初步完成美化：

1、左下角3d模型预览看板；
2、右下角控制看板

HPPA/Carousel.cpp

@@ -12,7 +12,7 @@ MyCarousel::MyCarousel(QWidget* parent)
     m_isPlaying(false),
     m_isLocked(false),
     m_lockedIndex(-1),
-    m_playInterval(1000),
+    m_playInterval(2000),
     m_intervalButtonSize(40)
 {
     QVBoxLayout* layout = new QVBoxLayout(this);

HPPA/HPPA.cpp

@@ -406,6 +406,7 @@ HPPA::HPPA(QWidget* parent)
 		file.close();
 		this->restoreState(ba);
 	}
+	this->showMaximized();
 }
 
 void HPPA::initMenubarToolbar()
@@ -520,39 +521,21 @@ void HPPA::initMenubarToolbar()
 }
 
 void HPPA::initControlTabwidget()
-{
+{	
-	ui.controlTabWidget->removeTab(1);
-
-	m_videoWidget = new QWidget();
-	QVBoxLayout* vBoxLayout_videoWidget = new QVBoxLayout(m_videoWidget);
-	
-	vBoxLayout_videoWidget->setSpacing(6);
-	vBoxLayout_videoWidget->setObjectName(QString::fromUtf8("vBoxLayout_videoWidget"));
-	vBoxLayout_videoWidget->setContentsMargins(0, 0, 0, 0);
-
-	m_open_rgb_camera_btn = new QPushButton(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
-	m_open_rgb_camera_btn->setObjectName(QString::fromUtf8("m_open_rgb_camera_btn"));
-	m_close_rgb_camera_btn = new QPushButton(QString::fromLocal8Bit("<EFBFBD>ر<EFBFBD>"));
-	m_close_rgb_camera_btn->setObjectName(QString::fromUtf8("m_close_rgb_camera_btn"));
-	vBoxLayout_videoWidget->addWidget(m_open_rgb_camera_btn);
-	vBoxLayout_videoWidget->addWidget(m_close_rgb_camera_btn);
-
 	//rgb<67><62><EFBFBD><EFBFBD>
 	m_RgbCameraThread = new QThread();
 	m_RgbCamera = new RgbCameraOperation();
 	m_RgbCamera->moveToThread(m_RgbCameraThread);
 	m_RgbCameraThread->start();
-	connect(m_open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera()));//ʹ<><CAB9><EFBFBD>ź<EFBFBD>֪ͨ<CDA8><D6AA><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD>Ƶ <20><> <20>ɹ<EFBFBD><C9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǽ<EFBFBD><C7BD>濨<EFBFBD><E6BFA8>
+	connect(ui.open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera()));//ʹ<><CAB9><EFBFBD>ź<EFBFBD>֪ͨ<CDA8><D6AA><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD>Ƶ <20><> <20>ɹ<EFBFBD><C9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǽ<EFBFBD><C7BD>濨<EFBFBD><E6BFA8>
 	connect(m_RgbCamera, SIGNAL(PlotSignal()), this, SLOT(onPlotRgbImage()));
 
 	//m_RgbCamera->setCallback(onPlotRgbImage);
 	//connect(this->ui.open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera_callback()));//ʹ<>ûص<C3BB><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3><CCA3>ϵ<EFBFBD><CFB5><EFBFBD>Ƶ <20><> ʧ<><CAA7>
 
-	connect(m_close_rgb_camera_btn, SIGNAL(clicked()), this, SLOT(onCloseRgbCamera()));//<2F>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD>
+	connect(ui.close_rgb_camera_btn, SIGNAL(clicked()), this, SLOT(onCloseRgbCamera()));//<2F>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD>
 	connect(m_RgbCamera, SIGNAL(CamClosed()), this, SLOT(onClearLabel()));
 
-	ui.controlTabWidget->addTab(m_videoWidget, QString::fromLocal8Bit("rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
-
 	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>dock
 	m_adt = new adjustTable();
 	m_adt->setWindowFlags(Qt::Widget);
@@ -772,7 +755,7 @@ void HPPA::createOneMotorScenario()
 	ui.mAction_1AxisMotor->setChecked(true);
 
 	//<2F><><EFBFBD>½ǿ<C2BD><C7BF><EFBFBD>tab
-	m_tabManager->hideTab(m_videoWidget);
+	m_tabManager->hideTab(ui.rgbCameraWidget);
 	m_tabManager->hideTab(m_adt);
 	m_tabManager->hideTab(m_pc);
 	m_tabManager->hideTab(m_rac);
@@ -806,7 +789,7 @@ void HPPA::createPlantPhenotypeScenario()
 	m_tabManager->hideTab(m_rac);
 	m_tabManager->hideTab(m_omc);
 
-	m_tabManager->showTab(m_videoWidget);
+	m_tabManager->showTab(ui.rgbCameraWidget);
 	m_tabManager->showTab(m_adt);
 	m_tabManager->showTab(m_pc);
 	m_tabManager->showTab(m_tmc);

HPPA/HPPA.h

@@ -244,7 +244,6 @@ private:
 
 	TabManager* m_tabManager;
 
-	QWidget* m_videoWidget;
 	adjustTable* m_adt;
 	PowerControl* m_pc;
 	RobotArmControl* m_rac;

HPPA/HPPA.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1486</width>
-    <height>899</height>
+    <height>898</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -20,25 +20,7 @@
   <property name="styleSheet">
    <string notr="true"/>
   </property>
-  <widget class="QWidget" name="centralWidget">
+  <widget class="QWidget" name="centralWidget"/>
-   <layout class="QGridLayout" name="gridLayout">
-    <property name="leftMargin">
-     <number>0</number>
-    </property>
-    <property name="topMargin">
-     <number>0</number>
-    </property>
-    <property name="rightMargin">
-     <number>0</number>
-    </property>
-    <property name="bottomMargin">
-     <number>0</number>
-    </property>
-    <property name="spacing">
-     <number>0</number>
-    </property>
-   </layout>
-  </widget>
   <widget class="QMenuBar" name="menuBar">
    <property name="geometry">
     <rect>
@@ -273,252 +255,549 @@ QToolBar QToolButton:hover {
     <number>2</number>
    </attribute>
    <widget class="QWidget" name="dockWidgetContents_4">
+    <property name="styleSheet">
+     <string notr="true">QWidget #dockWidgetContents_4
+{
+	background-color: #0E1C4C;
+	
+	border-top: 1px solid #2c586b;
+	border-left: 1px solid #2c586b;
+	border-right: 1px solid #2c586b;
+	border-bottom: 1px solid #2c586b;
+	
+	border-top-left-radius: 0px;
+	border-top-right-radius: 0px;
+	border-bottom-left-radius: 10px;
+	border-bottom-right-radius: 10px;
+}
+</string>
+    </property>
     <layout class="QGridLayout" name="gridLayout_5">
      <property name="leftMargin">
-      <number>0</number>
+      <number>2</number>
      </property>
      <property name="topMargin">
-      <number>0</number>
+      <number>2</number>
      </property>
      <property name="rightMargin">
-      <number>0</number>
+      <number>2</number>
      </property>
      <property name="bottomMargin">
-      <number>0</number>
+      <number>2</number>
+     </property>
+     <property name="horizontalSpacing">
+      <number>6</number>
      </property>
      <item row="0" column="0">
       <widget class="QTabWidget" name="controlTabWidget">
+       <property name="styleSheet">
+        <string notr="true">QTabBar::tab {
+	background: #0E1C4C;
+	color: white;
+	padding: 6px 12px;
+	border: none;
+	border-top: 1px solid #27376C;
+	height: 41;
+}
+
+QTabBar::tab:selected {
+	background: #0D1233;
+	color: white;
+	border: none;
+}
+
+/*QTabBar::tab:hover {
+	background: #141A45;
+}*/
+
+QTabWidget::pane {
+	border: none;
+	border-top: 1px solid #27376C;
+	background: #0D1233;
+	top: -1px;
+}
+</string>
+       </property>
        <property name="tabPosition">
         <enum>QTabWidget::South</enum>
        </property>
+       <property name="tabShape">
+        <enum>QTabWidget::Rounded</enum>
+       </property>
+       <property name="currentIndex">
+        <number>1</number>
+       </property>
+       <property name="elideMode">
+        <enum>Qt::ElideNone</enum>
+       </property>
        <widget class="QWidget" name="tab">
+        <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;
+}
+QLineEdit:hover {
+    border: 1px solid #4d8dff;
+}
+
+QLineEdit:focus {
+    border: 1px solid #6aa2ff;
+    background-color: #23345c;
+}
+
+
+
+
+
+
+QSlider::groove:horizontal {
+    height: 10px;
+    background: #1e2a44;
+    border-radius: 3px;
+}
+
+/* 已滑过：渐变蓝 */
+QSlider::sub-page:horizontal {
+    background: qlineargradient(
+        x1:0, y1:0, x2:1, y2:0,
+        stop:0   #1f4fff,
+        stop:0.5 #2f6bff,
+        stop:1   #5fa0ff
+    );
+    border-radius: 3px;
+}
+
+/* 未滑过 */
+QSlider::add-page:horizontal {
+	height: 10px;
+    background: #2a3550;
+    border-radius: 3px;
+}
+
+/* ===== 滑块按钮 ===== */
+QSlider::handle:horizontal {
+    width: 15px;
+    height: 10px;
+
+    /* 蓝色实心 */
+    background: #2f6bff;
+
+    /* 白色外圈 */
+    border: 2px solid #ffffff;
+    border-radius: 5px;
+
+    /* 垂直居中 */
+    margin: -5px 0;
+}
+
+/* 悬停 */
+QSlider::handle:horizontal:hover {
+    background: #4d8dff;
+}
+
+/* 按下 */
+QSlider::handle:horizontal:pressed {
+    background: #1f4fff;
+}</string>
+        </property>
         <attribute name="title">
          <string>光谱仪</string>
         </attribute>
-        <layout class="QGridLayout" name="gridLayout_4">
+        <layout class="QGridLayout" name="gridLayout_2">
          <property name="leftMargin">
-          <number>0</number>
+          <number>10</number>
          </property>
          <property name="topMargin">
           <number>0</number>
          </property>
          <property name="rightMargin">
-          <number>0</number>
+          <number>10</number>
          </property>
          <property name="bottomMargin">
+          <number>10</number>
+         </property>
+         <property name="spacing">
           <number>0</number>
          </property>
          <item row="0" column="0">
-          <layout class="QHBoxLayout" name="horizontalLayout_10">
+          <widget class="QLabel" name="label_4">
-           <item>
+           <property name="text">
-            <widget class="QLabel" name="label">
+            <string/>
-             <property name="sizePolicy">
+           </property>
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <property name="pixmap">
-               <horstretch>0</horstretch>
+            <pixmap resource="HPPA.qrc">:/HPPA/HPPA.ico</pixmap>
-               <verstretch>0</verstretch>
+           </property>
-              </sizepolicy>
+           <property name="alignment">
-             </property>
+            <set>Qt::AlignCenter</set>
-             <property name="minimumSize">
+           </property>
-              <size>
+          </widget>
-               <width>0</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>100</width>
-               <height>16777215</height>
-              </size>
-             </property>
-             <property name="text">
-              <string>帧率</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QLineEdit" name="framerate_lineEdit">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="styleSheet">
-              <string notr="true">background-color: rgb(255, 255, 255);</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
          </item>
          <item row="1" column="0">
-          <layout class="QHBoxLayout" name="horizontalLayout_11">
+          <widget class="QWidget" name="widget_3" native="true">
-           <item>
+           <property name="sizePolicy">
-            <spacer name="horizontalSpacer_16">
+            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-             <property name="orientation">
+             <horstretch>0</horstretch>
-              <enum>Qt::Horizontal</enum>
+             <verstretch>0</verstretch>
-             </property>
+            </sizepolicy>
-             <property name="sizeType">
+           </property>
-              <enum>QSizePolicy::Fixed</enum>
+           <layout class="QGridLayout" name="gridLayout">
-             </property>
+            <property name="leftMargin">
-             <property name="sizeHint" stdset="0">
+             <number>0</number>
-              <size>
+            </property>
-               <width>100</width>
+            <property name="topMargin">
-               <height>20</height>
+             <number>0</number>
-              </size>
+            </property>
-             </property>
+            <property name="rightMargin">
-            </spacer>
+             <number>0</number>
-           </item>
+            </property>
-           <item>
+            <property name="bottomMargin">
-            <widget class="QDoubleSlider" name="FramerateSlider">
+             <number>0</number>
-             <property name="orientation">
+            </property>
-              <enum>Qt::Horizontal</enum>
+            <property name="horizontalSpacing">
-             </property>
+             <number>2</number>
-            </widget>
+            </property>
-           </item>
+            <property name="verticalSpacing">
-          </layout>
+             <number>6</number>
+            </property>
+            <item row="0" column="0">
+             <widget class="QLabel" name="label">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">color: rgb(255, 255, 255);</string>
+              </property>
+              <property name="text">
+               <string>帧率</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <layout class="QHBoxLayout" name="horizontalLayout">
+              <item>
+               <widget class="QLineEdit" name="framerate_lineEdit">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSlider" name="FramerateSlider">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_2">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">color: rgb(255, 255, 255);</string>
+              </property>
+              <property name="text">
+               <string>积分时间</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <layout class="QHBoxLayout" name="horizontalLayout_2">
+              <item>
+               <widget class="QLineEdit" name="integratioin_time_lineEdit">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSlider" name="IntegratioinTimeSlider">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_3">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">color: rgb(255, 255, 255);</string>
+              </property>
+              <property name="text">
+               <string>gain</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <layout class="QHBoxLayout" name="horizontalLayout_3">
+              <item>
+               <widget class="QLineEdit" name="gain_lineEdit">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSlider" name="GainSlider">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+           </layout>
+          </widget>
          </item>
-         <item row="2" column="0">
+        </layout>
-          <layout class="QHBoxLayout" name="horizontalLayout_12">
+       </widget>
-           <item>
+       <widget class="QWidget" name="rgbCameraWidget">
-            <widget class="QLabel" name="label_2">
+        <property name="styleSheet">
-             <property name="maximumSize">
+         <string notr="true">QGroupBox
-              <size>
+{
-               <width>100</width>
+	border: 12px solid transparent;
-               <height>16777215</height>
+	color: #ACCDFF;
-              </size>
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+        </property>
+        <attribute name="title">
+         <string>rgb相机</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_4" rowstretch="2,4,2" columnstretch="1,3,1">
+         <item row="0" column="1">
+          <spacer name="verticalSpacer">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>174</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="1" column="0">
+          <spacer name="horizontalSpacer">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>115</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="1" column="1">
+          <layout class="QGridLayout" name="gridLayout_3" columnstretch="1,1">
+           <property name="spacing">
+            <number>20</number>
+           </property>
+           <item row="1" column="0">
+            <widget class="QPushButton" name="take_video_btn">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
              </property>
              <property name="text">
-              <string>积分时间</string>
+              <string>录制视频</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
-           <item>
+           <item row="1" column="1">
-            <widget class="QLineEdit" name="integratioin_time_lineEdit">
+            <widget class="QPushButton" name="take_photo_btn">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
              </property>
-             <property name="styleSheet">
-              <string notr="true">background-color: rgb(255, 255, 255);</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item row="3" column="0">
-          <layout class="QHBoxLayout" name="horizontalLayout_13">
-           <item>
-            <spacer name="horizontalSpacer_17">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Fixed</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>100</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QDoubleSlider" name="IntegratioinTimeSlider">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item row="4" column="0">
-          <layout class="QHBoxLayout" name="horizontalLayout_14">
-           <item>
-            <widget class="QLabel" name="label_3">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>100</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>100</width>
-               <height>16777215</height>
-              </size>
-             </property>
              <property name="text">
-              <string>gain</string>
+              <string>拍照</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
-           <item>
+           <item row="0" column="1">
-            <widget class="QLineEdit" name="gain_lineEdit">
+            <widget class="QPushButton" name="close_rgb_camera_btn">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
              </property>
-             <property name="styleSheet">
+             <property name="text">
-              <string notr="true">background-color: rgb(255, 255, 255);</string>
+              <string>关闭</string>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="0">
+            <widget class="QPushButton" name="open_rgb_camera_btn">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>打开</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
-         <item row="5" column="0">
+         <item row="1" column="2">
-          <layout class="QHBoxLayout" name="horizontalLayout_15">
+          <spacer name="horizontalSpacer_2">
-           <item>
+           <property name="orientation">
-            <spacer name="horizontalSpacer_18">
+            <enum>Qt::Horizontal</enum>
-             <property name="orientation">
+           </property>
-              <enum>Qt::Horizontal</enum>
+           <property name="sizeHint" stdset="0">
-             </property>
+            <size>
-             <property name="sizeType">
+             <width>115</width>
-              <enum>QSizePolicy::Fixed</enum>
+             <height>20</height>
-             </property>
+            </size>
-             <property name="sizeHint" stdset="0">
+           </property>
-              <size>
+          </spacer>
-               <width>100</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QDoubleSlider" name="GainSlider">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-            </widget>
-           </item>
-          </layout>
          </item>
-         <item row="6" column="0">
+         <item row="2" column="1">
           <spacer name="verticalSpacer_2">
            <property name="orientation">
             <enum>Qt::Vertical</enum>
@@ -526,18 +805,13 @@ QToolBar QToolButton:hover {
            <property name="sizeHint" stdset="0">
             <size>
              <width>20</width>
-             <height>594</height>
+             <height>173</height>
             </size>
            </property>
           </spacer>
          </item>
         </layout>
        </widget>
-       <widget class="QWidget" name="tab_2">
-        <attribute name="title">
-         <string>Tab 2</string>
-        </attribute>
-       </widget>
       </widget>
      </item>
     </layout>

HPPA/PowerControl.ui

@@ -6,114 +6,246 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>294</width>
+    <width>432</width>
-    <height>119</height>
+    <height>346</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>PowerControl</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <property name="styleSheet">
-   <property name="leftMargin">
+   <string notr="true">QGroupBox
-    <number>0</number>
+{
-   </property>
+	border: 12px solid transparent;
-   <property name="topMargin">
+	color: #ACCDFF;
-    <number>0</number>
+}
-   </property>
+
-   <property name="rightMargin">
+QPushButton
-    <number>0</number>
+{
-   </property>
+	/*width: 172px;
-   <property name="bottomMargin">
+	height: 56px;*/
-    <number>0</number>
+	font: 19pt &quot;新宋体&quot;;
-   </property>
+	background-color: qlineargradient(
-   <property name="spacing">
+        spread:pad, 
-    <number>0</number>
+        x1:0.5, y1:0, x2:0.5, y2:1, 
-   </property>
+        stop:0 #283D86, 
-   <item row="0" column="0">
+        stop:1 #0F1A40
-    <layout class="QHBoxLayout" name="horizontalLayout_20">
+    );
-     <item>
+	color: white;
-      <widget class="QLabel" name="label_17">
+    border: none;
-       <property name="text">
+    padding: 8px 16px;
-        <string>卤素灯</string>
+    border-radius: 4px;
-       </property>
+}
-      </widget>
+QPushButton:hover
-     </item>
+{
-     <item>
+    background-color: qlineargradient(
-      <widget class="QPushButton" name="lamp_power_open_btn">
+        spread:pad, 
-       <property name="text">
+        x1:0, y1:0, x2:1, y2:0, 
-        <string>打开</string>
+        stop:0 #3A4875, 
-       </property>
+        stop:1 #5F6B91
-      </widget>
+    );
-     </item>
+}
-     <item>
+/* 按下时的效果 */
-      <widget class="QPushButton" name="lamp_power_close_btn">
+QPushButton:pressed
-       <property name="text">
+{
-        <string>关闭</string>
+    background-color: qlineargradient(
-       </property>
+        spread:pad, 
-      </widget>
+        x1:0, y1:0, x2:1, y2:0, 
-     </item>
+        stop:0 #1A254F, 
-     <item>
+        stop:1 #3A466B
-      <spacer name="horizontalSpacer_19">
+    );
-       <property name="orientation">
+    /* 可选：添加下压效果 */
-        <enum>Qt::Horizontal</enum>
+    padding-top: 9px;
-       </property>
+    padding-bottom: 7px;
-       <property name="sizeHint" stdset="0">
+}</string>
-        <size>
+  </property>
-         <width>40</width>
+  <layout class="QGridLayout" name="gridLayout_3" rowstretch="1,1,1,1" columnstretch="1,3,1">
-         <height>20</height>
+   <item row="0" column="1">
-        </size>
+    <spacer name="verticalSpacer">
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-   <item row="1" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout_21">
-     <item>
-      <widget class="QLabel" name="label_18">
-       <property name="text">
-        <string>马  达</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="motor_power_open_btn">
-       <property name="text">
-        <string>打开</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="motor_power_close_btn">
-       <property name="text">
-        <string>关闭</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_20">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-   <item row="2" column="0">
-    <spacer name="verticalSpacer_3">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
      </property>
      <property name="sizeHint" stdset="0">
       <size>
        <width>20</width>
-       <height>42</height>
+       <height>145</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>卤素灯</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>20</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="lamp_power_open_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>打开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="lamp_power_close_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>关闭</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <spacer name="horizontalSpacer_4">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>马  达</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>20</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="motor_power_open_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>打开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="motor_power_close_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>关闭</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>144</height>
       </size>
      </property>
     </spacer>

HPPA/TabManager.cpp

@@ -48,7 +48,8 @@ void TabManager::showTab(QWidget* page)
 
     TabInfo info = m_hiddenTabs.take(page);
 
-    int insertIndex = qMin(info.index, m_tabWidget->count());
+    //int insertIndex = qMin(info.index, m_tabWidget->count());
+    int insertIndex = m_tabWidget->count();
     m_tabWidget->insertTab(insertIndex, page, info.icon, info.text);
     m_tabWidget->setTabToolTip(insertIndex, info.toolTip);
 

HPPA/TwoMotorControl.cpp

@@ -5,7 +5,6 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
     ui.setupUi(this);
 
 	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
-	ui.recordLine_tableWidget->setStyleSheet("selection-background-color:rgb(255,209,128)");//设置选择的行高亮
 
 	ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选择行为，以行为单位
 	//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//设置选择模式，选择单行
@@ -16,13 +15,9 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
 
     connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
     connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
-    connect(ui.generateRecordLine_btn, SIGNAL(clicked()), this, SLOT(onGenerateRecordLine_btn()));
     connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
     connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
     connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
-
-	connect(ui.run_btn, SIGNAL(clicked()), this, SLOT(run()));
-	connect(ui.stop_btn, SIGNAL(clicked()), this, SLOT(stop()));
 }
 
 void TwoMotorControl::setImager(ImagerOperationBase* imager)
@@ -395,93 +390,6 @@ void TwoMotorControl::onRemoveRecordLine_btn()
 		ui.recordLine_tableWidget->removeRow(rowIndex);
 }
 
-void TwoMotorControl::onGenerateRecordLine_btn()
-{
-	//求幅宽
-	double height = ui.height_lineEdit->text().toDouble();
-	double fov = ui.fov_lineEdit->text().toDouble();
-	double swath = (height * tan(fov / 2 * PI / 180)) * 2;//tan输入是弧度
-	ui.swath_lineEdit->setText(QString::number(swath));
-
-
-	//读取马达测量范围
-	double xMotorRange = 50;
-	double yMotorRange = 500;
-
-
-	//确定有多少条采集线，公式：numberOfRecordLine_tmp * swath - repetitiveLength（numberOfRecordLine_tmp - 1） = overallLength
-	double overallLength = yMotorRange + swath;
-	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble() / 100;
-	double repetitiveLength = repetitiveRate * swath;
-	double offset = ui.offset_lineEdit->text().toDouble();
-
-	double numberOfRecordLine_tmp = (overallLength - repetitiveLength - offset) / (swath - repetitiveLength);
-	double tmp = numberOfRecordLine_tmp - (int)numberOfRecordLine_tmp;
-	int numberOfRecordLine;
-	double threshold = ui.LastLineThreshold_lineEdit->text().toDouble();//当numberOfRecordLine_tmp为小数时，判断是否多加一条采集线
-	if (tmp > threshold)
-	{
-		numberOfRecordLine = (int)numberOfRecordLine_tmp + 1;
-		//std::cout << "大于：" << threshold << std::endl;
-	}
-	else
-	{
-		numberOfRecordLine = (int)numberOfRecordLine_tmp;
-	}
-
-
-
-	//去掉tableWidget中所有的行
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-
-
-	//向tableWidget添加行（采集线）
-	QTableWidgetItem* tmpItem;
-	for (size_t i = 0; i < numberOfRecordLine; i++)
-	{
-		//增加一行
-		int RowCount = ui.recordLine_tableWidget->rowCount();
-		ui.recordLine_tableWidget->insertRow(RowCount);
-
-		//设置yPosition
-		if (tmp > threshold && i == numberOfRecordLine - 1)//设置最后一行的yPosition
-		{
-			tmpItem = new QTableWidgetItem(QString::number(yMotorRange, 10, 2));
-			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
-		}
-		else
-		{
-			double x = swath * i - i * repetitiveLength + offset;
-			tmpItem = new QTableWidgetItem(QString::number(x, 10, 2));
-			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
-		}
-		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 1, tmpItem);
-
-		tmpItem = new QTableWidgetItem(QString::number(0, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 2, tmpItem);
-		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 3, tmpItem);
-
-		//设置x马达最大运动位置 → 值设置为x马达量程
-		tmpItem = new QTableWidgetItem(QString::number(xMotorRange, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 4, tmpItem);
-		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 5, tmpItem);
-	}
-}
-
 void TwoMotorControl::onDeleteRecordLine_btn()
 {
 	int rowCount = ui.recordLine_tableWidget->rowCount();
@@ -500,19 +408,12 @@ void TwoMotorControl::onSaveRecordLine2File_btn()
 		return;
 	}
 
-	double height = ui.height_lineEdit->text().toDouble();
-	double fov = ui.fov_lineEdit->text().toDouble();
-	double swath = ui.swath_lineEdit->text().toDouble();
-	double offset = ui.offset_lineEdit->text().toDouble();
-	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble();
-	double LastLineThreshold = ui.LastLineThreshold_lineEdit->text().toDouble();
-
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
 
-	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine2 File"),
+	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine3 File"),
 		QString::fromStdString(directory),
-		tr("RecordLineFile2 (*.RecordLine2)"));
+		tr("RecordLineFile3 (*.RecordLine3)"));
 
 	if (RecordLineFilePath.isEmpty())
 	{
@@ -521,13 +422,6 @@ void TwoMotorControl::onSaveRecordLine2File_btn()
 
 	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
 
-	fwrite(&height, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&fov, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&swath, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&offset, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
-
 	double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
 	fwrite(&number, sizeof(double), 1, RecordLineFileHandle);
 
@@ -555,9 +449,9 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
 
-	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine2 File"),
+	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine3 File"),
 		QString::fromStdString(directory),
-		tr("RecordLineFile (*.RecordLine2)"));
+		tr("RecordLineFile (*.RecordLine3)"));
 
 	if (RecordLineFilePath.isEmpty())
 	{
@@ -565,15 +459,9 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 	}
 
 	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
-	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
+	double number;
 
 	//读取数据
-	fread(&height, sizeof(double), 1, RecordLineFileHandle);
-	fread(&fov, sizeof(double), 1, RecordLineFileHandle);
-	fread(&swath, sizeof(double), 1, RecordLineFileHandle);
-	fread(&offset, sizeof(double), 1, RecordLineFileHandle);
-	fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
-	fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
 	fread(&number, sizeof(double), 1, RecordLineFileHandle);
 
 	double* data = new double[number];
@@ -583,15 +471,6 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 		//std::cout << *(data + i) << std::endl;
 	}
 
-	//向界面中填写
-	ui.height_lineEdit->setText(QString::number(height));
-	ui.fov_lineEdit->setText(QString::number(fov));
-	ui.swath_lineEdit->setText(QString::number(swath));
-	ui.offset_lineEdit->setText(QString::number(offset));
-	ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
-	ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));
-
-
 	//向tableWidget添加采集线
 	//（1）去掉tableWidget中所有的行
 	int rowCount = ui.recordLine_tableWidget->rowCount();

HPPA/TwoMotorControl.h

@@ -57,7 +57,6 @@ public Q_SLOTS:
 
     void onAddRecordLine_btn();
     void onRemoveRecordLine_btn();
-    void onGenerateRecordLine_btn();
     void onDeleteRecordLine_btn();
     void onSaveRecordLine2File_btn();
     void onReadRecordLineFile_btn();

HPPA/View3D.cpp

@@ -18,7 +18,8 @@ View3DBase::View3DBase(const QString& baseModelPath,
 {
     m_view = new Qt3DExtras::Qt3DWindow();
     // 部分 Qt5.9 构建可能需要强转 frame graph，但 defaultFrameGraph() 通常可用
-    m_view->defaultFrameGraph()->setClearColor(Qt::white);
+    QColor c1("#0D1233");
+    m_view->defaultFrameGraph()->setClearColor(c1);
 
     m_rootEntity = new Qt3DCore::QEntity();
 
@@ -61,6 +62,18 @@ void View3DBase::setDistance(float distance)
 
 void View3DBase::initScene()
 {
+    /*auto* lightEntity = new Qt3DCore::QEntity(m_rootEntity);
+
+    auto* light = new Qt3DRender::QPointLight(lightEntity);
+    light->setColor(Qt::white);
+    light->setIntensity(1.2f);
+
+    auto* lightTransform = new Qt3DCore::QTransform(lightEntity);
+    lightTransform->setTranslation(QVector3D(500, 500, 500));
+
+    lightEntity->addComponent(light);
+    lightEntity->addComponent(lightTransform);*/
+
     // ===== 创建 base 根节点 =====
     auto* baseModel = new Qt3DCore::QEntity(m_rootEntity);
     auto* baseLoader = new Qt3DRender::QSceneLoader(baseModel);
@@ -75,6 +88,15 @@ void View3DBase::initScene()
     baseModel->addComponent(baseLoader);
     baseModel->addComponent(m_baseTransform);
 
+    connect(baseLoader, &Qt3DRender::QSceneLoader::statusChanged,
+        this, [=](Qt3DRender::QSceneLoader::Status status) {
+
+            if (status == Qt3DRender::QSceneLoader::Ready) {
+                applyWhiteMaterialRecursive(baseModel);
+            }
+        });
+
+
     // ===== 创建 arm 根节点 =====
     auto* armModel = new Qt3DCore::QEntity(m_rootEntity);
     auto* armLoader = new Qt3DRender::QSceneLoader(armModel);
@@ -85,6 +107,14 @@ void View3DBase::initScene()
     armModel->addComponent(armLoader);
     armModel->addComponent(m_armTransform);
 
+    connect(armLoader, &Qt3DRender::QSceneLoader::statusChanged,
+        this, [=](Qt3DRender::QSceneLoader::Status status) {
+
+            if (status == Qt3DRender::QSceneLoader::Ready) {
+                applyWhiteMaterialRecursive(armModel);
+            }
+        });
+
     // 坐标轴依然挂在 root，不会被移动
     //createAxes();
 
@@ -100,6 +130,29 @@ void View3DBase::initScene()
     qDebug() << m_armTransform->matrix();
 }
 
+void View3DBase::applyWhiteMaterialRecursive(Qt3DCore::QEntity* entity)
+{
+    // 如果这个 entity 有 mesh，就给它加白色材质
+    auto meshes = entity->componentsOfType<Qt3DRender::QGeometryRenderer>();
+    if (!meshes.isEmpty()) {
+        auto* mat = new Qt3DExtras::QPhongMaterial(entity);
+        QColor c1("#cccccc");
+        mat->setDiffuse(c1);
+        mat->setAmbient(c1);
+        mat->setSpecular(c1);
+        mat->setShininess(50.0f);
+        entity->addComponent(mat);
+    }
+
+    // 递归处理子节点
+    const auto children = entity->children();
+    for (QObject* obj : children) {
+        auto* childEntity = qobject_cast<Qt3DCore::QEntity*>(obj);
+        if (childEntity)
+            applyWhiteMaterialRecursive(childEntity);
+    }
+}
+
 void View3DBase::createAxes()
 {
     // 参数

HPPA/View3D.h

@@ -16,6 +16,7 @@
 #include <Qt3DExtras/QPhongMaterial>
 #include <Qt3DRender/QSceneLoader>
 #include <Qt3DExtras/QCylinderMesh>
+#include <QPointLight> 
 
 class View3DBase : public QWidget
 {
@@ -67,6 +68,8 @@ protected:
     Qt3DCore::QTransform* m_baseRootTransform = nullptr;
     Qt3DCore::QTransform* m_armRootTransform = nullptr;
 
+    void applyWhiteMaterialRecursive(Qt3DCore::QEntity* entity);
+
 public Q_SLOTS:
     virtual void setLoc(std::vector<double> loc) = 0;
 };

HPPA/adjustTable.ui

@@ -6,24 +6,127 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>687</width>
+    <width>501</width>
-    <height>389</height>
+    <height>363</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
   <property name="windowTitle">
    <string>adjustTable</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <property name="styleSheet">
-   <item row="0" column="0">
+   <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	/*border-top: 12px solid transparent;
+    border-right: 0px solid transparent;
+    border-bottom: 0px solid transparent;
+    border-left: 0px solid transparent;*/
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_4" rowstretch="1,2,2,2,1" columnstretch="1,10,1">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>66</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
     <widget class="QGroupBox" name="groupBox_8">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
      <property name="title">
       <string>252号升降台</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_10">
+     <layout class="QGridLayout" name="gridLayout">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
       <item row="0" column="0">
        <widget class="QPushButton" name="objective_table252_up_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -33,10 +136,10 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
+      <item row="0" column="1">
        <widget class="QPushButton" name="objective_table252_down_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -46,10 +149,10 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
+      <item row="0" column="2">
        <widget class="QPushButton" name="objective_table252_stop_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -62,16 +165,63 @@
      </layout>
     </widget>
    </item>
-   <item row="0" column="1">
+   <item row="1" column="2">
+    <spacer name="horizontalSpacer_4">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
     <widget class="QGroupBox" name="groupBox_7">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
      <property name="title">
       <string>253号升降台</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_11">
+     <layout class="QGridLayout" name="gridLayout_3">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
       <item row="0" column="0">
        <widget class="QPushButton" name="objective_table1_up_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -81,10 +231,10 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
+      <item row="0" column="1">
        <widget class="QPushButton" name="objective_table1_down_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -94,10 +244,10 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
+      <item row="0" column="2">
        <widget class="QPushButton" name="objective_table1_stop_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -110,16 +260,63 @@
      </layout>
     </widget>
    </item>
-   <item row="0" column="2">
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_6">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="0">
+    <spacer name="horizontalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
     <widget class="QGroupBox" name="groupBox_6">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
      <property name="title">
       <string>254号升降台</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_9">
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
       <item row="0" column="0">
        <widget class="QPushButton" name="objective_table2_up_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -129,10 +326,10 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
+      <item row="0" column="1">
        <widget class="QPushButton" name="objective_table2_down_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -142,10 +339,10 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
+      <item row="0" column="2">
        <widget class="QPushButton" name="objective_table2_stop_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -158,6 +355,32 @@
      </layout>
     </widget>
    </item>
+   <item row="3" column="2">
+    <spacer name="horizontalSpacer_5">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="4" column="1">
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>65</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <layoutdefault spacing="6" margin="11"/>

HPPA/oneMotorControl.ui

@@ -6,217 +6,313 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>544</width>
+    <width>678</width>
-    <height>346</height>
+    <height>480</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>一轴马达控制</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <property name="styleSheet">
-   <item row="0" column="0">
+   <string notr="true">QPushButton
-    <layout class="QHBoxLayout" name="horizontalLayout">
+{
-     <item>
+	/*width: 172px;
-      <layout class="QVBoxLayout" name="verticalLayout">
+	height: 56px;
-       <item>
+	font: 19pt &quot;新宋体&quot;;*/
-        <widget class="QLabel" name="label">
+	background-color: qlineargradient(
-         <property name="text">
+        spread:pad, 
-          <string>实时位置</string>
+        x1:0.5, y1:0, x2:0.5, y2:1, 
-         </property>
+        stop:0 #283D86, 
-         <property name="alignment">
+        stop:1 #0F1A40
-          <set>Qt::AlignCenter</set>
+    );
-         </property>
+	color: white;
-        </widget>
+    padding: 8px 16px;
-       </item>
+    border-radius: 4px;
-       <item>
+}
-        <widget class="QLabel" name="label_6">
+QPushButton:hover
-         <property name="text">
+{
-          <string>运行速度</string>
+    background-color: qlineargradient(
-         </property>
+        spread:pad, 
-         <property name="alignment">
+        x1:0, y1:0, x2:1, y2:0, 
-          <set>Qt::AlignCenter</set>
+        stop:0 #3A4875, 
-         </property>
+        stop:1 #5F6B91
-        </widget>
+    );
-       </item>
+}
-       <item>
+/* 按下时的效果 */
-        <widget class="QLabel" name="label_7">
+QPushButton:pressed
-         <property name="text">
+{
-          <string>返回速度</string>
+    background-color: qlineargradient(
-         </property>
+        spread:pad, 
-         <property name="alignment">
+        x1:0, y1:0, x2:1, y2:0, 
-          <set>Qt::AlignCenter</set>
+        stop:0 #1A254F, 
-         </property>
+        stop:1 #3A466B
-        </widget>
+    );
-       </item>
+    /* 可选：添加下压效果 */
-       <item>
+    padding-top: 9px;
-        <widget class="QLabel" name="label_4">
+    padding-bottom: 7px;
-         <property name="text">
+}
-          <string/>
+QLabel
-         </property>
+{
-         <property name="alignment">
+	color: #ACCDFF;
-          <set>Qt::AlignCenter</set>
+	background-color: transparent;
-         </property>
+}
-        </widget>
+
-       </item>
+
-      </layout>
+
-     </item>
+
-     <item>
+
-      <layout class="QVBoxLayout" name="verticalLayout_2">
+QLineEdit {
-       <item>
+    background-color: #142D7F;
-        <widget class="QLineEdit" name="realTimeLoc_lineEdit">
+    color: #e6eeff;
-         <property name="text">
+    border: 1px solid #2f6bff;
-          <string>0</string>
+    border-radius: 6px;
-         </property>
+    padding: 4px 8px;
-         <property name="alignment">
+    min-width: 70px;
-          <set>Qt::AlignCenter</set>
+    min-height: 20px;
-         </property>
+    font-size: 13px;
-        </widget>
+}
-       </item>
+QLineEdit:hover {
-       <item>
+    border: 1px solid #4d8dff;
-        <widget class="QLineEdit" name="speed_lineEdit">
+}
-         <property name="sizePolicy">
+
-          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+QLineEdit:focus {
-           <horstretch>0</horstretch>
+    border: 1px solid #6aa2ff;
-           <verstretch>0</verstretch>
+    background-color: #23345c;
-          </sizepolicy>
+}</string>
-         </property>
+  </property>
-         <property name="minimumSize">
+  <layout class="QGridLayout" name="gridLayout_2" rowstretch="1,3,1" columnstretch="1,3,1">
-          <size>
-           <width>0</width>
-           <height>0</height>
-          </size>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>16777215</width>
-           <height>16777215</height>
-          </size>
-         </property>
-         <property name="styleSheet">
-          <string notr="true">background-color: rgb(255, 255, 255);</string>
-         </property>
-         <property name="text">
-          <string>0.1</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLineEdit" name="return_speed_lineEdit">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>0</height>
-          </size>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>16777215</width>
-           <height>16777215</height>
-          </size>
-         </property>
-         <property name="styleSheet">
-          <string notr="true">background-color: rgb(255, 255, 255);</string>
-         </property>
-         <property name="text">
-          <string>2</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLineEdit" name="move2loc_lineEdit">
-         <property name="text">
-          <string>0</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item>
-      <layout class="QVBoxLayout" name="verticalLayout_3">
-       <item>
-        <widget class="QPushButton" name="connect_btn">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>连接</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="zero_start_btn">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>归零</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="rangeMeasurement_btn">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>量程测量</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="move2loc_pushButton">
-         <property name="text">
-          <string>移动至</string>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-    </layout>
-   </item>
    <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>87</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
      <property name="sizeHint" stdset="0">
       <size>
-       <width>161</width>
+       <width>127</width>
        <height>20</height>
       </size>
      </property>
     </spacer>
    </item>
-   <item row="1" column="0">
+   <item row="1" column="1">
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
+    <layout class="QGridLayout" name="gridLayout">
-     <item>
+     <property name="spacing">
+      <number>10</number>
+     </property>
+     <item row="0" column="0">
+      <widget class="QLabel" name="label">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>实时位置</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="QLineEdit" name="realTimeLoc_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <widget class="QPushButton" name="connect_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>连接</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>运行速度</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QLineEdit" name="speed_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>0.1</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QPushButton" name="zero_start_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>归零</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="0">
+      <widget class="QLabel" name="label_3">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>返回速度</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="1">
+      <widget class="QLineEdit" name="return_speed_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>2</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="2">
+      <widget class="QPushButton" name="rangeMeasurement_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>量程测量</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="1">
+      <widget class="QLineEdit" name="move2loc_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="2">
+      <widget class="QPushButton" name="move2loc_pushButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>移动至</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="1">
       <widget class="QPushButton" name="left_btn">
        <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
          <horstretch>0</horstretch>
          <verstretch>0</verstretch>
         </sizepolicy>
@@ -226,10 +322,10 @@
        </property>
       </widget>
      </item>
-     <item>
+     <item row="4" column="2">
       <widget class="QPushButton" name="right_btn">
        <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
          <horstretch>0</horstretch>
          <verstretch>0</verstretch>
         </sizepolicy>
@@ -239,41 +335,64 @@
        </property>
       </widget>
      </item>
-    </layout>
+     <item row="5" column="2">
-   </item>
+      <layout class="QHBoxLayout" name="horizontalLayout">
-   <item row="2" column="0">
+       <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_3">
+        <widget class="QLabel" name="label_2">
-     <item>
+         <property name="text">
-      <spacer name="horizontalSpacer_2">
+          <string>状态</string>
-       <property name="orientation">
+         </property>
-        <enum>Qt::Horizontal</enum>
+        </widget>
-       </property>
+       </item>
-       <property name="sizeHint" stdset="0">
+       <item>
-        <size>
+        <widget class="QLabel" name="motor_state_label">
-         <width>40</width>
+         <property name="maximumSize">
-         <height>20</height>
+          <size>
-        </size>
+           <width>8</width>
-       </property>
+           <height>8</height>
-      </spacer>
+          </size>
-     </item>
+         </property>
-     <item>
+         <property name="sizeIncrement">
-      <widget class="QLabel" name="motor_state_label">
+          <size>
-       <property name="text">
+           <width>8</width>
-        <string>马达状态</string>
+           <height>8</height>
-       </property>
+          </size>
-      </widget>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color: red;
+border-radius: 4px;</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+      </layout>
      </item>
     </layout>
    </item>
-   <item row="3" column="0">
+   <item row="1" column="2">
-    <spacer name="verticalSpacer">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>127</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <spacer name="verticalSpacer_2">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
      </property>
      <property name="sizeHint" stdset="0">
       <size>
        <width>20</width>
-       <height>191</height>
+       <height>87</height>
       </size>
      </property>
     </spacer>