add，计划采集5：

实现部分计划采集功能：

HPPA/DepthCameraWindow.cpp

@@ -41,11 +41,21 @@ void DepthCameraWindow::onSelectDataFolder()
 		QString::fromLocal8Bit("选择数据保存路径"),
 		ui.dataFolderLineEdit->text());
 
-	if (!dir.isEmpty())
+    setDataFolder(dir);
-	{
+}
-		ui.dataFolderLineEdit->setText(dir);
+
-		AppSettings::instance().setDepthCameraDataFolder(dir);
+void DepthCameraWindow::setDataFolder(QString dir)
-	}
+{
+    if (!dir.isEmpty())
+    {
+        ui.dataFolderLineEdit->setText(dir);
+        AppSettings::instance().setDepthCameraDataFolder(dir);
+    }
+}
+
+void DepthCameraWindow::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_DepthCameraOperation->setCaptureInterval(captureIntervalSeconds);
 }
 
 void DepthCameraWindow::openDepthCamera()
@@ -83,6 +93,8 @@ DepthCameraOperation::DepthCameraOperation()
     m_pipe = nullptr;
 	m_func = nullptr;
 	record = false;
+
+    m_captureIntervalMilliseconds = 3000;
 }
 
 DepthCameraOperation::~DepthCameraOperation()
@@ -96,6 +108,11 @@ DepthCameraOperation::~DepthCameraOperation()
     }
 }
 
+void DepthCameraOperation::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
+}
+
 void DepthCameraOperation::OpenDepthCamera()
 {
     if (m_pipe)
@@ -142,14 +159,14 @@ void DepthCameraOperation::OpenDepthCamera()
 
     // Drop several frames
     for (int i = 0; i < 15; ++i) {
-        auto lost = m_pipe->waitForFrameset(100);
+        auto lost = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
     }
 
     auto pointCloud = std::make_shared<ob::PointCloudFilter>();
 
     int frameIndex = 0;
     record = true;
-    QString fileNamePrefix = AppSettings::instance().depthCameraDataFolder() + QDir::separator() + AppSettings::instance().fileName();
+    QString fileNamePrefix = AppSettings::instance().depthCameraDataFolder() + QDir::separator() + "Gemini336L";
 	QString imuFilePath = fileNamePrefix + "_IMU.txt";
 	std::ofstream imuFile(imuFilePath.toStdString(), std::ios::out | std::ios::trunc);
     while (record)
@@ -160,7 +177,7 @@ void DepthCameraOperation::OpenDepthCamera()
             std::cout << "Start recording..." << std::endl;
 		}
 
-        auto frameSet = m_pipe->waitForFrameset(100);
+        auto frameSet = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
         if (frameSet == nullptr)
         {
             std::cout << "No frames received in 100ms..." << std::endl;
@@ -218,7 +235,7 @@ void DepthCameraOperation::OpenDepthCamera()
         pointCloud->setCreatePointFormat(OB_FORMAT_RGB_POINT);
         std::shared_ptr<ob::Frame> frame = pointCloud->process(frameSet);
 
-        QString plyPath = fileNamePrefix + "_"+ QString::number(frameIndex) + ".ply";
+        QString plyPath = fileNamePrefix + "_PointCloud_"+ QString::number(frameIndex) + ".ply";
         ob::PointCloudHelper::savePointcloudToPly(plyPath.toStdString().c_str(), frame, false, false, 50);
 
         //惯导数据

HPPA/DepthCameraWindow.h

@@ -33,6 +33,8 @@ public:
 	void setCallback(void(*func)());
 	bool getRecordStatus() const { return record; }
 
+	void setCaptureInterval(int captureIntervalSeconds);
+
 private:
 	ob::Pipeline* m_pipe;
 	cv::Mat frame;
@@ -46,6 +48,8 @@ private:
 
 	bool record;
 
+	int m_captureIntervalMilliseconds;
+
 public slots:
 	void OpenDepthCamera();
 	void OpenDepthCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
@@ -68,6 +72,9 @@ public:
 
 	DepthCameraOperation* m_DepthCameraOperation;
 
+	void setDataFolder(QString dir);
+	void setCaptureInterval(int captureIntervalSeconds);
+
 public Q_SLOTS:
 	void openDepthCamera();
 	void onCamOpened();

HPPA/HPPA.cpp

@@ -576,8 +576,7 @@ HPPA::HPPA(QWidget* parent)
 	initMapTools();
 
 	//定时采集
-	connect(this->ui.mActionTimedDataCollection, SIGNAL(triggered()), this, SLOT(onTimedDataCollection()));
+	initTimedDataCollection();
-	mTimedDataCollectionWindow = new TimedDataCollection(m_tmc);
 
 	QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
 	QFile file(strPath);
@@ -592,6 +591,114 @@ HPPA::HPPA(QWidget* parent)
 	this->showMaximized();
 }
 
+void HPPA::initTimedDataCollection()
+{
+	connect(this->ui.mActionTimedDataCollection, SIGNAL(triggered()), this, SLOT(onTimedDataCollection()));
+	mTimedDataCollectionWindow = new TimedDataCollection();
+
+	// 定时采集控制器 → 相机/马达
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::hyperCamParm, this, &HPPA::setTimedDataCollectionHyperCamParm);
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::camParm, this, &HPPA::setTimedDataCollectionCamParm);
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::motorParm, this, &HPPA::setTimedDataCollectionMotorParm);
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::startRecordSignal, this, &HPPA::onStartTimedDataCollection);
+
+	// 相机/马达 → 定时采集控制器
+	connect(m_tmc, &TwoMotorControl::sequenceComplete, mTimedDataCollectionWindow, &TimedDataCollection::subTaskCompleted);
+
+	//连接马达控制和单反/深度
+}
+
+void HPPA::setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName)
+{
+	switch (camType)
+	{
+		case 0:
+		{
+			disconnectImagerAndCleanup();
+			ui.mActionPica_L->setChecked(true);
+
+			AppSettings::instance().setFrameRate(f);
+			AppSettings::instance().setIntegrationTime(e);
+			AppSettings::instance().setDataFolder(filePath);
+			AppSettings::instance().setFileName(fileName);
+
+			this->frame_number->setText("100000");
+
+			onconnect();
+			break;
+		}
+		case 1:
+		{
+			disconnectImagerAndCleanup();
+			ui.mActionPica_NIR->setChecked(true);
+
+			AppSettings::instance().setFrameRate(f);
+			AppSettings::instance().setIntegrationTime(e);
+			AppSettings::instance().setDataFolder(filePath);
+			AppSettings::instance().setFileName(fileName);
+
+			this->frame_number->setText("100000");
+
+			onconnect();
+			break;
+		}
+	}
+}
+
+void HPPA::setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder)
+{
+	switch (camType)
+	{
+		case 2:
+		{
+			m_singleLensReflexCameraWindow->setDataFolder(folder);
+			m_singleLensReflexCameraWindow->setCaptureInterval(captureIntervalSeconds);
+
+			break;
+		}
+		case 3:
+		{
+			m_depthCameraWindow->setDataFolder(folder);
+			m_depthCameraWindow->setCaptureInterval(captureIntervalSeconds);
+
+			break;
+		}
+	}
+
+}
+
+void HPPA::setTimedDataCollectionMotorParm(QString pathLineFilePath)
+{
+	m_tmc->readRecordLineFile(pathLineFilePath);
+	//m_tmc->onConnectMotor();
+	//QThread::msleep(1000);
+}
+
+void HPPA::onStartTimedDataCollection(int camType)
+{
+	switch (camType)
+	{
+		case 0:
+		{
+			onStartRecordStep1();
+			break;
+		}
+		case 1:
+		{
+			onStartRecordStep1();
+			break;
+		}
+		case 2:
+		{
+			break;
+		}
+		case 3:
+		{
+			break;
+		}
+	}
+}
+
 void HPPA::onTimedDataCollection()
 {
 	QAction* checkedScenario = m_ScenarioActionGroup->checkedAction();
@@ -609,6 +716,7 @@ void HPPA::onTimedDataCollection()
 	}
 }
 
+
 void HPPA::initMenubarToolbar()
 {
 	//自定义菜单栏和工具栏
@@ -868,7 +976,7 @@ void HPPA::initControlTabwidget()
 	//2轴马达控制
 	m_tmc = new TwoMotorControl(this);
 	//connect(m_tmc, SIGNAL(startLineNumSignal(int)), this, SLOT(onCreateTab(int)));
-	connect(m_tmc, SIGNAL(sequenceComplete()), this, SLOT(onsequenceComplete()));
+	connect(m_tmc, &TwoMotorControl::sequenceComplete, this, &HPPA::onsequenceComplete);
 	m_tmc->setWindowFlags(Qt::Widget);
 	ui.controlTabWidget->addTab(m_tmc, QString::fromLocal8Bit("2轴控制"));
 

HPPA/HPPA.h

@@ -319,6 +319,7 @@ private:
 	void disconnectImagerAndCleanup();
 
 	TimedDataCollection* mTimedDataCollectionWindow;
+	void initTimedDataCollection();
 
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
@@ -399,6 +400,10 @@ public Q_SLOTS:
 		void onMapToolSpectralTriggered();
 
 		void onTimedDataCollection();
+		void setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+		void setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder);
+		void setTimedDataCollectionMotorParm(QString pathLineFilePath);
+		void onStartTimedDataCollection(int camType);
 protected:
 	void closeEvent(QCloseEvent* event) override;
 

HPPA/SingleLensReflexCameraWindow.cpp

@@ -81,6 +81,11 @@ void SingleLensReflexCameraWindow::onSelectDataFolder()
         QString::fromLocal8Bit("选择数据保存路径"),
         ui.dataFolderLineEdit->text());
 
+    setDataFolder(dir);
+}
+
+void SingleLensReflexCameraWindow::setDataFolder(QString dir)
+{
     if (!dir.isEmpty())
     {
         ui.dataFolderLineEdit->setText(dir);
@@ -92,6 +97,11 @@ void SingleLensReflexCameraWindow::onSelectDataFolder()
     }
 }
 
+void SingleLensReflexCameraWindow::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_SingleLensReflexCameraOperation->setCaptureInterval(captureIntervalSeconds);
+}
+
 void SingleLensReflexCameraWindow::openSLRCamera()
 {
     if (!m_SingleLensReflexCameraOperation->getRecordStatus())
@@ -200,6 +210,7 @@ SingleLensReflexCameraOperation::SingleLensReflexCameraOperation()
     m_isSessionOpen = false;
     m_isLiveViewActive = false;
     m_imageCounter = 0;
+    m_captureIntervalMilliseconds = 3000;
 
     // 设置保存路径（从 AppSettings 获取，如果为空则使用默认的 CapturedImages 目录）
     m_savePath = AppSettings::instance().slrDataFolder();
@@ -780,13 +791,18 @@ void SingleLensReflexCameraOperation::takePhoto()
     // 启动拍照定时器（每3秒拍一张）
     if (m_captureTimer && !m_captureTimer->isActive())
     {
-        m_captureTimer->start(3000);
+        m_captureTimer->start(m_captureIntervalMilliseconds);
-        std::cout << "capture timer started (1 photo 3 second)" << std::endl;
+        //std::cout << "capture timer started (1 photo 3 second)" << std::endl;
 
         emit CaptureStartedSignal();
     }
 }
 
+void SingleLensReflexCameraOperation::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
+}
+
 void SingleLensReflexCameraOperation::stopTakePhoto()
 {
     if (m_captureTimer && m_captureTimer->isActive())

HPPA/SingleLensReflexCameraWindow.h

@@ -46,6 +46,8 @@ public:
     // 获取当前实时取景图像
     QImage getCurrentLiveViewImage();
 
+    void setCaptureInterval(int captureIntervalSeconds);
+
 private:
     cv::Mat frame;
     func m_func;
@@ -62,6 +64,7 @@ private:
     
     QString m_savePath;
     int m_imageCounter;
+    int m_captureIntervalMilliseconds;
     QMutex m_mutex;
     QMutex m_liveViewMutex;
     
@@ -127,6 +130,8 @@ public:
     ~SingleLensReflexCameraWindow();
 
     SingleLensReflexCameraOperation* m_SingleLensReflexCameraOperation;
+    void setDataFolder(QString dir);
+    void setCaptureInterval(int captureIntervalSeconds);
 
 public Q_SLOTS:
     void onSelectDataFolder();

HPPA/TimedDataCollection.cpp

@@ -1,11 +1,9 @@
 #include "TimedDataCollection.h"
 #include <QDateTime>
 #include <QDebug>
-#include "TwoMotorControl.h"
 
-TimedDataCollection::TimedDataCollection(TwoMotorControl* motorControl, QWidget* parent)
+TimedDataCollection::TimedDataCollection(QWidget* parent)
 	: QDialog(parent)
-	, m_motorControl(nullptr)
 	, m_scheduler(nullptr)
 {
 	ui.setupUi(this);
@@ -23,9 +21,16 @@ TimedDataCollection::TimedDataCollection(TwoMotorControl* motorControl, QWidget*
 	connect(m_scheduler, &TaskScheduler::taskFinished, this, &TimedDataCollection::taskFinished);
 	connect(m_scheduler, &TaskScheduler::subTaskStarted, this, &TimedDataCollection::subTaskStarted);
 	connect(m_scheduler, &TaskScheduler::subTaskFinished, this, &TimedDataCollection::subTaskFinished);
-	connect(m_scheduler, &TaskScheduler::motorPositionUpdated, this, &TimedDataCollection::motorPositionUpdated);
 	connect(m_scheduler, &TaskScheduler::errorOccurred, this, &TimedDataCollection::errorOccurred);
 
+	// 采集相关信号透传
+	connect(m_scheduler, &TaskScheduler::hyperCamParm, this, &TimedDataCollection::hyperCamParm);
+	connect(m_scheduler, &TaskScheduler::camParm, this, &TimedDataCollection::camParm);
+	connect(m_scheduler, &TaskScheduler::motorParm, this, &TimedDataCollection::motorParm);
+	connect(m_scheduler, &TaskScheduler::startRecordSignal, this, &TimedDataCollection::startRecordSignal);
+
+	connect(this, &TimedDataCollection::sequenceCompleteSignal, m_scheduler, &TaskScheduler::sequenceCompleteSignal);
+
 	//writeRead();
 	readTimedTaskFromFile("D:/0tmp/3Dtest/task.json");
 
@@ -33,6 +38,8 @@ TimedDataCollection::TimedDataCollection(TwoMotorControl* motorControl, QWidget*
 	m_scheduler->loadTasks(m_loadedTasks);
 
 	connect(ui.run_btn, &QPushButton::clicked, this, &TimedDataCollection::startScheduler);
+
+	startScheduler();
 }
 
 TimedDataCollection::~TimedDataCollection()
@@ -42,6 +49,11 @@ TimedDataCollection::~TimedDataCollection()
 	}
 }
 
+void TimedDataCollection::subTaskCompleted(int status)
+{
+	emit sequenceCompleteSignal(status);
+}
+
 void TimedDataCollection::startScheduler()
 {
 	if (m_scheduler) {
@@ -56,13 +68,6 @@ void TimedDataCollection::stopScheduler()
 	}
 }
 
-void TimedDataCollection::setMotorControl(TwoMotorControl* motorControl)
-{
-	if (m_scheduler) {
-		m_scheduler->setMotorControl(motorControl);
-	}
-}
-
 void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
 {
 	// 从文件读取

HPPA/TimedDataCollection.h

@@ -8,36 +8,40 @@
 #include "ui_TimedDataCollection_ui.h"
 #include "TimedDataCollectionDataStructures.h"
 
-class TwoMotorControl;
-
 class TimedDataCollection : public QDialog
 {
 	Q_OBJECT
 
 public:
-	TimedDataCollection(TwoMotorControl* motorControl, QWidget* parent = nullptr);
+	TimedDataCollection(QWidget* parent = nullptr);
 	~TimedDataCollection();
 
 	void readTimedTaskFromFile(const QString& filePath);
 
-	// 设置马达控制器供调度器使用
-	void setMotorControl(TwoMotorControl* motorControl);
-
 public Q_SLOTS:
 	void startScheduler();
 	void stopScheduler();
+	void subTaskCompleted(int status);
 
 Q_SIGNALS:
 	void taskStarted(int taskId);
 	void taskFinished(int taskId, bool success);
+
 	void subTaskStarted(int taskId, int subTaskIndex);
 	void subTaskFinished(int taskId, int subTaskIndex);
-	void motorPositionUpdated(double x, double y);
 	void errorOccurred(const QString& error);
 
+	// 采集相关信号 (透传 TaskScheduler)
+	void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+	void camParm(int camType, int captureIntervalSeconds, QString folder);
+	void motorParm(QString pathLineFilePath);
+	void startRecordSignal(int camType);
+
+	// 马达反馈的信号
+	void sequenceCompleteSignal(int status);
+
 private:
 	Ui::TimedDataCollection_ui ui;
-	TwoMotorControl* m_motorControl;
 
 	void writeRead();
 

HPPA/TimedDataCollectionDataStructures.cpp

@@ -197,20 +197,11 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO
 
 // ==================== TaskExecutor 实现 ====================
 
-TaskExecutor::TaskExecutor(TwoMotorControl* motorControl, QObject* parent)
+TaskExecutor::TaskExecutor(QObject* parent)
     : QObject(parent)
-    , m_motorControl(motorControl)
     , m_currentSubTaskIndex(0)
     , m_isRunning(false)
 {
-    if (m_motorControl) {
-        connect(m_motorControl, &TwoMotorControl::broadcastLocationSignal,
-                this, &TaskExecutor::onMotorLocationUpdate);
-        //connect(m_motorControl, &TwoMotorControl::sequenceComplete,
-        //        this, &TaskExecutor::onSequenceComplete);
-        //connect(m_motorControl, &TwoMotorControl::errorOccurred,
-        //        this, &TaskExecutor::onError);
-    }
 }
 
 TaskExecutor::~TaskExecutor()
@@ -232,6 +223,7 @@ void TaskExecutor::execute(const TimedTask& task)
     qDebug() << "TaskExecutor: Starting task" << task.id;
 
     // 开始执行第一个子任务
+    makeFolder(m_task.savePath);
     executeNextSubTask();
 }
 
@@ -241,14 +233,33 @@ void TaskExecutor::stop()
 
     qDebug() << "TaskExecutor: Stopping task" << m_task.id;
 
-    if (m_motorControl) {
-        m_motorControl->stop();
-    }
-
     m_isRunning = false;
     emit finished(false);
 }
 
+void TaskExecutor::makeFolder(QString savePath)
+{
+    QDir dir(savePath);
+    if (!dir.exists()) {
+        if (dir.mkpath(".")) {
+            qDebug() << "TaskExecutor: Created data folder:" << savePath;
+        } else {
+            qWarning() << "TaskExecutor: Failed to create data folder:" << savePath;
+        }
+    } else {
+        qDebug() << "TaskExecutor: Data folder already exists:" << savePath;
+    }
+}
+
+QString TaskExecutor::makeSubTaskDataFolder(QString suffix)
+{
+    QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
+    QString folderPath = m_task.savePath + QDir::separator() + dateStr + "_" + suffix;
+    makeFolder(folderPath);
+
+    return folderPath;
+}
+
 void TaskExecutor::onSequenceComplete(int status)
 {
     if (!m_isRunning) return;
@@ -276,13 +287,6 @@ void TaskExecutor::onSequenceComplete(int status)
     }
 }
 
-void TaskExecutor::onMotorLocationUpdate(std::vector<double> loc)
-{
-    if (loc.size() >= 2) {
-        emit motorPositionUpdated(loc[0], loc[1]);
-    }
-}
-
 void TaskExecutor::onError(const QString& error)
 {
     if (!m_isRunning) return;
@@ -299,6 +303,8 @@ void TaskExecutor::executeNextSubTask()
         return;
     }
 
+    std::cerr << "TaskExecutor::executeNextSubTask，执行子任务" << std::endl;
+
     SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
     subTask.status = TaskStatus::Running;
     subTask.startTime = QDateTime::currentDateTime();
@@ -308,54 +314,42 @@ void TaskExecutor::executeNextSubTask()
 
     emit subTaskStarted(m_currentSubTaskIndex, subTask.type);
     
-    //根据任务类型切换相机类型，还需要考虑相关信号和槽
+    emit motorParm(subTask.pathLineFilePath);
 
-    // 如果有路径线文件，加载路径线并启动马达
+    int camType;
-    if (!subTask.pathLineFilePath.isEmpty()) {
+    switch (subTask.type)
-        loadPathLinesFromFile(subTask.pathLineFilePath);
+    {
-    } else {
+        case SubTaskType::HyperSpectual400_1000nm:
-        qDebug() << "TaskExecutor: No path line file for subtask";
+        {
-    }
+            camType = 0;
-}
+            emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("L"), "test");
             
-void TaskExecutor::loadPathLinesFromFile(const QString& filePath)
+            break;
-{
-    // 从 .RecordLine3 文件加载路径线
-    QFile file(filePath);
-    if (!file.open(QIODevice::ReadOnly)) {
-        qWarning() << "TaskExecutor: Failed to open path line file:" << filePath;
-        emit errorOccurred("Failed to open path line file: " + filePath);
-        return;
-    }
-
-    double number;
-    file.read(reinterpret_cast<char*>(&number), sizeof(double));
-
-    QVector<PathLine> pathLines;
-    for (int i = 0; i < static_cast<int>(number) / 6; ++i) {
-        PathLine line;
-        for (int j = 0; j < 6; ++j) {
-            double value;
-            file.read(reinterpret_cast<char*>(&value), sizeof(double));
-            switch (j) {
-                case 0: line.targetYPosition = value; break;
-                case 1: line.speedTargetYPosition = value; break;
-                case 2: line.targetXMinPosition = value; break;
-                case 3: line.speedTargetXMinPosition = value; break;
-                case 4: line.targetXMaxPosition = value; break;
-                case 5: line.speedTargetXMaxPosition = value; break;
-            }
         }
-        pathLines.append(line);
+        case SubTaskType::HyperSpectual1000_1700nm:
-    }
+        {
-    file.close();
+            camType = 1;
+            emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("NIR"), "test");
 
-    qDebug() << "TaskExecutor: Loaded" << pathLines.size() << "path lines from" << filePath;
+            break;
+        }
+        case SubTaskType::SingleLensReflex:
+        {
+            camType = 2;
+            emit camParm(camType, 3, makeSubTaskDataFolder("SLR"));
 
-    // 通知马达控制器开始执行
+            break;
-    if (m_motorControl) {
+        }
-        emit m_motorControl->start(pathLines);
+        case SubTaskType::DepthCamera:
+        {
+            camType = 3;
+            emit camParm(camType, 3, makeSubTaskDataFolder("DepthCamera"));
+
+            break;
+        }
     }
+
+    emit startRecordSignal(camType);
 }
 
 // ==================== TaskScheduler 实现 ====================
@@ -363,7 +357,6 @@ void TaskExecutor::loadPathLinesFromFile(const QString& filePath)
 TaskScheduler::TaskScheduler(QObject* parent)
     : QObject(parent)
     , m_timer(nullptr)
-    , m_motorControl(nullptr)
     , m_currentExecutor(nullptr)
     , m_currentTaskId(-1)
 {
@@ -374,11 +367,6 @@ TaskScheduler::~TaskScheduler()
     stop();
 }
 
-void TaskScheduler::setMotorControl(TwoMotorControl* motorControl)
-{
-    m_motorControl = motorControl;
-}
-
 void TaskScheduler::loadTasks(const QVector<TimedTask>& tasks)
 {
     m_tasks = tasks;
@@ -421,15 +409,22 @@ void TaskScheduler::stop()
 
 void TaskScheduler::checkTasks()
 {
-    if (!m_motorControl) return;
-
     QDateTime now = QDateTime::currentDateTime();
 
     for (auto& task : m_tasks) {
         if (task.status != TaskStatus::Waiting) continue;
+
+        // 超过计划时间1分钟以上，认为任务已过时，跳过
+        if (task.scheduledTime.addSecs(60) < now) {
+            std::cerr << "TaskScheduler::checkTasks，任务已过时，跳过:" << task.id << std::endl;
+            task.status = TaskStatus::Finished;
+            continue;
+        }
+
         if (task.scheduledTime > now) continue;
 
         // 到达计划时间，启动任务
+        std::cerr << "TaskScheduler::checkTasks，到达计划时间，启动任务" << std::endl;
         executeTask(task);
         break; // 一次只执行一个任务
     }
@@ -470,18 +465,8 @@ void TaskScheduler::onExecutorError(const QString& error)
     emitError(error);
 }
 
-void TaskScheduler::onExecutorMotorPositionUpdated(double x, double y)
-{
-    emit motorPositionUpdated(x, y);
-}
-
 void TaskScheduler::executeTask(TimedTask& task)
 {
-    if (!m_motorControl) {
-        emitError("Motor control not set");
-        return;
-    }
-
     qDebug() << "TaskScheduler: Executing task" << task.id;
 
     updateTaskStatus(task.id, TaskStatus::Running);
@@ -490,7 +475,7 @@ void TaskScheduler::executeTask(TimedTask& task)
     emit taskStarted(task.id);
 
     // 创建任务执行器
-    m_currentExecutor = new TaskExecutor(m_motorControl, this);
+    m_currentExecutor = new TaskExecutor(this);
 
     // 连接信号
     connect(m_currentExecutor, &TaskExecutor::finished,
@@ -501,8 +486,18 @@ void TaskScheduler::executeTask(TimedTask& task)
             this, &TaskScheduler::onSubTaskFinished);
     connect(m_currentExecutor, &TaskExecutor::errorOccurred,
             this, &TaskScheduler::onExecutorError);
-    connect(m_currentExecutor, &TaskExecutor::motorPositionUpdated,
+
-            this, &TaskScheduler::onExecutorMotorPositionUpdated);
+    // 采集相关信号透传
+    connect(m_currentExecutor, &TaskExecutor::hyperCamParm,
+            this, &TaskScheduler::hyperCamParm);
+    connect(m_currentExecutor, &TaskExecutor::camParm,
+            this, &TaskScheduler::camParm);
+    connect(m_currentExecutor, &TaskExecutor::motorParm,
+            this, &TaskScheduler::motorParm);
+    connect(m_currentExecutor, &TaskExecutor::startRecordSignal,
+            this, &TaskScheduler::startRecordSignal);
+
+    connect(this, &TaskScheduler::sequenceCompleteSignal, m_currentExecutor, &TaskExecutor::onSequenceComplete);
 
     // 开始执行
     m_currentExecutor->execute(task);

HPPA/TimedDataCollectionDataStructures.h

@@ -6,7 +6,6 @@
 #include <QMetaType>
 #include <QTimer>
 
-#include "TwoMotorControl.h"
 #include "CaptureCoordinator.h"
 
 // ==================== 枚举定义 ====================
@@ -107,10 +106,6 @@ private:
     static SubTaskType stringToSubTaskType(const QString& str);
 };
 
-// ==================== 前向声明 ====================
-
-class TwoMotorControl;
-
 // ==================== 任务执行器 ====================
 
 class TaskExecutor : public QObject
@@ -118,11 +113,13 @@ class TaskExecutor : public QObject
     Q_OBJECT
 
 public:
-    explicit TaskExecutor(TwoMotorControl* motorControl, QObject* parent = nullptr);
+    explicit TaskExecutor(QObject* parent = nullptr);
     ~TaskExecutor();
 
     // 执行任务
     void execute(const TimedTask& task);
+    void makeFolder(QString savePath);
+    QString makeSubTaskDataFolder(QString suffix);
 
     // 获取当前执行的子任务索引
     int currentSubTaskIndex() const { return m_currentSubTaskIndex; }
@@ -140,19 +137,21 @@ signals:
     void finished(bool success);                           // 任务完成
     void subTaskStarted(int subTaskIndex, SubTaskType type); // 子任务开始
     void subTaskFinished(int subTaskIndex, SubTaskType type, bool success); // 子任务完成
-    void motorPositionUpdated(double x, double y);          // 马达位置更新
     void errorOccurred(const QString& error);               // 错误发生
 
-private slots:
+    // 采集相关信号
+    void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+    void camParm(int camType, int captureIntervalSeconds, QString folder);
+    void motorParm(QString pathLineFilePath);
+    void startRecordSignal(int camType);
+
+public slots:
     void onSequenceComplete(int status);
-    void onMotorLocationUpdate(std::vector<double> loc);
     void onError(const QString& error);
 
 private:
     void executeNextSubTask();
-    void loadPathLinesFromFile(const QString& filePath);
 
-    TwoMotorControl* m_motorControl;
     TimedTask m_task;
     int m_currentSubTaskIndex;
     bool m_isRunning;
@@ -168,9 +167,6 @@ public:
     explicit TaskScheduler(QObject* parent = nullptr);
     ~TaskScheduler();
 
-    // 设置马达控制器
-    void setMotorControl(TwoMotorControl* motorControl);
-
     // 加载任务列表
     void loadTasks(const QVector<TimedTask>& tasks);
 
@@ -189,19 +185,28 @@ public:
 signals:
     void taskStarted(int taskId);                          // 任务开始
     void taskFinished(int taskId, bool success);            // 任务完成
+
+    // 子任务的信号
     void subTaskStarted(int taskId, int subTaskIndex);      // 子任务开始
     void subTaskFinished(int taskId, int subTaskIndex);     // 子任务完成
-    void motorPositionUpdated(double x, double y);         // 马达位置更新
     void errorOccurred(const QString& error);               // 错误发生
     void schedulerStateChanged(bool running);                // 调度器状态变化
 
+    // 采集相关信号 (透传 TaskExecutor)
+    void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+    void camParm(int camType, int captureIntervalSeconds, QString folder);
+    void motorParm(QString pathLineFilePath);
+    void startRecordSignal(int camType);
+
+    // 马达反馈的信号
+    void sequenceCompleteSignal(int status);
+
 private slots:
     void checkTasks();                                     // 检查任务是否该启动
     void onTaskFinished(bool success);
     void onSubTaskStarted(int subTaskIndex, SubTaskType type);
     void onSubTaskFinished(int subTaskIndex, SubTaskType type, bool success);
     void onExecutorError(const QString& error);
-    void onExecutorMotorPositionUpdated(double x, double y);
 
 private:
     void executeTask(TimedTask& task);
@@ -210,7 +215,6 @@ private:
 
     QTimer* m_timer;
     QVector<TimedTask> m_tasks;
-    TwoMotorControl* m_motorControl;
     TaskExecutor* m_currentExecutor;
     int m_currentTaskId;
 };

HPPA/TwoMotorControl.cpp

@@ -116,7 +116,7 @@ void TwoMotorControl::run()
 	{
 		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
 
-		emit sequenceComplete();
+		emit sequenceComplete(0);
 		return;
 	}
 
@@ -129,7 +129,7 @@ void TwoMotorControl::run()
 	connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
 	connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
 	connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
-	connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
+	connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
 
 	connect(m_coordinator, &TwoMotionCaptureCoordinator::startRecordHSISignal, m_Imager, &ImagerOperationBase::start_record);
 	connect(m_coordinator, &TwoMotionCaptureCoordinator::stopRecordHSISignal, this, &TwoMotorControl::stop_record);
@@ -263,7 +263,7 @@ void TwoMotorControl::receiveFinishRecordLineNum(int lineNum)
 	}
 }
 
-void TwoMotorControl::onSequenceComplete()
+void TwoMotorControl::onSequenceComplete(int status)
 {
 	isWritePosFile = false;
 	fclose(m_posFileHandle);
@@ -272,7 +272,7 @@ void TwoMotorControl::onSequenceComplete()
 	m_coordinatorThread.wait();
 	m_coordinator = nullptr;
 
-	emit sequenceComplete();
+	emit sequenceComplete(status);
 }
 
 bool TwoMotorControl::getMotorsConnectionStatus()
@@ -551,7 +551,10 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 	{
 		return;
 	}
-
+	readRecordLineFile(RecordLineFilePath);
+}
+void TwoMotorControl::readRecordLineFile(QString RecordLineFilePath)
+{
 	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
 	double number;
 

HPPA/TwoMotorControl.h

@@ -28,6 +28,8 @@ public:
 
     bool getMotorsConnectionStatus();
 
+    void readRecordLineFile(QString RecordLineFilePath);
+    
 private:
     ImagerOperationBase* m_Imager;
     bool getState();
@@ -68,7 +70,7 @@ public Q_SLOTS:
     void stop();
     void receiveStartRecordLineNum(int lineNum);
     void receiveFinishRecordLineNum(int lineNum);
-    void onSequenceComplete();
+    void onSequenceComplete(int status);
 
     void stop_record();
 
@@ -86,7 +88,7 @@ signals:
     void stopSignal();
 
     void startLineNumSignal(int lineNum);
-    void sequenceComplete();//所有采集线正常运行完成
+    void sequenceComplete(int status);//所有采集线正常运行完成
 
     void broadcastLocationSignal(std::vector<double>);