+    void frameDecoded(const QImage& img, double lat, double lon, double alt, uint32_t photo_number);
     
     /**
      * @brief 统计信息更新信号

skylink_qt_station/src/MainWindow.cpp

@@ -23,6 +23,21 @@
 #include <QMessageBox>
 #include <QDebug>
 #include <QPixmap>
+#include <QPainter>
+#include <QDialog>
+#include <QDialogButtonBox>
+#include <QFormLayout>
+#include <QDoubleSpinBox>
+#include <QSpinBox>
+#include <QComboBox>
+#include <QProcess>
+#include <QLineEdit>
+#include <QNetworkAccessManager>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QJsonObject>
+#include <QJsonDocument>
+#include <QJsonParseError>
 #include <iomanip>
 #include <sstream>
 
@@ -60,9 +75,14 @@ MainWindow::MainWindow(QWidget* parent)
     // 创建记录器
     logger_ = std::make_shared<DataLogger>("./skylink_data");
     
+    // 创建网络管理器
+    network_manager_ = new QNetworkAccessManager(this);
+    connect(network_manager_, &QNetworkAccessManager::finished,
+            this, &MainWindow::onHttpReply);
+    
     // 连接信号
-    bool connected1 = connect(receiver_.get(), &GroundReceiver::frameDecoded,
+    bool connected1 = connect(receiver_.get(), qOverload<const QImage&, double, double, double, uint32_t>(&GroundReceiver::frameDecoded),
-                                this, &MainWindow::on_frame_received);
+                               this, &MainWindow::on_frame_received);
     bool connected2 = connect(receiver_.get(), &GroundReceiver::statsUpdated,
                                this, &MainWindow::on_stats_updated);
     
@@ -155,12 +175,14 @@ void MainWindow::init_ui() {
     
     save_frame_btn_ = new QPushButton("📸 保存帧", this);
     record_btn_ = new QPushButton("⏺ 开始录制", this);
+    trigger_capture_btn_ = new QPushButton("📷 触发拍照", this);
     settings_btn_ = new QPushButton("⚙ 设置", this);
     
     record_btn_->setCheckable(true);
     
     btn_layout->addWidget(save_frame_btn_);
     btn_layout->addWidget(record_btn_);
+    btn_layout->addWidget(trigger_capture_btn_);
     btn_layout->addWidget(settings_btn_);
     btn_layout->addStretch();
     
@@ -177,6 +199,9 @@ void MainWindow::init_connections() {
     
     connect(settings_btn_, &QPushButton::clicked,
             this, &MainWindow::on_settings_clicked);
+    
+    connect(trigger_capture_btn_, &QPushButton::clicked,
+            this, &MainWindow::on_trigger_capture_clicked);
 }
 
 void MainWindow::create_menus() {
@@ -199,7 +224,7 @@ void MainWindow::create_menus() {
     });
 }
 
-void MainWindow::on_frame_received(const QImage& img, double lat, double lon, double alt) {
+void MainWindow::on_frame_received(const QImage& img, double lat, double lon, double alt, uint32_t photo_number) {
     // 调试信息
     static int frame_count = 0;
     frame_count++;
@@ -211,12 +236,17 @@ void MainWindow::on_frame_received(const QImage& img, double lat, double lon, do
     }
     
     qDebug() << "收到图像，帧" << frame_count << "大小:" << img.width() << "x" << img.height()
-             << "格式:" << img.format();
+             << "格式:" << img.format() << "照片编号:" << photo_number;
     
     current_image_ = img;
     current_lat_ = lat;
     current_lon_ = lon;
     current_alt_ = alt;
+    current_photo_number_ = photo_number;
+    
+    if (photo_number > 0) {
+        total_photos_received_++;
+    }
     
     // 显示图像
     QPixmap pixmap = QPixmap::fromImage(img);
@@ -240,14 +270,29 @@ void MainWindow::on_frame_received(const QImage& img, double lat, double lon, do
         return;
     }
     
+    // 在图像上叠加显示照片编号
+    if (photo_number > 0) {
+        QPainter painter(&scaled_pixmap);
+        painter.setPen(QPen(Qt::white, 2));
+        painter.setFont(QFont("Arial", 16, QFont::Bold));
+        QString photo_text = QString("Photo #%1").arg(photo_number);
+        QRect textRect = painter.fontMetrics().boundingRect(photo_text);
+        painter.fillRect(10, 10, textRect.width() + 10, textRect.height() + 5, QColor(0, 0, 0, 180));
+        painter.drawText(15, 10 + textRect.height(), photo_text);
+    }
+    
     video_label_->setPixmap(scaled_pixmap);
     video_label_->setText("");  // 清除文本，显示图片
     
     // 更新状态栏
-    statusBar()->showMessage(QString("已接收 %1 帧 | 图像: %2x%3")
+    QString status_text = QString("已接收 %1 帧 | 图像: %2x%3")
-                             .arg(frame_count)
+                         .arg(frame_count)
-                             .arg(img.width())
+                         .arg(img.width())
-                             .arg(img.height()), 1000);
+                         .arg(img.height());
+    if (photo_number > 0) {
+        status_text += QString(" | 照片编号: %1").arg(photo_number);
+    }
+    statusBar()->showMessage(status_text, 1000);
     
     // 更新 GPS 标签
     std::ostringstream oss;
@@ -268,6 +313,9 @@ void MainWindow::on_stats_updated(int fps, int kbs) {
     oss << "FPS: " << fps << "\n";
     oss << "速率: " << kbs << " KB/s\n";
     oss << "丢包率: " << "计算中..." << "%";
+    if (total_photos_received_ > 0) {
+        oss << "\n总照片数: " << total_photos_received_;
+    }
     stats_label_->setText(QString::fromStdString(oss.str()));
 }
 
@@ -310,6 +358,169 @@ void MainWindow::on_settings_clicked() {
     );
 }
 
+void MainWindow::on_trigger_capture_clicked() {
+    // 创建参数输入对话框
+    QDialog dialog(this);
+    dialog.setWindowTitle("触发拍照");
+    dialog.setModal(true);
+    
+    QFormLayout* form = new QFormLayout(&dialog);
+    
+    // 总时间
+    QDoubleSpinBox* duration_spin = new QDoubleSpinBox(&dialog);
+    duration_spin->setRange(0.0, 3600.0);
+    duration_spin->setValue(5.0);
+    duration_spin->setSuffix(" 秒");
+    duration_spin->setDecimals(1);
+    form->addRow("总时间 (0=默认):", duration_spin);
+    
+    // 拍照数量
+    QSpinBox* count_spin = new QSpinBox(&dialog);
+    count_spin->setRange(0, 1000);
+    count_spin->setValue(10);
+    count_spin->setSuffix(" 张");
+    form->addRow("拍照数量 (0=默认):", count_spin);
+    
+    // 时间间隔
+    QDoubleSpinBox* interval_spin = new QDoubleSpinBox(&dialog);
+    interval_spin->setRange(0.0, 60.0);
+    interval_spin->setValue(0.5);
+    interval_spin->setSuffix(" 秒");
+    interval_spin->setDecimals(2);
+    form->addRow("时间间隔 (0=自动):", interval_spin);
+    
+    // 传输模式
+    QComboBox* mode_combo = new QComboBox(&dialog);
+    mode_combo->addItem("原图", 0);
+    mode_combo->addItem("缩略图", 1);
+    form->addRow("传输模式:", mode_combo);
+    
+    // ROS2节点IP地址
+    QLineEdit* ip_edit = new QLineEdit(&dialog);
+    ip_edit->setText(ros2_node_ip_);
+    form->addRow("ROS2节点IP地址:", ip_edit);
+    
+    // HTTP端口
+    QSpinBox* port_spin = new QSpinBox(&dialog);
+    port_spin->setRange(1, 65535);
+    port_spin->setValue(ros2_http_port_);
+    form->addRow("HTTP端口:", port_spin);
+    
+    QDialogButtonBox* buttonBox = new QDialogButtonBox(
+        QDialogButtonBox::Ok | QDialogButtonBox::Cancel,
+        Qt::Horizontal, &dialog);
+    form->addRow(buttonBox);
+    
+    connect(buttonBox, &QDialogButtonBox::accepted, &dialog, &QDialog::accept);
+    connect(buttonBox, &QDialogButtonBox::rejected, &dialog, &QDialog::reject);
+    
+    if (dialog.exec() == QDialog::Accepted) {
+        double duration = duration_spin->value();
+        int count = count_spin->value();
+        double interval = interval_spin->value();
+        int mode = mode_combo->currentData().toInt();
+        
+        // 保存IP和端口配置
+        ros2_node_ip_ = ip_edit->text();
+        ros2_http_port_ = port_spin->value();
+        
+        // 通过HTTP调用
+        triggerCaptureViaHttp(duration, count, interval, mode);
+    }
+}
+
+void MainWindow::triggerCaptureViaHttp(double duration, int count, double interval, int mode) {
+    // 构建JSON请求
+    QJsonObject json;
+    json["duration"] = duration;
+    json["count"] = count;
+    json["interval"] = interval;
+    json["transmission_mode"] = mode;
+    
+    QJsonDocument doc(json);
+    QByteArray json_data = doc.toJson();
+    
+    // 构建URL
+    QString url_str = QString("http://%1:%2/api/v1/trigger_capture")
+                     .arg(ros2_node_ip_)
+                     .arg(ros2_http_port_);
+    QUrl url(url_str);
+    
+    // 创建请求
+    QNetworkRequest request(url);
+    request.setHeader(QNetworkRequest::ContentTypeHeader, "application/json");
+    request.setRawHeader("User-Agent", "SkyLink-Qt-Station/1.0");
+    
+    // 发送POST请求
+    QNetworkReply* reply = network_manager_->post(request, json_data);
+    
+    // 设置超时（5秒）
+    QTimer::singleShot(5000, reply, &QNetworkReply::abort);
+    
+    statusBar()->showMessage(QString("正在发送拍照请求到 %1:%2...").arg(ros2_node_ip_).arg(ros2_http_port_), 2000);
+}
+
+void MainWindow::onHttpReply(QNetworkReply* reply) {
+    if (!reply) {
+        return;
+    }
+    
+    // 检查错误
+    if (reply->error() != QNetworkReply::NoError) {
+        QString error_msg;
+        if (reply->error() == QNetworkReply::TimeoutError) {
+            error_msg = "请求超时，请检查网络连接和ROS2节点IP地址";
+        } else if (reply->error() == QNetworkReply::ConnectionRefusedError) {
+            error_msg = QString("连接被拒绝，请确认ROS2节点HTTP服务器正在运行 (http://%1:%2)")
+                       .arg(ros2_node_ip_).arg(ros2_http_port_);
+        } else {
+            error_msg = QString("网络错误: %1").arg(reply->errorString());
+        }
+        
+        QMessageBox::warning(this, "HTTP请求失败", error_msg);
+        statusBar()->showMessage("HTTP请求失败", 3000);
+        reply->deleteLater();
+        return;
+    }
+    
+    // 读取响应
+    QByteArray response_data = reply->readAll();
+    int status_code = reply->attribute(QNetworkRequest::HttpStatusCodeAttribute).toInt();
+    
+    // 解析JSON响应
+    QJsonParseError parse_error;
+    QJsonDocument doc = QJsonDocument::fromJson(response_data, &parse_error);
+    
+    if (parse_error.error != QJsonParseError::NoError) {
+        QMessageBox::warning(this, "响应解析错误", 
+            QString("无法解析服务器响应:\n%1").arg(QString::fromUtf8(response_data)));
+        statusBar()->showMessage("响应解析失败", 3000);
+        reply->deleteLater();
+        return;
+    }
+    
+    QJsonObject json = doc.object();
+    bool success = json["success"].toBool();
+    QString message = json["message"].toString();
+    int total_photos = json["total_photos"].toInt();
+    
+    if (status_code == 200 && success) {
+        QMessageBox::information(this, "成功", 
+            QString("拍照任务已启动！\n\n%1\n\n总照片数: %2")
+            .arg(message)
+            .arg(total_photos));
+        statusBar()->showMessage(QString("拍照任务已启动 - %1").arg(message), 3000);
+    } else {
+        QMessageBox::warning(this, "请求失败", 
+            QString("服务器返回错误:\n%1\n\n状态码: %2")
+            .arg(message)
+            .arg(status_code));
+        statusBar()->showMessage(QString("请求失败: %1").arg(message), 3000);
+    }
+    
+    reply->deleteLater();
+}
+
 void MainWindow::on_device_info_received(const DeviceInfo& info) {
     QString text = QString("分辨率: %1 x %2\n帧率: %3\n格式: %4\n设备: %5 (%6)\n当前FPS: %7\n总帧: %8")
                        .arg(info.width)

skylink_qt_station/src/MainWindow.h

@@ -17,6 +17,8 @@
 #include <QUdpSocket>
 #include <QTimer>
 #include <QImage>
+#include <QNetworkAccessManager>
+#include <QNetworkReply>
 #include "DeviceInfo.h"
 #include "DeviceInfoReceiver.h"
 #include <memory>
@@ -47,7 +49,7 @@ private slots:
     /**
      * @brief 处理接收到的完整帧
      */
-    void on_frame_received(const QImage& img, double lat, double lon, double alt);
+    void on_frame_received(const QImage& img, double lat, double lon, double alt, uint32_t photo_number);
     
     /**
      * @brief 处理统计信息更新
@@ -68,6 +70,11 @@ private slots:
      * @brief 设置按钮点击
      */
     void on_settings_clicked();
+    
+    /**
+     * @brief 触发拍照按钮点击
+     */
+    void on_trigger_capture_clicked();
 
     /**
      * @brief 收到设备信息
@@ -87,6 +94,7 @@ private:
     QPushButton* save_frame_btn_;    ///< 保存帧按钮
     QPushButton* record_btn_;        ///< 录制按钮
     QPushButton* settings_btn_;      ///< 设置按钮
+    QPushButton* trigger_capture_btn_;  ///< 触发拍照按钮
     
     // ========================================================================
     // 业务逻辑对象
@@ -95,6 +103,7 @@ private:
     std::shared_ptr<GroundReceiver> receiver_;  ///< UDP 接收器
     std::shared_ptr<DeviceInfoReceiver> device_info_receiver_; ///< 设备信息接收器
     std::shared_ptr<DataLogger> logger_;        ///< 数据记录器
+    QNetworkAccessManager* network_manager_;     ///< HTTP 网络管理器
     
     // ========================================================================
     // 状态变量
@@ -105,6 +114,10 @@ private:
     double current_lon_ = 0.0;      ///< 当前经度
     double current_alt_ = 0.0;      ///< 当前海拔
     bool is_recording_ = false;     ///< 是否正在录制
+    uint32_t total_photos_received_ = 0;  ///< 接收到的总照片数
+    uint32_t current_photo_number_ = 0;   ///< 当前照片编号
+    QString ros2_node_ip_ = "localhost";  ///< ROS2 节点 IP 地址
+    int ros2_http_port_ = 8080;           ///< ROS2 HTTP API 端口
     
     // ========================================================================
     // 初始化函数
@@ -124,4 +137,19 @@ private:
      * @brief 创建菜单栏
      */
     void create_menus();
+    
+    /**
+     * @brief 通过 HTTP 触发拍照
+     * @param duration 总时间（秒）
+     * @param count 拍照数量
+     * @param interval 时间间隔（秒）
+     * @param mode 传输模式（0=原图，1=缩略图）
+     */
+    void triggerCaptureViaHttp(double duration, int count, double interval, int mode);
+    
+    /**
+     * @brief HTTP 请求响应处理
+     * @param reply 网络响应
+     */
+    void onHttpReply(QNetworkReply* reply);
 };