完成新的二轴采集：二轴采集逻辑控制器

2025-09-12 16:21:42 +08:00
parent ac241f45cc
commit 496f61c0e1
11 changed files with 2469 additions and 30 deletions
--- a/HPPA/CaptureCoordinator.cpp
+++ b/HPPA/CaptureCoordinator.cpp
@ -0,0 +1,443 @@
+#include "CaptureCoordinator.h"
+
+TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	ImagerOperationBase* cameraCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_cameraCtrl(cameraCtrl)
+	, m_isRunning(false)
+{
+	//这些信号槽是按照逻辑顺序的
+	connect(this, SIGNAL(moveTo(int, double, double, int)),
+		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)),
+		m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+	connect(this, &TwoMotionCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &TwoMotionCaptureCoordinator::handlePositionReached);
+	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
+	//	this, &TwoMotionCaptureCoordinator::handleError);
+
+	connect(this, &TwoMotionCaptureCoordinator::startRecordHSISignal,
+		m_cameraCtrl, &ImagerOperationBase::start_record);
+	connect(this, &TwoMotionCaptureCoordinator::stopRecordHSISignal,
+		m_cameraCtrl, &ImagerOperationBase::stop_record);
+	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet,
+		this, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+	//connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberNotMeet,
+	//	this, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberNotMeet);
+	//connect(m_cameraCtrl, &ImagerOperationBase::captureFailed,
+	//	this, &TwoMotionCaptureCoordinator::handleError);
+}
+
+TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_isRunning(false)
+{
+	connect(this, SIGNAL(moveTo(int, double, double, int)),
+		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)),
+		m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &TwoMotionCaptureCoordinator::handlePositionReached);
+	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
+	//	this, &TwoMotionCaptureCoordinator::handleError);
+}
+
+TwoMotionCaptureCoordinator::~TwoMotionCaptureCoordinator()
+{
+
+}
+
+void TwoMotionCaptureCoordinator::start(QVector<PathLine> pathLines)
+{
+	//QMutexLocker locker(&m_dataMutex);
+
+	if (m_isRunning)
+	{
+		emit errorOccurred("Sequence already running");
+		std::cout << "already running" << std::endl;
+		return;
+	}
+
+	getLocBeforeStart();
+	
+	m_pathLines = pathLines;
+
+	m_isMoving2XMin = false;
+	m_isMoving2XMax = false;
+	m_isMoving2XStartLoc = false;
+
+	m_isMoving2YTargeLoc = false;
+	m_isMoving2YStartLoc = false;
+	m_isImagerFrameNumberMeet = false;
+
+	m_retryTimesMoving2XMin = 0;
+	m_retryTimesMoving2XMax = 0;
+	m_retryTimesMoving2YTargeLoc = 0;
+
+	m_isRunning = true;
+	m_numCurrentPathLine = 0;
+	processNextPathLine();
+}
+
+void TwoMotionCaptureCoordinator::stop()
+{
+	if (!m_isRunning) return;
+
+	//QMutexLocker locker(&m_dataMutex);
+
+	std::cout << "The user manually stops the collection! " << std::endl;
+	savePathLinesToCsv();
+	
+	emit sequenceComplete(1);
+	emit finishRecordLineNumSignal(m_numCurrentPathLine);
+	//emit stopRecordHSISignal(m_numCurrentPathLine);
+	if (m_cameraCtrl != nullptr)
+	{
+		m_cameraCtrl->stop_record();
+	}
+
+	move2LocBeforeStart();
+}
+
+void TwoMotionCaptureCoordinator::getLocBeforeStart()
+{
+	QEventLoop loop;
+	bool received = false;
+
+	QTimer timer;
+	timer.setSingleShot(true);
+	connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
+
+	QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
+		[&](std::vector<double> pos) {
+			m_locBeforeStart = pos;
+			received = true;
+			loop.quit();
+		});
+
+	QMetaObject::invokeMethod(m_motorCtrl, "getLoc", Qt::QueuedConnection);
+	timer.start(3000);
+
+	loop.exec();
+
+	disconnect(conn);
+}
+
+void TwoMotionCaptureCoordinator::getRecordState()
+{
+	emit recordState(m_isRunning);
+}
+
+void TwoMotionCaptureCoordinator::move2LocBeforeStart()
+{
+	std::cout << "\nmove2LocBeforeStart." << std::endl;
+
+	PathLine& tmp = m_pathLines[0];
+	std::vector<double> speed;
+	speed.push_back(tmp.speedTargetXMinPosition);
+	speed.push_back(tmp.speedTargetYPosition);
+	emit moveTo(m_locBeforeStart, speed, 1000);
+
+	m_isRunning = false;
+
+	m_isMoving2XMin = false;
+	m_isMoving2XMax = false;
+	m_isMoving2YTargeLoc = false;
+
+	m_isMoving2XStartLoc = true;
+	m_isMoving2YStartLoc = true;
+}
+
+QVector<PathLine> TwoMotionCaptureCoordinator::pathLines() const
+{
+	//QMutexLocker locker(&m_dataMutex);
+	return m_pathLines;
+}
+
+double TwoMotionCaptureCoordinator::getTimeDiffMinutes(QDateTime startTime, QDateTime endTime)
+{
+	qint64 diffMillis = startTime.msecsTo(endTime);
+	double diffMinutes = (double)diffMillis / 60000;//min
+
+	return diffMinutes;
+}
+
+bool TwoMotionCaptureCoordinator::savePathLinesToCsv(QString filename)
+{
+	//QMutexLocker locker(&m_dataMutex);
+	if (filename.isEmpty())
+	{
+		FileOperation* fileOperation = new FileOperation();
+		string directory = fileOperation->getDirectoryOfExe();
+		QDateTime now = QDateTime::currentDateTime();
+		QString format1 = "yyyyMMdd_HHmmss";
+		QString fileNameTmp = now.toString("yyyyMMdd_HHmmss");
+
+		filename = QDir::cleanPath(QString::fromStdString(directory) + QDir::separator() + "pathLines" + QDir::separator() + fileNameTmp + "_pathLines.csv");
+	}
+
+	QDir dir = QFileInfo(filename).absoluteDir();
+
+	// 如果目录不存在，则递归创建
+	if (!dir.exists()) {
+		if (!dir.mkpath(".")) {
+			qWarning() << "Failed to create directory:" << dir.path();
+			return false;
+		}
+	}
+
+	QFile file(filename);
+	if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+	{
+		return false;
+	}
+
+	QTextStream out(&file);
+	out << "timestamp1,timestamp2,timestamp3,time consuming(min),targetYPosition,actualYPosition,targetXMinPosition,actualXMinPosition,targetXMaxPosition,actualXMaxPosition\n";
+
+	for (const auto& data : m_pathLines)
+	{
+		out << data.timestamp1.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+			<< data.timestamp2.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+			<< data.timestamp3.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+			<< QString::number(getTimeDiffMinutes(data.timestamp2, data.timestamp3), 'f', 4) << ","
+			<< QString::number(data.targetYPosition, 'f', 4) << ","
+			<< QString::number(data.actualYPosition, 'f', 4) << ","
+			<< QString::number(data.targetXMinPosition, 'f', 4) << ","
+			<< QString::number(data.actualXMinPosition, 'f', 4) << ","
+			<< QString::number(data.targetXMaxPosition, 'f', 4) << ","
+			<< QString::number(data.actualXMaxPosition, 'f', 4)
+			<< "\n";
+	}
+
+	file.close();
+	return true;
+}
+
+void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
+{
+	if (!m_isRunning) return;
+
+	//QMutexLocker locker(&m_dataMutex);
+
+	PathLine &tmp = m_pathLines[m_numCurrentPathLine];
+
+	if (motorID == 1)//y马达
+	{
+		if (m_isMoving2YTargeLoc)
+		{
+			double threshold = getThre(tmp.targetYPosition, pos);
+
+			if (threshold > 5)
+			{
+				//没到准确位置，再次给马达发送命令
+				if (m_retryTimesMoving2YTargeLoc < m_retryLimit)
+				{
+					m_retryTimesMoving2YTargeLoc++;
+
+					std::cout << "Y motor Moving2YTargeLoc error. Retry..." << std::endl;
+					emit moveTo(1, tmp.targetYPosition, tmp.speedTargetYPosition, 1000);
+					return;
+				}
+			}
+			m_retryTimesMoving2YTargeLoc = 0;
+
+			tmp.actualYPosition = pos;
+
+			m_isMoving2YTargeLoc = false;
+
+			std::cout << "y motor is reached!!!! " << std::endl;
+			startRecordHsi();
+
+			return;
+		}
+
+		if (m_isMoving2YStartLoc)
+		{
+			m_isMoving2YStartLoc = false;
+
+			return;
+		}
+	}
+	if (motorID == 0)//x马达
+	{
+		if (m_isMoving2XMin)
+		{
+			double threshold = getThre(tmp.targetXMinPosition, pos);
+
+			if (threshold > 5)
+			{
+				//没到准确位置，再次给马达发送命令
+				if (m_retryTimesMoving2XMin < m_retryLimit)
+				{
+					m_retryTimesMoving2XMin++;
+
+					std::cout << "X motor Moving2XMin error. Retry..." << std::endl;
+					emit moveTo(0, tmp.targetXMinPosition, tmp.speedTargetXMinPosition, 1000);
+					return;
+				}
+			}
+			m_retryTimesMoving2XMin = 0;
+
+			tmp.actualXMinPosition = pos;
+
+			m_isMoving2XMin = false;
+
+			std::cout << "x motor is reached!!!! " << std::endl;
+			startRecordHsi();
+			
+			return;
+		}
+
+		if (m_isMoving2XMax)
+		{
+			double threshold = getThre(tmp.targetXMaxPosition, pos);
+			
+			if (threshold > 5 && !m_isImagerFrameNumberMeet)//马达没到准确位置 && 【非】光谱仪因帧数限制主动停止采集
+			{
+				//没到准确位置，再次给马达发送命令
+				if (m_retryTimesMoving2XMax < m_retryLimit)
+				{
+					m_retryTimesMoving2XMax++;
+
+					std::cout << "X motor Moving2XMax error. Retry..." << std::endl;
+					emit moveTo(0, tmp.targetXMaxPosition, tmp.speedTargetXMaxPosition, 1000);
+					return;
+				}
+			}
+			m_retryTimesMoving2XMax = 0;
+
+			tmp.actualXMaxPosition = pos;
+			tmp.timestamp3 = QDateTime::currentDateTime();
+
+			std::cout << "Line " << m_numCurrentPathLine << " time span(min):" << getTimeDiffMinutes(tmp.timestamp2, tmp.timestamp3) << std::endl;
+
+			//停止采集高光谱数据
+			emit finishRecordLineNumSignal(m_numCurrentPathLine);
+			//emit stopRecordHSISignal(m_numCurrentPathLine);
+			if (m_cameraCtrl!=nullptr)
+			{
+				m_cameraCtrl->stop_record();
+			}
+
+			m_isMoving2XMax = false;
+			m_isImagerFrameNumberMeet = false;
+			m_numCurrentPathLine++;
+			processNextPathLine();
+
+			return;
+		}
+
+		if (m_isMoving2XStartLoc)
+		{
+			m_isMoving2XStartLoc = false;
+
+			return;
+		}
+	}
+}
+
+double TwoMotionCaptureCoordinator::getThre(double targetLoc,double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double thre = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return thre;
+}
+
+void TwoMotionCaptureCoordinator::startRecordHsi()
+{
+	if (!m_isRunning) return;
+
+	//QMutexLocker locker(&m_dataMutex);
+
+	if (!m_isMoving2XMin && !m_isMoving2YTargeLoc)
+	{
+		//开始采集高光谱数据
+		PathLine &tmp = m_pathLines[m_numCurrentPathLine];
+		tmp.timestamp2 = QDateTime::currentDateTime();
+		std::cout << "start recording hsi, moving to " << tmp.targetXMaxPosition << std::endl;
+
+		m_isMoving2XMax = true;
+		emit moveTo(0, tmp.targetXMaxPosition, tmp.speedTargetXMaxPosition, 1000);
+
+		emit startRecordHSISignal(m_numCurrentPathLine);
+	}
+}
+
+void TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
+{
+	m_isImagerFrameNumberMeet = true;
+	emit stopMotorSignal(0);
+}
+
+void TwoMotionCaptureCoordinator::handleError(const QString& error)
+{
+	//QMutexLocker locker(&m_dataMutex);
+	m_isRunning = false;
+	emit errorOccurred(error);
+}
+
+void TwoMotionCaptureCoordinator::processNextPathLine()
+{
+	if (!m_isRunning) return;
+
+	int numPathLines = m_pathLines.size();
+
+	if (numPathLines == 0)
+	{
+		move2LocBeforeStart();
+		return;
+	}
+
+	if (m_isMoving2YTargeLoc || m_isMoving2XMin)
+	{
+		return;
+	}
+
+	if (m_numCurrentPathLine > numPathLines - 1)
+	{
+		std::cout << "\nAll path lines is finished! " << std::endl;
+
+		move2LocBeforeStart();
+		savePathLinesToCsv();
+
+		emit sequenceComplete(0);
+
+		return;
+	}
+
+	std::cout << "\nNew path line: " << m_numCurrentPathLine << std::endl;
+	emit startRecordLineNumSignal(m_numCurrentPathLine);
+
+	PathLine &tmp = m_pathLines[m_numCurrentPathLine];
+	tmp.timestamp1 = QDateTime::currentDateTime();
+
+	std::vector<double> loc;
+	loc.push_back(tmp.targetXMinPosition);
+	loc.push_back(tmp.targetYPosition);
+	std::vector<double> speed;
+	speed.push_back(tmp.speedTargetXMinPosition);
+	speed.push_back(tmp.speedTargetYPosition);
+
+	m_isMoving2YTargeLoc = true;
+	m_isMoving2XMin = true;
+	emit moveTo(loc, speed, 1000);
+}
--- a/HPPA/CaptureCoordinator.h
+++ b/HPPA/CaptureCoordinator.h
@ -0,0 +1,107 @@
+#pragma once
+#include <QDateTime>
+#include <QObject>
+#include <QMutex>
+#include <QMetaType>
+
+#include "ImagerOperationBase.h"
+#include "IrisMultiMotorController.h"
+
+struct PathLine
+{
+	double targetYPosition;
+	double actualYPosition;
+	double speedTargetYPosition;
+	
+	double targetXMinPosition;
+	double actualXMinPosition;
+	double speedTargetXMinPosition;
+
+	double targetXMaxPosition;
+	double actualXMaxPosition;
+	double speedTargetXMaxPosition;
+
+	QDateTime timestamp1;//开始航线
+	QDateTime timestamp2;//开始采集高光谱
+	QDateTime timestamp3;//结束采集高光谱
+
+	PathLine(double targetYPosition_=0, double targetXMinPosition_ = 0, double targetXMaxPosition_ = 0)
+		: targetYPosition(targetYPosition_), actualYPosition(0), speedTargetYPosition(0), 
+		targetXMinPosition(targetXMinPosition_), actualXMinPosition(0), speedTargetXMinPosition(0),
+		targetXMaxPosition(targetXMaxPosition_), actualXMaxPosition(0), speedTargetXMaxPosition(0),
+		timestamp1(QDateTime::currentDateTime()), timestamp2(QDateTime::currentDateTime()), timestamp3(QDateTime::currentDateTime()) {}
+};
+Q_DECLARE_METATYPE(PathLine);
+//Q_DECLARE_METATYPE(QVector<PathLine>);
+
+class TwoMotionCaptureCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
+		ImagerOperationBase* cameraCtrl,
+		QObject* parent = nullptr);
+	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
+		QObject* parent = nullptr);
+	~TwoMotionCaptureCoordinator();
+
+	QVector<PathLine> pathLines() const;
+
+signals:
+	void sequenceComplete(int);//0：所有采集线正常运行完成，1：用户主动取消采集
+	void startRecordLineNumSignal(int lineNum);
+	void finishRecordLineNumSignal(int lineNum);
+
+	void startRecordHSISignal(int lineNum);
+	void stopRecordHSISignal(int lineNum);
+
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void moveTo(const std::vector<double>, const std::vector<double>, int);
+	void stopMotorSignal(int axis);
+
+	void recordState(bool state);
+
+private slots:
+	void start(QVector<PathLine> pathLines);
+	void stop();
+	void getRecordState();
+
+	void handlePositionReached(int motorID, double pos);
+	void handleCaptureCompleteWhenFrameNumberMeet();
+	void handleError(const QString& error);
+
+	void move2LocBeforeStart();
+
+private:
+	void processNextPathLine();
+	void startRecordHsi();
+	void getLocBeforeStart();
+	double getThre(double targetLoc, double actualLoc);
+
+	double getTimeDiffMinutes(QDateTime startTime, QDateTime endTime);
+	bool savePathLinesToCsv(QString filename= QString());
+
+	IrisMultiMotorController* m_motorCtrl;
+	ImagerOperationBase* m_cameraCtrl=nullptr;
+	QVector<PathLine> m_pathLines;
+	mutable QMutex m_dataMutex;
+
+	bool m_isRunning;
+	bool m_isMoving2YTargeLoc;
+	bool m_isMoving2XMin;
+	bool m_isMoving2XMax;
+	
+	int m_retryLimit = 3;
+	int m_retryTimesMoving2YTargeLoc;
+	int m_retryTimesMoving2XMin;
+	int m_retryTimesMoving2XMax;
+
+	bool m_isImagerFrameNumberMeet;//光谱仪帧数限制到了，主动停止采集
+	std::vector<double> m_locBeforeStart;
+
+	bool m_isMoving2XStartLoc;
+	bool m_isMoving2YStartLoc;
+
+	int m_numCurrentPathLine;
+};
--- a/HPPA/HPPA.cpp
+++ b/HPPA/HPPA.cpp
@ -311,6 +311,18 @@ HPPA::HPPA(QWidget *parent)
 	tabifyDockWidget(dock_rac, dock_omc);
 	mPanelMenu->addAction(dock_omc->toggleViewAction());

+	//2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	tmc = new TwoMotorControl(this);
+	connect(tmc, SIGNAL(startLineNumSignal(int)), this, SLOT(onCreateTab(int)));
+	connect(tmc, SIGNAL(sequenceComplete()), this, SLOT(onsequenceComplete()));
+	dock_tmc = new QDockWidget(QString::fromLocal8Bit("2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
+	dock_tmc->setObjectName("mDockTwoMotorControl");
+	dock_tmc->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
+	dock_tmc->setWidget(tmc);
+	tabifyDockWidget(dock_omc, dock_tmc);
+	mPanelMenu->addAction(dock_tmc->toggleViewAction());
+
+
 	createActionGroups();
 	connect(mImagerGroup, &QActionGroup::triggered, this, &HPPA::selectingImager);

@ -363,7 +375,6 @@ void HPPA::recordFromRobotArm(int fileCounter)
 	}

 	onCreateTab(fileCounter-1);
-	m_numberOfRecording = fileCounter - 1;
 	emit StartRecordSignal();

 	ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>"));
@ -419,6 +430,7 @@ void HPPA::createMoveplatformActionGroup()
 	moveplatformActionGroup->addAction(ui.mAction_2AxisMotor);
 	moveplatformActionGroup->addAction(ui.mAction_RobotArm);
 	moveplatformActionGroup->addAction(ui.mAction_1AxisMotor);
+	moveplatformActionGroup->addAction(ui.mAction_2AxisMotor_new);

 	// <20><>ȡ<EFBFBD>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
 	QSettings settings;
@ -441,6 +453,10 @@ void HPPA::createMoveplatformActionGroup()
 	{
 		ui.mAction_1AxisMotor->setChecked(true);
 	}
+	else if (lastSelectedAction == "mAction_2AxisMotor_new")
+	{
+		ui.mAction_2AxisMotor_new->setChecked(true);
+	}
 }

 void HPPA::selectingMoveplatform(QAction* selectedAction)
@ -562,6 +578,7 @@ void HPPA::onStartRecordStep1()
 	string directory = fileOperation->getDirectoryFromString();
 	//string imgPath = directory + "\\tmp_image";
 	string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString();
+	string x_location = removeFileExtension(imgPath) + "_x_location.pos";

 	m_RecordState += 1;
 	if (m_RecordState % 2 == 1)
@ -599,7 +616,6 @@ void HPPA::onStartRecordStep1()
 			ui.ImageViewerTabWidget->clear();

 			onCreateTab(0);
-			m_numberOfRecording = 0;

 			m_Imager->setFileName2Save(imgPath);
 			m_Imager->setFrameNumber(this->frame_number->text().toInt());
@ -627,7 +643,6 @@ void HPPA::onStartRecordStep1()
 			ui.ImageViewerTabWidget->clear();

 			onCreateTab(0);
-			m_numberOfRecording = 0;

 			ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
 			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
@ -686,8 +701,6 @@ void HPPA::onStartRecordStep1()
 			//ɾ<><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab
 			ui.ImageViewerTabWidget->clear();

-			//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼x<C2BC><78><EFBFBD><EFBFBD>λ<EFBFBD>õ<EFBFBD><C3B5>ļ<EFBFBD>
-			string x_location = removeFileExtension(imgPath) + "x_location.pos";
 			m_hTimesFile = fopen(x_location.c_str(), "w+");

 			m_Imager->setFileName2Save(imgPath);
@ -721,6 +734,35 @@ void HPPA::onStartRecordStep1()

 		return;
 	}
+	else if (checkedName == "mAction_2AxisMotor_new")
+	{
+		m_RecordState += 1;
+
+		if (m_RecordState % 2 == 1)
+		{
+			ui.ImageViewerTabWidget->clear();
+
+			m_Imager->setFileName2Save(imgPath);
+			m_Imager->setFrameNumber(this->frame_number->text().toInt());
+			tmc->setImager(m_Imager);
+			tmc->setPosFileName(QString::fromStdString(x_location));
+			tmc->run();
+
+			ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
+			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
+		}
+		else
+		{
+			tmc->stop();
+
+			m_RecordState--;
+
+			ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
+			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+		}
+
+		return;
+	}
 	else if (checkedName == "mAction_RobotArm")
 	{
 		//<2F><><EFBFBD>ж<EFBFBD><D0B6>Ƿ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD>к<EFBFBD><D0BA><EFBFBD>RobotArmControl::executeTask<73><6B><EFBFBD>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾbug
@ -790,6 +832,8 @@ void HPPA::onCreateTab(int trackNumber)
 {
 	if (trackNumber >= 0)
 	{
+		m_numberOfRecording = trackNumber;
+
 		QWidget * tabTmp = new QWidget();

 		QGridLayout *GridLayout = new QGridLayout();
@ -1755,6 +1799,13 @@ void HPPA::getRequest(QString str)

 void HPPA::newMotor()
 {
+	QAction* checked = moveplatformActionGroup->checkedAction();
+	QString checkedName = checked->objectName();
+	if (checkedName != "mAction_2AxisMotor")
+	{
+		return;
+	}
+
 	if (m_xMotor != nullptr && m_yMotor != nullptr)
 	{
 		return;
@ -1932,7 +1983,7 @@ void HPPA::onconnect()

 		m_Imager->connect_imager(frame_number->text().toInt());
 		m_Imager->setFileName2Save(m_FilenameLineEdit->text().toStdString());
-		connect(m_Imager, SIGNAL(PlotSignal(int)), this, SLOT(onPlotHyperspectralImageRgbImage(int)));
+		connect(m_Imager, SIGNAL(PlotSignal(int, int)), this, SLOT(onPlotHyperspectralImageRgbImage(int, int)));
 		connect(m_Imager, SIGNAL(RecordFinishedSignal_WhenFrameNumberMeet()), this, SLOT(onRecordFinishedSignal_WhenFrameNumberMeet()));
 		connect(m_Imager, SIGNAL(RecordFinishedSignal_WhenFrameNumberNotMeet()), this, SLOT(onRecordFinishedSignal_WhenFrameNumberNotMeet()));
 		connect(m_Imager, SIGNAL(SpectralSignal(int)), this, SLOT(PlotSpectral(int)));
@ -2171,19 +2222,19 @@ void HPPA::recordWhiteFinish()
 	}
 }

-void HPPA::onPlotHyperspectralImageRgbImage(int number)
+void HPPA::onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber)
 {
 	//ʹ<>û<EFBFBD>е<EFBFBD>۲ɼ<DBB2>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD>ֿ<EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ᵼ<EFBFBD><E1B5BC><EFBFBD>ϴβɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źŵ<C5BA><C5B5>ô˲ۺ<CBB2><DBBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	QAction* checked = moveplatformActionGroup->checkedAction();
 	QString checkedName = checked->objectName();
-	if (number == -1 && checkedName == "mAction_RobotArm")
+	if (frameNumber == -1 && checkedName == "mAction_RobotArm")
 	{
 		return;
 	}

 	//return;
 	//<2F><>ȡ<EFBFBD><C8A1>ͼ<EFBFBD>ؼ<EFBFBD>
-	QWidget* currentWidget = ui.ImageViewerTabWidget->widget(m_numberOfRecording);
+	QWidget* currentWidget = ui.ImageViewerTabWidget->widget(fileNumber);
 	QList<ImageViewer *> currentImageViewer = currentWidget->findChildren<ImageViewer *>();
 	currentImageViewer[0]->DisplayFrameNumber(m_Imager->getFrameCounter());//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>Ѿ<EFBFBD><D1BE>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1>

@ -2333,6 +2384,10 @@ void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet()
 		return;
 	}
 	
+	if (checkedName == "mAction_2AxisMotor_new")//<2F><><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC>ߣ<EFBFBD><DFA3>м<EFBFBD><D0BC><EFBFBD>ĳ<EFBFBD><C4B3><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ󲻴<C9BA><F3B2BBB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	{
+		return;
+	}

 	std::cout << "ֹͣ<EFBFBD>ɼ<EFBFBD>ԭ<EFBFBD>򣺣<EFBFBD>1<EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>û<EFBFBD>вɼ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ﵽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>" << std::endl;

@ -2342,6 +2397,14 @@ void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet()
 	m_RecordState++;
 }

+void HPPA::onsequenceComplete()
+{
+	ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
+	ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+
+	m_RecordState++;
+}
+
 ForLoopControl::ForLoopControl()
 {

--- a/HPPA/HPPA.h
+++ b/HPPA/HPPA.h
@ -35,6 +35,7 @@
 #include "PathPlan.h"
 #include "RobotArmControl.h"
 #include "OneMotorControl.h"
+#include "TwoMotorControl.h"

 #include "hppaConfigFile.h"
 #include "path_tc.h"
@ -248,6 +249,9 @@ private:

 	OneMotorControl* omc;
 	QDockWidget* dock_omc;
+
+	TwoMotorControl* tmc;
+	QDockWidget* dock_tmc;
 	

 	PathPlan* m_pathPlan;
@ -255,10 +259,11 @@ private:
 	FILE* m_hTimesFile;

 public Q_SLOTS:
-	void onPlotHyperspectralImageRgbImage(int number);
+	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber);
 	void PlotSpectral(int state);
 	void onRecordFinishedSignal_WhenFrameNumberMeet();
 	void onRecordFinishedSignal_WhenFrameNumberNotMeet();
+	void onsequenceComplete();

 	void onExit();
 	void onconnect();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
--- a/HPPA/HPPA.ui
+++ b/HPPA/HPPA.ui
@ -88,6 +88,11 @@
     <height>30</height>
    </rect>
   </property>
+   <property name="font">
+    <font>
+     <pointsize>-1</pointsize>
+    </font>
+   </property>
   <property name="styleSheet">
    <string notr="true">QMenuBar{
 background:#F0F0F0;
@ -123,6 +128,10 @@ color:white;
    <property name="title">
     <string>文件</string>
    </property>
+    <addaction name="action_9"/>
+    <addaction name="action_10"/>
+    <addaction name="separator"/>
+    <addaction name="action_11"/>
    <addaction name="action_exit"/>
   </widget>
   <widget class="QMenu" name="menuspectrometer">
@ -130,6 +139,11 @@ color:white;
     <string>光谱仪</string>
    </property>
    <widget class="QMenu" name="menu">
+     <property name="font">
+      <font>
+       <family>宋体</family>
+      </font>
+     </property>
     <property name="title">
      <string>选择相机类型</string>
     </property>
@ -169,11 +183,33 @@ color:white;
    <addaction name="mAction_is_no_motor"/>
    <addaction name="mAction_1AxisMotor"/>
    <addaction name="mAction_2AxisMotor"/>
+    <addaction name="mAction_2AxisMotor_new"/>
    <addaction name="separator"/>
    <addaction name="mAction_RobotArm"/>
   </widget>
+   <widget class="QMenu" name="mMenuScenario">
+    <property name="title">
+     <string>应用场景</string>
+    </property>
+    <addaction name="mActionOneMotorScenario"/>
+    <addaction name="action_8"/>
+    <addaction name="action2"/>
+    <addaction name="action_7"/>
+    <addaction name="action_3"/>
+    <addaction name="action_6"/>
+   </widget>
+   <widget class="QMenu" name="menu_4">
+    <property name="title">
+     <string>数据处理</string>
+    </property>
+    <addaction name="action_4"/>
+    <addaction name="action_5"/>
+    <addaction name="action_13"/>
+   </widget>
   <addaction name="file"/>
   <addaction name="menuspectrometer"/>
+   <addaction name="mMenuScenario"/>
+   <addaction name="menu_4"/>
   <addaction name="menu_2"/>
   <addaction name="mWindowsMenu"/>
   <addaction name="menuhelp"/>
@ -185,6 +221,12 @@ color:white;
     <verstretch>0</verstretch>
    </sizepolicy>
   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+     <pointsize>2</pointsize>
+    </font>
+   </property>
   <property name="windowTitle">
    <string>相机控制</string>
   </property>
@ -301,13 +343,6 @@ QGroupBox:title {
        <property name="bottomMargin">
         <number>0</number>
        </property>
-        <item row="1" column="0">
-         <widget class="QPushButton" name="open_rgb_camera_btn">
-          <property name="text">
-           <string>打开</string>
-          </property>
-         </widget>
-        </item>
        <item row="1" column="1">
         <widget class="QPushButton" name="close_rgb_camera_btn">
          <property name="text">
@ -315,6 +350,13 @@ QGroupBox:title {
          </property>
         </widget>
        </item>
+        <item row="1" column="0">
+         <widget class="QPushButton" name="open_rgb_camera_btn">
+          <property name="text">
+           <string>打开</string>
+          </property>
+         </widget>
+        </item>
        <item row="0" column="0" colspan="2">
         <widget class="QLabel" name="cam_label">
          <property name="frameShape">
@ -1450,6 +1492,11 @@ QDockWidget::title {
   <property name="text">
    <string>退出</string>
   </property>
+   <property name="font">
+    <font>
+     <family>Adobe Devanagari</family>
+    </font>
+   </property>
  </action>
  <action name="action_open">
   <property name="text">
@ -1493,6 +1540,11 @@ QDockWidget::title {
   <property name="text">
    <string>连接相机</string>
   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
  </action>
  <action name="actionOpenDirectory">
   <property name="text">
@ -1506,6 +1558,11 @@ QDockWidget::title {
   <property name="text">
    <string>Pika L</string>
   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
  </action>
  <action name="mActionCorning_410">
   <property name="checkable">
@ -1522,6 +1579,11 @@ QDockWidget::title {
   <property name="text">
    <string>Pika XC2</string>
   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
  </action>
  <action name="action_about">
   <property name="text">
@ -1535,6 +1597,11 @@ QDockWidget::title {
   <property name="text">
    <string>Pika NIR</string>
   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
  </action>
  <action name="actionpanel">
   <property name="text">
@ -1595,6 +1662,74 @@ QDockWidget::title {
    <string>1 轴线性马达</string>
   </property>
  </action>
+  <action name="mActionOneMotorScenario">
+   <property name="text">
+    <string>室内1轴线性平台</string>
+   </property>
+  </action>
+  <action name="action_4">
+   <property name="text">
+    <string>辐亮度</string>
+   </property>
+  </action>
+  <action name="action_5">
+   <property name="text">
+    <string>反射率</string>
+   </property>
+  </action>
+  <action name="action_6">
+   <property name="text">
+    <string>机械臂</string>
+   </property>
+  </action>
+  <action name="action_7">
+   <property name="text">
+    <string>显微镜</string>
+   </property>
+  </action>
+  <action name="action_8">
+   <property name="text">
+    <string>三脚架（旋转平台）</string>
+   </property>
+  </action>
+  <action name="action_9">
+   <property name="text">
+    <string>打开影像</string>
+   </property>
+  </action>
+  <action name="action_10">
+   <property name="text">
+    <string>关闭影像</string>
+   </property>
+  </action>
+  <action name="action_11">
+   <property name="text">
+    <string>设置</string>
+   </property>
+  </action>
+  <action name="action_13">
+   <property name="text">
+    <string>拼接</string>
+   </property>
+  </action>
+  <action name="action_3">
+   <property name="text">
+    <string>植物表型</string>
+   </property>
+  </action>
+  <action name="action2">
+   <property name="text">
+    <string>2轴旋转平台</string>
+   </property>
+  </action>
+  <action name="mAction_2AxisMotor_new">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>2 轴线性马达_new</string>
+   </property>
+  </action>
 </widget>
 <layoutdefault spacing="6" margin="11"/>
 <customwidgets>
--- a/HPPA/ImagerOperationBase.cpp
+++ b/HPPA/ImagerOperationBase.cpp
@ -6,7 +6,7 @@ ImagerOperationBase::ImagerOperationBase()
 	m_bRecordControlState = true;

 	m_FileName2Save = "tmp_image";
-	m_FileSavedCounter = 1;
+	m_FileSavedCounter = 0;

 	m_RgbImage = new CImage();

@ -299,7 +299,7 @@ void ImagerOperationBase::start_record()
 		//ÿ<><C3BF>1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><CEBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
-			emit PlotSignal(m_iFrameCounter);
+			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter);
 		}

 		if (m_iFrameCounter >= m_iFrameNumber)
@ -310,14 +310,14 @@ void ImagerOperationBase::start_record()
 	}
 	imagerStopCollect();

+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//m_RgbImage
+	emit PlotSignal(m_FileSavedCounter, -1);//<2F><>1<EFBFBD><31><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ<EFBFBD><C8AB>2<EFBFBD><32>ʹ<EFBFBD>û<EFBFBD>е<EFBFBD>۲ɼ<DBB2>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ᵼ<EFBFBD><E1B5BC><EFBFBD>ϴβɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4>źŵ<C5BA><C5B5>õĲۺ<C4B2><DBBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˼<EFBFBD><CBBC>ݣ<EFBFBD>ע<EFBFBD>͵<EFBFBD>
+
 	m_bRecordControlState = false;
 	WriteHdr();
 	m_FileSavedCounter++;

-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	//m_RgbImage
-	emit PlotSignal(-1);//<2F><>1<EFBFBD><31><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ<EFBFBD><C8AB>2<EFBFBD><32>ʹ<EFBFBD>û<EFBFBD>е<EFBFBD>۲ɼ<DBB2>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ᵼ<EFBFBD><E1B5BC><EFBFBD>ϴβɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4>źŵ<C5BA><C5B5>õĲۺ<C4B2><DBBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˼<EFBFBD><CBBC>ݣ<EFBFBD>ע<EFBFBD>͵<EFBFBD>
-
 	if (m_iFrameCounter >= m_iFrameNumber)
 	{
 		emit RecordFinishedSignal_WhenFrameNumberMeet();
@ -341,7 +341,7 @@ void ImagerOperationBase::setFrameNumber(int FrameNumber)
 void ImagerOperationBase::setFileName2Save(string FileName)
 {
 	m_FileName2Save = FileName;
-	m_FileSavedCounter = 1;
+	m_FileSavedCounter = 0;
 }

 void ImagerOperationBase::setFocusControlState(bool FocusControlState)
@ -449,6 +449,11 @@ void ImagerOperationBase::setRecordControlState(bool RecordControlState)
 	m_bRecordControlState = RecordControlState;
 }

+void ImagerOperationBase::stop_record()
+{
+	m_bRecordControlState = false;
+}
+
 int ImagerOperationBase::getFrameCounter() const
 {
 	return m_iFrameCounter;
--- a/HPPA/ImagerOperationBase.h
+++ b/HPPA/ImagerOperationBase.h
@ -94,12 +94,13 @@ public slots:
    virtual double auto_exposure();
    virtual void focus();
    virtual void start_record();
+    void stop_record();
    virtual void record_dark();
    virtual void record_white();

    void getFocusIndexSobel();
 signals:
-    void PlotSignal(int);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>źţ<C5BA>-1<EFBFBD><EFBFBD><EFBFBD>˴βɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>
+    void PlotSignal(int, int);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>źţ<C5BA><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD>񣻵ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-1<><31><EFBFBD><EFBFBD><EFBFBD>˴βɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>
    void RecordFinishedSignal_WhenFrameNumberMeet();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>m_iFrameNumber<65><72><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>
    void RecordFinishedSignal_WhenFrameNumberNotMeet();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>m_iFrameNumber<65><72>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD><EFBFBD>ɣ<EFBFBD><C9A3><EFBFBD>;ֹͣ<CDA3>ɼ<EFBFBD>
    void SpectralSignal(int);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD><C6B9>ף<EFBFBD><D7A3><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD>
--- a/HPPA/ResononNirImager.cpp
+++ b/HPPA/ResononNirImager.cpp
@ -353,7 +353,7 @@ void ResononNirImager::start_record()
 		//ÿ<><C3BF>1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><CEBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
-			emit PlotSignal(m_iFrameCounter);
+			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter);
 		}

 		if (m_iFrameCounter >= m_iFrameNumber)
@ -365,14 +365,14 @@ void ResononNirImager::start_record()
 	}
 	imagerStopCollect();

+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//m_RgbImage
+	emit PlotSignal(m_FileSavedCounter, -1);//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ
+
 	m_bRecordControlState = false;
 	WriteHdr();
 	m_FileSavedCounter++;

-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	//m_RgbImage
-	emit PlotSignal(-1);//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ
-
 	if (m_iFrameCounter >= m_iFrameNumber)
 	{
 		emit RecordFinishedSignal_WhenFrameNumberMeet();
--- a/HPPA/TwoMotorControl.cpp
+++ b/HPPA/TwoMotorControl.cpp
@ -0,0 +1,581 @@
+#include "TwoMotorControl.h"
+
+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
+	//QHeaderView* headerView = ui.recordLine_tableWidget->verticalHeader();
+	//headerView->setHidden(true);//去除左边默认自带序列号
+
+    connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
+
+    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)
+{
+	m_Imager = imager;
+}
+
+void TwoMotorControl::setPosFileName(QString posFileName)
+{
+	isWritePosFile = true;
+	m_posFileName = posFileName;
+	m_posFileHandle = fopen(posFileName.toStdString().c_str(), "w+");
+}
+
+bool TwoMotorControl::getState()
+{
+	QEventLoop loop;
+	bool tmp = false;
+	bool received = false;
+
+	QTimer timer;
+	timer.setSingleShot(true);
+	connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
+
+	QMetaObject::Connection conn = QObject::connect(
+		m_coordinator, &TwoMotionCaptureCoordinator::recordState,
+		[&](bool state) {
+			tmp = state;
+			received = true;
+			loop.quit();
+		});
+
+	QMetaObject::invokeMethod(m_coordinator, "getRecordState", Qt::QueuedConnection);
+	timer.start(3000);
+
+	loop.exec();
+
+	disconnect(conn);
+
+	return tmp;
+}
+
+void TwoMotorControl::run()
+{
+	if (m_coordinator==nullptr)
+	{
+		qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
+		m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+		m_coordinator->moveToThread(&m_coordinatorThread);
+		connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+		connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
+		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()));
+		m_coordinatorThread.start();
+	}
+
+	if (getState())
+	{
+		//std::cout << "已经开始运行，请勿重复点击！！！！！！！！" << std::endl;
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！！！！！！！！！"));
+		return;
+	}
+
+	QVector<PathLine> pathLines;
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	//int columnCount = ui.recordLine_tableWidget->columnCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		PathLine tmp;
+
+		tmp.targetYPosition = ui.recordLine_tableWidget->item(i, 0)->text().toDouble();
+		tmp.speedTargetYPosition = ui.recordLine_tableWidget->item(i, 1)->text().toDouble();
+		tmp.targetXMinPosition = ui.recordLine_tableWidget->item(i, 2)->text().toDouble();
+		tmp.speedTargetXMinPosition = ui.recordLine_tableWidget->item(i, 3)->text().toDouble();
+		tmp.targetXMaxPosition = ui.recordLine_tableWidget->item(i, 4)->text().toDouble();
+		tmp.speedTargetXMaxPosition = ui.recordLine_tableWidget->item(i, 5)->text().toDouble();
+
+		pathLines.append(tmp);
+	}
+
+	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
+	{
+		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
+		{
+			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
+		}
+	}
+
+	emit start(pathLines);
+}
+
+void TwoMotorControl::stop()
+{
+	emit stopSignal();
+}
+
+TwoMotorControl::~TwoMotorControl()
+{
+    m_motorThread.quit();
+    m_motorThread.wait();
+
+	m_coordinatorThread.quit();
+	m_coordinatorThread.wait();
+}
+
+void TwoMotorControl::onConnectMotor()
+{
+    try
+    {
+        FileOperation* fileOperation = new FileOperation();
+        string directory = fileOperation->getDirectoryOfExe();
+        QString configFilePath = QString::fromStdString(directory) + "\\twoMotorConfigFile.cfg";
+
+        m_multiAxisController = new IrisMultiMotorController(configFilePath);
+    }
+    catch (std::exception const& e)
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
+        msgBox.exec();
+    }
+
+    m_multiAxisController->moveToThread(&m_motorThread);
+    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+
+    connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
+    connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
+    connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
+    connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
+
+    //connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
+
+    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+    //connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
+    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+
+    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+    m_motorThread.start();
+    emit testConnectivitySignal(0, 1000);
+    emit testConnectivitySignal(1, 1000);
+}
+
+void TwoMotorControl::receiveStartRecordLineNum(int lineNum)
+{
+	emit startLineNumSignal(lineNum);
+	for (size_t i = 0; i < ui.recordLine_tableWidget->columnCount(); i++)
+	{
+		ui.recordLine_tableWidget->item(lineNum, i)->setBackgroundColor(QColor(255, 0, 0));
+	}
+}
+
+void TwoMotorControl::receiveFinishRecordLineNum(int lineNum)
+{
+	for (size_t i = 0; i < ui.recordLine_tableWidget->columnCount(); i++)
+	{
+		ui.recordLine_tableWidget->item(lineNum, i)->setBackgroundColor(QColor(0, 255, 0));
+	}
+}
+
+void TwoMotorControl::onSequenceComplete()
+{
+	isWritePosFile = false;
+	fclose(m_posFileHandle);
+	
+	emit sequenceComplete();
+}
+
+void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
+{
+    //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
+    if (connectivity[0])
+    {
+        this->ui.xMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+    }
+    else
+    {
+        this->ui.xMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+    }
+
+    if (connectivity[1])
+    {
+        this->ui.yMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+    }
+    else
+    {
+        this->ui.yMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+    }
+}
+
+void TwoMotorControl::onxMotorRight()
+{
+    double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, false, s, 1000);
+}
+
+void TwoMotorControl::onxMotorLeft()
+{
+    double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, true, s, 1000);
+}
+
+void TwoMotorControl::onxMotorStop()
+{
+    emit stopSignal(0);
+}
+
+void TwoMotorControl::onyMotorforward()
+{
+    double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
+
+    emit moveSignal(1, false, s, 1000);
+}
+
+void TwoMotorControl::onyMotorbackward()
+{
+    double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
+
+    emit moveSignal(1, true, s, 1000);
+}
+
+void TwoMotorControl::onyMotorStop()
+{
+    emit stopSignal(1);
+}
+
+void TwoMotorControl::displayRealTimeLoc(std::vector<double> loc)
+{
+	double tmp = round(loc[0] * 100) / 100;
+	if (isWritePosFile)
+	{
+		long long timeOs = getNanosecondsSinceMidnight();
+		fprintf(m_posFileHandle, "%lld,%f\n", timeOs, loc[0]);
+	}
+    this->ui.xmotor_realTimeLoc_lineEdit->setText(QString::number(tmp));
+
+    tmp = round(loc[1] * 100) / 100;
+    this->ui.ymotor_realTimeLoc_lineEdit->setText(QString::number(tmp));
+}
+
+void TwoMotorControl::zeroStart()
+{
+    zeroStartSignal(0);
+    zeroStartSignal(1);
+}
+
+void TwoMotorControl::on_rangeMeasurement()
+{
+    double s0 = ui.xmotor_move_speed_lineEdit->text().toDouble();
+    emit rangeMeasurement(0, s0, 1000);
+
+    s0 = ui.ymotor_move_speed_lineEdit->text().toDouble();
+    emit rangeMeasurement(1, s0, 1000);
+}
+
+void TwoMotorControl::onAddRecordLine_btn()
+{
+	//准备数据：获取y马达的当前位置，获取x马达的当前位置和最大位置
+	double currentPosOfYmotor = 15;
+
+	double currentPosOfXmotor = 0;
+	double maxRangeOfXmotor = 50;
+
+	//获取选中行的索引
+	int currentRow = ui.recordLine_tableWidget->currentRow();
+	std::cout << "currentRow：" << currentRow << std::endl;
+
+	QTableWidgetItem* Item1 = new QTableWidgetItem(QString::number(currentPosOfYmotor, 10, 2));
+	QTableWidgetItem* Item2 = new QTableWidgetItem(QString::number(1, 10, 2));
+	QTableWidgetItem* Item3 = new QTableWidgetItem(QString::number(currentPosOfXmotor, 10, 2));
+	QTableWidgetItem* Item4 = new QTableWidgetItem(QString::number(1, 10, 2));
+	QTableWidgetItem* Item5 = new QTableWidgetItem(QString::number(maxRangeOfXmotor, 10, 2));
+	QTableWidgetItem* Item6 = new QTableWidgetItem(QString::number(1, 10, 2));
+	Item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item6->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	if (currentRow == -1)//当没有选中行时
+	{
+		int RowCount = ui.recordLine_tableWidget->rowCount();//Returns the number of rows. 从1开始的
+		ui.recordLine_tableWidget->insertRow(RowCount);//增加一行，形参是从0开始的
+
+		ui.recordLine_tableWidget->setItem(RowCount, 0, Item1);
+		ui.recordLine_tableWidget->setItem(RowCount, 1, Item2);
+		ui.recordLine_tableWidget->setItem(RowCount, 2, Item3);
+		ui.recordLine_tableWidget->setItem(RowCount, 3, Item4);
+		ui.recordLine_tableWidget->setItem(RowCount, 4, Item5);
+		ui.recordLine_tableWidget->setItem(RowCount, 5, Item6);
+	}
+	else
+	{
+		ui.recordLine_tableWidget->insertRow(currentRow + 1);//增加一行，形参是从0开始的
+
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 0, Item1);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 1, Item2);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 2, Item3);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 3, Item4);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 4, Item5);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 5, Item6);
+	}
+}
+
+void TwoMotorControl::onRemoveRecordLine_btn()
+{
+	int rowIndex = ui.recordLine_tableWidget->currentRow();
+	if (rowIndex != -1)
+		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();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		ui.recordLine_tableWidget->removeRow(0);
+	}
+}
+
+void TwoMotorControl::onSaveRecordLine2File_btn()
+{
+	//确保采集线存在
+	if (ui.recordLine_tableWidget->rowCount() <= 0)
+	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请先生成轨迹！"));
+		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::fromStdString(directory),
+		tr("RecordLineFile2 (*.RecordLine2)"));
+
+	if (RecordLineFilePath.isEmpty())
+	{
+		return;
+	}
+
+	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);
+
+	double* data = new double[number];
+	//double data[number];
+	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
+	{
+		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
+		{
+			data[i * ui.recordLine_tableWidget->columnCount() + j] = ui.recordLine_tableWidget->item(i, j)->text().toDouble();
+		}
+	}
+
+	fwrite(data, sizeof(double), number, RecordLineFileHandle);
+
+	fclose(RecordLineFileHandle);
+	delete[] data;
+
+	QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("保存成功！"));
+}
+
+void TwoMotorControl::onReadRecordLineFile_btn()
+{
+	//打开文件
+	FileOperation* fileOperation = new FileOperation();
+	string directory = fileOperation->getDirectoryOfExe();
+
+	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine2 File"),
+		QString::fromStdString(directory),
+		tr("RecordLineFile (*.RecordLine2)"));
+
+	if (RecordLineFilePath.isEmpty())
+	{
+		return;
+	}
+
+	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
+	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, 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];
+	for (size_t i = 0; i < number; i++)
+	{
+		fread(data + i, sizeof(double), 1, RecordLineFileHandle);
+		//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();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		ui.recordLine_tableWidget->removeRow(0);
+	}
+	//（2）添加行（采集线）
+	int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
+	for (size_t i = 0; i < RecordLineCount; i++)
+	{
+		ui.recordLine_tableWidget->insertRow(0);
+
+	}
+	//（3）向tableWidget填充数据
+	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
+	{
+		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
+		{
+			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
+			tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+			ui.recordLine_tableWidget->setItem(i, j, tmp);
+		}
+	}
+
+	fclose(RecordLineFileHandle);
+	delete[] data;
+
+	QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("读取成功！"));
+}
--- a/HPPA/TwoMotorControl.h
+++ b/HPPA/TwoMotorControl.h
@ -0,0 +1,89 @@
+#pragma once
+#include <QThread>
+#include <QMessageBox>
+#include <QFileDialog>
+
+#include "ui_twoMotorControl.h"
+
+#include "IrisMultiMotorController.h"
+#include "fileOperation.h"
+#include "CaptureCoordinator.h"
+
+#define PI 3.1415926
+
+
+
+class TwoMotorControl : public QDialog
+{
+    Q_OBJECT
+
+public:
+    TwoMotorControl(QWidget* parent = nullptr);
+    ~TwoMotorControl();
+
+    void setImager(ImagerOperationBase* imager);
+    void setPosFileName(QString posFileName);
+
+private:
+    ImagerOperationBase* m_Imager;
+    bool getState();
+
+    bool isWritePosFile = false;
+    QString m_posFileName;
+    FILE* m_posFileHandle;
+
+
+public Q_SLOTS:
+    void onConnectMotor();
+
+    void displayRealTimeLoc(std::vector<double> loc);
+    void display_motors_connectivity(std::vector<int> connectivity);
+    //void onxMove2Loc();
+    void zeroStart();
+    void on_rangeMeasurement();
+
+    void onxMotorRight();
+    void onxMotorLeft();
+    void onxMotorStop();
+
+    void onyMotorforward();
+    void onyMotorbackward();
+    void onyMotorStop();
+
+    void onAddRecordLine_btn();
+    void onRemoveRecordLine_btn();
+    void onGenerateRecordLine_btn();
+    void onDeleteRecordLine_btn();
+    void onSaveRecordLine2File_btn();
+    void onReadRecordLineFile_btn();
+
+    void run();
+    void stop();
+    void receiveStartRecordLineNum(int lineNum);
+    void receiveFinishRecordLineNum(int lineNum);
+    void onSequenceComplete();
+
+signals:
+    void moveSignal(int, bool, double, int);
+    void move2LocSignal(int, double, double, int);
+    void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
+    void stopSignal(int);
+
+    void rangeMeasurement(int, double, int);
+    void zeroStartSignal(int);
+    void testConnectivitySignal(int, int);
+
+    void start(QVector<PathLine>);
+    void stopSignal();
+
+    void startLineNumSignal(int lineNum);
+    void sequenceComplete();//所有采集线正常运行完成
+
+private:
+    Ui::twoMotorControl_UI ui;
+    QThread m_coordinatorThread;
+    TwoMotionCaptureCoordinator* m_coordinator = nullptr;
+
+    QThread m_motorThread;
+    IrisMultiMotorController* m_multiAxisController;
+};
--- a/HPPA/twoMotorControl.ui
+++ b/HPPA/twoMotorControl.ui