add，山地所贡嘎山11：

完成整个采集流程

HPPA/AppSettings.cpp

@@ -137,7 +137,7 @@ void AppSettings::setRgbCameraDataFolder(const QString& path)
 
 QString AppSettings::rgbCameraFileName() const
 {
-	return m_settings.value("RgbCamera/FileName", "test").toString();
+	return m_settings.value("RgbCamera/FileName", "test_rgb_data").toString();
 }
 
 void AppSettings::setRgbCameraFileName(const QString& name)
@@ -145,6 +145,16 @@ void AppSettings::setRgbCameraFileName(const QString& name)
 	m_settings.setValue("RgbCamera/FileName", name);
 }
 
+QString AppSettings::fodisCameraFileName() const
+{
+	return m_settings.value("FodisCamera/FileName", "test_fodis_data").toString();
+}
+
+void AppSettings::setFodisCameraFileName(const QString& name)
+{
+	m_settings.setValue("FodisCamera/FileName", name);
+}
+
 double AppSettings::scanSpeed() const
 {
 	return m_settings.value("OneMotorControl/ScanSpeed", kDefaultScanSpeed).toDouble();

HPPA/AppSettings.h

@@ -45,6 +45,9 @@ public:
 	QString rgbCameraFileName() const;
 	void setRgbCameraFileName(const QString& name);
 
+	QString fodisCameraFileName() const;
+	void setFodisCameraFileName(const QString& name);
+
 	// 扫描速度
 	double scanSpeed() const;
 	void setScanSpeed(double value);

HPPA/CaptureCoordinator.cpp

@@ -459,7 +459,9 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
 	connect(this, &OneMotionCaptureCoordinator::stopRecordHSISignal,
 		m_cameraCtrl, &ImagerOperationBase::stop_record);
 	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet,
-		this, &OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+		this, &OneMotionCaptureCoordinator::handleHyperImagerCaptureComplete);
+	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberNotMeet,
+		this, &OneMotionCaptureCoordinator::handleHyperImagerCaptureComplete);
 }
 
 OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
@@ -498,12 +500,9 @@ void OneMotionCaptureCoordinator::stopStepMotion()
 	{
 		m_cameraCtrl->stop_record();
 	}
-
-	emit stopMotorSignal(0);
-	m_isHypercamStopRecord = true;
 }
 
-void OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
+void OneMotionCaptureCoordinator::handleHyperImagerCaptureComplete()
 {
 	emit stopMotorSignal(0);
 	m_isHypercamStopRecord = true;
@@ -588,13 +587,11 @@ void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 		}
 		move2LocBeforeStart();
 
-		emit sequenceComplete_cam_stop_before_motorback(0);
+		emit sequenceCompleteSignal_hyperImagerStopRecord(0);
 	}
 	else
 	{
-		// emit sequenceComplete last: the slot connected to it may delete this object,
+		emit sequenceCompleteSignal_motorBack2Origin(0);
-		// so no member access is allowed after this point.
-		emit sequenceComplete(0);
 	}
 }
 

HPPA/CaptureCoordinator.h

@@ -141,11 +141,11 @@ public slots:
 	void startStepMotion(OneMotionCapturePathLine pathLine);
 	void stopStepMotion();
 
-	void handleCaptureCompleteWhenFrameNumberMeet();
+	void handleHyperImagerCaptureComplete();
 
 signals:
-	void sequenceComplete_cam_stop_before_motorback(int); 
+	void sequenceCompleteSignal_hyperImagerStopRecord(int);
-	void sequenceComplete(int);
+	void sequenceCompleteSignal_motorBack2Origin(int);
 	void errorOccurred(const QString& error);
 	void moveTo(int, double, double, int);
 	void moveSignal(int, bool, double, int);

HPPA/FiberSpectrometerOperationBase.h

@@ -50,7 +50,7 @@ private:
 
 public slots:
     virtual void recordDark(QString path) = 0;
-    virtual void recordTarget(int recordTimes, QString path) = 0;
+    virtual void recordTarget2csv(int recordTimes, QString path) = 0;
     virtual void autoExpose() = 0;
 
     signals:

HPPA/FodisWindow.cpp

@@ -27,10 +27,9 @@ FodisWindow::FodisWindow(QWidget* parent)
 
     connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
 
-    // 初始化数据保存路径显示（从 AppSettings 恢复或使用默认）
+    connect(ui.fileNameLineEdit, &QLineEdit::textChanged, this, &FodisWindow::onFileNameChanged);
-    ui.dataFolderLineEdit->setText(AppSettings::instance().depthCameraDataFolder());
 
-    setDataFolder(AppSettings::instance().FiberImagerDataFolder());
+    loadSettings();
 }
 
 FodisWindow::~FodisWindow()
@@ -41,6 +40,12 @@ FodisWindow::~FodisWindow()
     m_JinspFiberImagerOperation = nullptr;
 }
 
+void FodisWindow::loadSettings()
+{
+    ui.dataFolderLineEdit->setText(AppSettings::instance().FiberImagerDataFolder());
+    ui.fileNameLineEdit->setText(AppSettings::instance().fodisCameraFileName());
+}
+
 void FodisWindow::onSelectDataFolder()
 {
     QString dir = QFileDialog::getExistingDirectory(this,
@@ -59,6 +64,17 @@ void FodisWindow::setDataFolder(QString dir)
     }
 }
 
+void FodisWindow::setFileName(QString name)
+{
+    ui.fileNameLineEdit->setText(name);
+    AppSettings::instance().setFodisCameraFileName(name);
+}
+
+void FodisWindow::onFileNameChanged(const QString& text)
+{
+    AppSettings::instance().setFodisCameraFileName(text);
+}
+
 void FodisWindow::setCaptureInterval(int captureIntervalSeconds)
 {
     m_JinspFiberImagerOperation->setCaptureInterval(captureIntervalSeconds);
@@ -69,11 +85,24 @@ void FodisWindow::openFiberImager()
     openFiberImager_expose_record("pos_null");
 }
 
-void FodisWindow::openFiberImager_expose_record(QString posInfo)
+void FodisWindow::openFiberImager_expose_record(QString posInfo, QString dataFolder)
 {
+    setDataFolder(dataFolder);
+    setFileName(posInfo);
+
     if (!m_JinspFiberImagerOperation->getRecordStatus())
     {
-        emit openFiberImagerSignal(posInfo);
+        QString folder = AppSettings::instance().FiberImagerDataFolder();
+        QDir dir(folder);
+        if (!dir.exists())
+        {
+            dir.mkpath(".");
+        }
+        QString eventPrefix = posInfo.isEmpty() ? "default" : posInfo;
+        QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
+        QString m_qstrFullFileName = folder + QDir::separator() + dateStr + "_" + eventPrefix + "_fodis_data.dat";
+
+        emit openFiberImagerSignal(m_qstrFullFileName);
     }
 }
 

HPPA/FodisWindow.h

@@ -31,15 +31,17 @@ public:
 
 public Q_SLOTS:
 	void openFiberImager();
-	void openFiberImager_expose_record(QString posInfo);
+	void openFiberImager_expose_record(QString posInfo, QString dataFolder = "");
 	void onCamOpened();
 	void closeFiberImager();
 	void onCamClosed();
 
 	void onSelectDataFolder();
+	void onFileNameChanged(const QString& text);
+	void setFileName(QString name);
 
 signals:
-	void openFiberImagerSignal(QString posInfo);
+	void openFiberImagerSignal(QString filePath);
 	void PlotSpectralSignal();
 	void FiberImagerClosedSignal();
 
@@ -53,4 +55,6 @@ private:
 	QThread* m_FiberImagerThread;
 
 	JinspFiberImager* m_JinspFiberImagerOperation;
+
+	void loadSettings();
 };

HPPA/GonggaShanRecordCtl.cpp

@@ -1,6 +1,7 @@
 #include "GonggaShanRecordCtl.h"
 
 #include <cmath>
+#include <Windows.h>
 
 GonggaShanRecordCtl::GonggaShanRecordCtl(QWidget* parent)
 	: QDialog(parent)
@@ -124,6 +125,26 @@ void GonggaShanRecordCtl::onGpsAcquisition()
 
 			// 发送GPS数据给任务执行器
 			emit gpsAcquisitionDoneSignal_gonggashan(data.latitude, data.longitude, data.altitude);
+
+            // 使用GPS时间同步系统时间
+			SYSTEMTIME st;
+			memset(&st, 0, sizeof(SYSTEMTIME));
+
+			// 解析GPS日期 (DDMMYY格式)
+			st.wDay = data.utcDate.mid(0, 2).toUShort();
+			st.wMonth = data.utcDate.mid(2, 2).toUShort();
+			st.wYear = 2000 + data.utcDate.mid(4, 2).toUShort();
+
+			// 解析GPS时间 (HHMMSS格式) - GPS时间是UTC时间
+			st.wHour = data.utcTime.mid(0, 2).toUShort();
+			st.wMinute = data.utcTime.mid(2, 2).toUShort();
+			st.wSecond = data.utcTime.mid(4, 2).toUShort();
+			st.wMilliseconds = 0;
+			st.wDayOfWeek = 0;
+
+			// 设置系统时间 (UTC时间直接设置，Windows会自动转换为本地时间显示)
+			SetSystemTime(&st);
+			qDebug() << "System time synced from GPS:" << st.wYear << "-" << st.wMonth << "-" << st.wDay << " " << st.wHour << ":" << st.wMinute << ":" << st.wSecond;
 		}
 	});
 
@@ -153,9 +174,8 @@ void GonggaShanRecordCtl::onCalculateMotorSpeed(double hyperFrameRate)
 {
     FramerateRotateSpeedCal tmp;
 	double rotationSpeed = tmp.calculate(300, 17.6, 900, hyperFrameRate);
-    double rotationSpeed2 = tmp.calculate(300, 17.6, 900, 60);
+    
-
+    emit calculateMotorSpeedDoneSignal_gonggashan(rotationSpeed);
-    int a;
 }
 
 void GonggaShanRecordCtl::logStatus(const QString& message, bool isHearderBlankLine, bool isTailBlankLine)
@@ -297,6 +317,17 @@ void GonggashanTaskExecutor::buildStateMachine()
     // ---- GpsAcquisition 状态：等待外部硬件回调 ----
     connect(m_gpsAcquisitionState, &QState::entered, this, [this]() {
         qDebug() << "GonggashanTaskExecutor: Enter m_gpsAcquisitionState";
+        
+        // 创建当天日期的文件夹
+        QString appDir = QCoreApplication::applicationDirPath();
+        QString todayFolder = QDate::currentDate().toString("yyyy-MM-dd");
+        m_todayDataFolder = appDir + "/" + todayFolder;
+        QDir dir;
+        if (!dir.exists(m_todayDataFolder)) {
+            dir.mkpath(m_todayDataFolder);
+            qDebug() << "Created today's data folder:" << m_todayDataFolder;
+        }
+        
         emit gpsAcquisitionSignal();
         });
     connect(m_gpsAcquisitionState, &QState::exited, this, [this]() {
@@ -325,7 +356,7 @@ void GonggashanTaskExecutor::buildStateMachine()
     // ---- FiberExposure 状态：等待外部硬件回调 ----
     connect(m_fiberExposureState, &QState::entered, this, [this]() {
         qDebug() << "GonggashanTaskExecutor: Enter m_fiberExposureState";
-        emit fiberExposureRecordSignal(m_posInfo);
+        emit fiberExposureRecordSignal(m_posInfo, m_todayDataFolder);
     });
     connect(m_fiberExposureState, &QState::exited, this, [this]() {
         qDebug() << "GonggashanTaskExecutor: Exit m_fiberExposureState";
@@ -351,7 +382,7 @@ void GonggashanTaskExecutor::buildStateMachine()
     // ---- DataCollection 状态：同步阶段 ----
     connect(m_dataCollectionState, &QState::entered, this, [this]() {
         qDebug() << "GonggashanTaskExecutor: Enter m_dataCollectionState";
-        emit startCollectionSignal(m_posInfo, m_gpsData);
+        emit startCollectionSignal(m_posInfo, m_gpsData, m_motorRotationSpeed, m_todayDataFolder);
     });
     connect(m_dataCollectionState, &QState::exited, this, [this]() {
         qDebug() << "GonggashanTaskExecutor: Exit m_dataCollectionState";
@@ -457,14 +488,13 @@ void GonggashanTaskExecutor::onGpsAcquired(double latitude, double longitude, do
     emit gpsAcquisitionDone();
 }
 
-void GonggashanTaskExecutor::onMotorSpeedCalculated(double speed)
+void GonggashanTaskExecutor::onMotorSpeedCalculated(double rotationSpeed)
 {
     if (currentState() != m_motorCalcState) return;
-    m_motorSpeed = speed;
+    m_motorRotationSpeed = rotationSpeed;
-    emit motorSpeedSignal(speed);
+    emit motorSpeedSignal(rotationSpeed);
-    if (motorCalcImpl()) {
+    motorCalcImpl();
-        emit motorSpeedDone();
+    emit motorSpeedDone();
-    }
 }
 
 void GonggashanTaskExecutor::onRcordComplete()
@@ -499,7 +529,7 @@ bool GonggashanTaskExecutor::gpsAcquisitionImpl(double lat, double lon, double a
 
 bool GonggashanTaskExecutor::motorCalcImpl()
 {
-    qDebug() << "GonggashanTaskExecutor: Motor speed calculated:" << m_motorSpeed;
+    qDebug() << "GonggashanTaskExecutor: Motor speed calculated:" << m_motorRotationSpeed;
     return true;
 }
 

HPPA/GonggaShanRecordCtl.h

@@ -55,15 +55,15 @@ public slots:
     void onHyperExposureComplete(double exposureTime, double frameRate);
     void onFiberExposureComplete(double exposureTime);
     void onGpsAcquired(double latitude, double longitude, double altitude);
-    void onMotorSpeedCalculated(double speed);
+    void onMotorSpeedCalculated(double rotationSpeed);
     void onRcordComplete();
 
 signals:
     void hyperAutoExposureSignal_gonggashan();
-    void fiberExposureRecordSignal(QString posInfo);
+    void fiberExposureRecordSignal(QString posInfo, QString dataFolder);
     void gpsAcquisitionSignal();
     void motorSpeedSignal(double speed);
-    void startCollectionSignal(const QString& posInfo, const QString& gpsData);
+    void startCollectionSignal(const QString& posInfo, const QString& gpsData, double m_motorRotationSpeed, QString dataFolder);
 
     void calculateMotorSpeedSignal(double hyperFrameRate);
 
@@ -97,11 +97,12 @@ private:
 
     QString m_posInfo;
     QString m_gpsData;
-    double m_motorSpeed = 0.0;
+    double m_motorRotationSpeed = 0.0;
     double m_hyperExposureTime = 0;
     double m_hyperFrameRate = 0;
     double m_fiberExposureTime = 0;
     bool m_stopRequested = false;
+    QString m_todayDataFolder;  // 当天日期的数据保存文件夹
 
     // Qt State Machine
     QStateMachine* m_machine = nullptr;
@@ -130,15 +131,15 @@ public Q_SLOTS:
 Q_SIGNALS:
     void gpsAcquisitionDoneSignal_gonggashan(double lat, double lon, double alt);
 
-    void calculateMotorSpeedDoneSignal_gonggashan(double speed);
+    void calculateMotorSpeedDoneSignal_gonggashan(double rotationSpeed);
 
     void hyperAutoExposureSignal_gonggashan();
     void hyperAutoExposureDoneSignal_gonggashan(double exposureTime, double frameRate);
 
-    void fiberExposureRecordSignal_gonggashan(QString posInfo);
+    void fiberExposureRecordSignal_gonggashan(QString posInfo, QString dataFolder);
     void fiberExposureDoneSignal_gonggashan(double exposureTime);
 
-	void startRcordSignal_gonggashan(QString posInfo);
+	void startRcordSignal_gonggashan(const QString& posInfo, const QString& gpsData, double m_motorRotationSpeed, QString dataFolder);
     void recordFinishedSignal_gonggashan();
 
 private Q_SLOTS:

HPPA/HPPA.cpp

@@ -1121,8 +1121,10 @@ void HPPA::setupGonggashanAutoRecordConnection()
 	connect(m_fodisWindow, &FodisWindow::exposureCompleteSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::fiberExposureDoneSignal_gonggashan);
 
 	connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::startRcordSignal_gonggashan, this, &HPPA::onGonggashanRecord);
-	connect(m_omc, &OneMotorControl::sequenceComplete, m_fodisWindow, &FodisWindow::closeFiberImager);
+	connect(m_omc, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord, m_rgbCameraControlWindow, &rgbCameraWindow::toggleTakePhoto);
-	connect(m_omc, &OneMotorControl::sequenceComplete, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::recordFinishedSignal_gonggashan);
+	connect(m_omc, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord, m_fodisWindow, &FodisWindow::closeFiberImager);
+	connect(m_omc, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::recordFinishedSignal_gonggashan);
+	//connect(m_omc, &OneMotorControl::sequenceComplete_motorBack2Origin, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::);
 }
 
 void HPPA::onGonggashanHyperAutoExposure()
@@ -1139,17 +1141,18 @@ void HPPA::onGonggashanHyperAutoExposure()
 	m_omc->multiPosHyperAutoExposure();
 }
 
-void HPPA::onGonggashanFiberAutoExposureRecord(QString posInfo)
+void HPPA::onGonggashanFiberAutoExposureRecord(QString posInfo, QString dataFolder)
 {
-	m_fodisWindow->openFiberImager_expose_record(posInfo);
+	//设置数据存储路径和文件名
+	m_fodisWindow->openFiberImager_expose_record(posInfo, dataFolder);
 }
 
-void HPPA::onGonggashanRecord(QString posInfo)
+void HPPA::onGonggashanRecord(const QString& posInfo, const QString& gpsData, double motorRotationSpeed, QString dataFolder)
 {
 	//设置文件名
 	//AppSettings::instance().setFrameRate(f);
 	//AppSettings::instance().setIntegrationTime(e);
-	//AppSettings::instance().setDataFolder(filePath);
+	AppSettings::instance().setDataFolder(dataFolder);
 
 	QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
 	//QString fi = AppSettings::instance().fileName() + "_" + dateStr;
@@ -1159,6 +1162,7 @@ void HPPA::onGonggashanRecord(QString posInfo)
 	
 	//连接马达和光谱仪
 	m_omc->connectMotor(false);
+	m_omc->setScanSpeed(motorRotationSpeed);
 
 	if (!testImagerVality())
 	{
@@ -1168,7 +1172,7 @@ void HPPA::onGonggashanRecord(QString posInfo)
 	onStartRecordStep1();
 
 	//采集rgb图像
-
+	m_rgbCameraControlWindow->toggleTakePhoto();
 }
 
 void HPPA::recordFromRobotArm(int fileCounter)

HPPA/HPPA.h

@@ -457,9 +457,9 @@ public Q_SLOTS:
 		void onStretchedImageReady(int fileNumber, const QString& filePath, QPixmap& pixmap);
 		void onStretchProcessingError(int fileNumber, const QString& filePath, const QString& error);
 
-		void onGonggashanRecord(QString posInfo);
+		void onGonggashanRecord(const QString& posInfo, const QString& gpsData, double motorRotationSpeed, QString dataFolder);
 		void onGonggashanHyperAutoExposure();
-		void onGonggashanFiberAutoExposureRecord(QString posInfo);
+		void onGonggashanFiberAutoExposureRecord(QString posInfo, QString dataFolder);
 
 protected:
 	void closeEvent(QCloseEvent* event) override;

HPPA/JinspFiberImager.cpp

@@ -2,7 +2,8 @@
 // Created by 73505 on 2023/5/7.
 //
 #include <algorithm>
-
+#include <QFile> 
+#include <QDir> 
 #include "JinspFiberImager.h"
 
 JinspFiberImager::JinspFiberImager(bool bIsUSBMode, std::string ucPortNumber, std::string strDeviceName)
@@ -132,7 +133,7 @@ void JinspFiberImager::recordDark(QString path)
     outfile.close();
 }
 
-void JinspFiberImager::recordTarget(int recordTimes, QString path)
+void JinspFiberImager::recordTarget2csv(int recordTimes, QString path)
 {
     //获取设备信息
     DeviceAttribute attribute;
@@ -318,10 +319,8 @@ void JinspFiberImager::setCaptureInterval(int captureIntervalSeconds)
     m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
 }
 
-void JinspFiberImager::OpenFiberImagerAndRecord(QString posInfo)
+void JinspFiberImager::OpenFiberImagerAndRecord(QString filePath)
 {
-    m_posInfo = posInfo;
-
     //连接光谱仪
     QString SN;
     QString pixelCount;
@@ -335,13 +334,25 @@ void JinspFiberImager::OpenFiberImagerAndRecord(QString posInfo)
     emit exposureCompleteSignal(m_iExposureTime);
 
     //采集
+    QFile qfData(filePath);
+    bool bRes = qfData.open(QFile::WriteOnly | QIODevice::Append);
+    if (!bRes)
+    {
+        printf("WriteData QFile open Failed");
+        return;
+    }
+
     m_record = true;
+    DataFrame data;
     while (m_record)
     {
-        recordTarget(1, AppSettings::instance().FiberImagerDataFolder());
+        singleShot(data);
+        qfData.write((char*)&data, sizeof(DataFrame));
+        qfData.flush();
 
         QThread::msleep(m_captureIntervalMilliseconds);
     }
+    qfData.close();
 
     std::cout << "close.........." << std::endl;
     m_FiberSpectrometer->Close();

HPPA/JinspFiberImager.h

@@ -61,10 +61,10 @@ private:
 
 public slots:
     void recordDark(QString path);
-    void recordTarget(int recordTimes, QString path);
+    void recordTarget2csv(int recordTimes, QString path);
     void autoExpose();
 
-    void OpenFiberImagerAndRecord(QString posInfo);
+    void OpenFiberImagerAndRecord(QString filePath);
 
 signals:
     void sendExposureTimeSignal(int exposureTime);

HPPA/OneMotorControl.cpp

@@ -42,6 +42,11 @@ void OneMotorControl::onConnectMotor()
     connectMotor(true);
 }
 
+void OneMotorControl::setScanSpeed(double speed)
+{
+    ui.speed_lineEdit->setText(QString::number(speed));
+}
+
 void OneMotorControl::connectMotor(bool isNotification)
 {
     if (getMotorsConnectionStatus())
@@ -225,16 +230,20 @@ void OneMotorControl::run()
 {
     if (m_coordinator)//当高光谱相机停止采集后，马达还未回到原点时，上次任务的m_coordinator还没有被销毁
     {
-        onSequenceComplete(0);
+        onSequenceComplete_motorBack2Origin(0);
     }
 
     qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
     m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
     m_coordinator->setObjectName("testOneMotionCaptureCoordinator");
-    connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
-    connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
 
-    connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
+    connect(this, &OneMotorControl::start, m_coordinator, &OneMotionCaptureCoordinator::startStepMotion);
+    connect(this, &OneMotorControl::stopStepMotionSignal, m_coordinator, &OneMotionCaptureCoordinator::stopStepMotion);
+
+    connect(m_coordinator, &OneMotionCaptureCoordinator::sequenceCompleteSignal_hyperImagerStopRecord,
+        this, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord);
+    connect(m_coordinator, &OneMotionCaptureCoordinator::sequenceCompleteSignal_motorBack2Origin, 
+        this, &OneMotorControl::onSequenceComplete_motorBack2Origin);
 
     OneMotionCapturePathLine tmp;
     tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
@@ -271,18 +280,14 @@ void OneMotorControl::multiPosHyperAutoExposure()
 
 void OneMotorControl::onSequenceComplete_gonggashan_autoexpose(int state)
 {
-    emit sequenceComplete();
+    emit multiPosAutoexposeSequenceCompleteSignal();
 
     m_coordinator_gonggashan_autoexpose->deleteLater();
 }
 
-void OneMotorControl::onSequenceComplete(int state)
+void OneMotorControl::onSequenceComplete_motorBack2Origin(int state)
 {
-    emit sequenceComplete();
+    emit sequenceComplete_motorBack2Origin();
-
-    disconnect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
-    disconnect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
-    disconnect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
 
     // Use deleteLater() instead of delete: this slot may have been called directly
     // from OneMotionCaptureCoordinator's call stack (direct connection), so deleting

HPPA/OneMotorControl.h

@@ -35,6 +35,8 @@ public:
 
     void connectMotor(bool isNotification);
 
+    void setScanSpeed(double speed);
+
 public Q_SLOTS:
     void onConnectMotor();
 
@@ -48,7 +50,7 @@ public Q_SLOTS:
     void onxMotorLeft();
     void onxMotorStop();
 
-    void onSequenceComplete(int state);
+    void onSequenceComplete_motorBack2Origin(int state);
     void onSequenceComplete_gonggashan_autoexpose(int state);
 
 signals:
@@ -65,11 +67,16 @@ signals:
     void stopStepMotionSignal();
 
     void sequenceComplete();
+    void sequenceComplete_motorBack2Origin();
 
     void broadcastLocationSignal(std::vector<double>);
 
     void hyperAutoExposureDoneSignal_gonggashan(double exposureTime, double frameRate);
 
+    void multiPosAutoexposeSequenceCompleteSignal();
+
+    void sequenceCompleteSignal_hyperImagerStopRecord(int);
+
 private:
     Ui::OneMotorControl_UI ui;
 
@@ -135,6 +142,7 @@ signals:
 
     void broadcastLocationSignal(std::vector<double>);
 
+
 private:
     Ui::OneMotorControl_UI ui;
 

HPPA/fodis.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>857</width>
+    <width>438</width>
-    <height>477</height>
+    <height>330</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -83,7 +83,7 @@ QPushButton:pressed
      </property>
     </spacer>
    </item>
-   <item row="1" column="1">
+   <item row="1" column="1" colspan="2">
     <layout class="QGridLayout" name="gridLayout">
      <item row="0" column="1">
       <widget class="QPushButton" name="close_btn">
@@ -113,33 +113,7 @@ QPushButton:pressed
      </item>
     </layout>
    </item>
-   <item row="2" column="0">
+   <item row="2" column="1" colspan="2">
-    <spacer name="horizontalSpacer">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>135</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="2" column="2">
-    <spacer name="horizontalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>135</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="3" column="1">
     <layout class="QHBoxLayout" name="horizontalLayout_2">
      <item>
       <widget class="QLabel" name="label">
@@ -184,7 +158,71 @@ QPushButton:pressed
      </item>
     </layout>
    </item>
-   <item row="4" column="1">
+   <item row="3" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1" colspan="2">
+    <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <item>
+      <widget class="QLabel" name="label_2">
+       <property name="styleSheet">
+        <string notr="true">QLabel {
+    color: rgb(255, 255, 255);
+}</string>
+       </property>
+       <property name="text">
+        <string>文件名</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="fileNameLineEdit">
+       <property name="styleSheet">
+        <string notr="true">QLineEdit {
+    background-color: #142D7F;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    min-width: 70px;
+    min-height: 20px;
+    font-size: 13px;
+}</string>
+       </property>
+       <property name="text">
+        <string>test</string>
+       </property>
+       <property name="readOnly">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="3" column="3">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="4" column="2">
     <spacer name="verticalSpacer_3">
      <property name="orientation">
       <enum>Qt::Vertical</enum>

HPPA/rgbCameraWindow.cpp

@@ -64,6 +64,11 @@ rgbCameraWindow::~rgbCameraWindow()
 	delete m_RgbCameraThread;
 }
 
+void rgbCameraWindow::toggleTakePhoto()
+{
+	emit ui.take_photo_btn->clicked();
+}
+
 void rgbCameraWindow::setupCaptureCoordinator()
 {
 	m_captureCoordinator = new RgbCameraCaptureCoordinator(m_RgbCamera, this);

HPPA/rgbCameraWindow.h

@@ -32,6 +32,8 @@ public Q_SLOTS:
 	void onSelectDataFolder();
 	void onFileNameChanged(const QString& text);
 
+	void toggleTakePhoto();
+
 Q_SIGNALS:
 	void PlotRgbImageSignal();
 	void CamClosedSignal();