add，计划采集9：

基本计划采集功能：采集流程电源通断控制ok

HPPA/HPPA.cpp

@@ -602,10 +602,17 @@ void HPPA::initTimedDataCollection()
 	connect(mTimedDataCollectionWindow, &TimedDataCollection::motorParm, this, &HPPA::setTimedDataCollectionMotorParm);
 	connect(mTimedDataCollectionWindow, &TimedDataCollection::startRecordSignal, this, &HPPA::onStartTimedDataCollection);
 
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::switchHalogenLampSignal, m_pc3D, &PowerControl3D::switchHalogenLampPower);
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::switchD65LampSignal, m_pc3D, &PowerControl3D::switchD65LampPower);
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::switchSlrSignal, m_pc3D, &PowerControl3D::switchSlrPower);
+
 	// 相机/马达 → 定时采集控制器
 	connect(m_tmc, &TwoMotorControl::sequenceComplete, mTimedDataCollectionWindow, &TimedDataCollection::subTaskCompleted);
 	connect(m_tmc, &TwoMotorControl::back2OriginSignal_TimedDataCollection, mTimedDataCollectionWindow, &TimedDataCollection::onBack2Origin);
 
+	//电源控制m_pc3D
+
+
 	//连接马达控制和单反/深度
 }
 
@@ -652,6 +659,10 @@ void HPPA::setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds
 	{
 		case 2:
 		{
+			//唤醒单反相机
+			m_pc3D->slrPowerDown();
+			m_pc3D->slrPowerOn();
+
 			m_singleLensReflexCameraWindow->setDataFolder(folder);
 			m_singleLensReflexCameraWindow->setCaptureInterval(captureIntervalSeconds);
 
@@ -659,6 +670,8 @@ void HPPA::setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds
 		}
 		case 3:
 		{
+			m_pc3D->d65LampPowerOn();
+
 			m_depthCameraWindow->setDataFolder(folder);
 			m_depthCameraWindow->setCaptureInterval(captureIntervalSeconds);
 

HPPA/PowerControl3D.cpp

@@ -43,6 +43,18 @@ void PowerControl3D::halogenLampPowerDown()
 	tcpServer6003->sendCommand(R"({"key1":0,"type":"event"})");
 }
 
+void PowerControl3D::switchHalogenLampPower(int state)
+{
+	if (state==0)
+	{
+		halogenLampPowerDown();
+	}
+	else if(state == 1)
+	{
+		halogenLampPowerOn();
+	}
+}
+
 void PowerControl3D::d65LampPowerOn()
 {
 	tcpServer6004->sendCommand(R"({"key1":1,"type":"event"})");
@@ -53,6 +65,18 @@ void PowerControl3D::d65LampPowerDown()
 	tcpServer6004->sendCommand(R"({"key1":0,"type":"event"})");
 }
 
+void PowerControl3D::switchD65LampPower(int state)
+{
+	if (state == 0)
+	{
+		d65LampPowerDown();
+	}
+	else if (state == 1)
+	{
+		d65LampPowerOn();
+	}
+}
+
 void PowerControl3D::slrPowerOn()
 {
 	tcpServer6003->sendCommand(R"({"key2":1,"type":"event"})");
@@ -62,3 +86,15 @@ void PowerControl3D::slrPowerDown()
 {
 	tcpServer6003->sendCommand(R"({"key2":0,"type":"event"})");
 }
+
+void PowerControl3D::switchSlrPower(int state)
+{
+	if (state == 0)
+	{
+		slrPowerDown();
+	}
+	else if (state == 1)
+	{
+		slrPowerOn();
+	}
+}

HPPA/PowerControl3D.h

@@ -21,12 +21,15 @@ public:
 public Q_SLOTS:
 	void halogenLampPowerOn();
 	void halogenLampPowerDown();
+	void switchHalogenLampPower(int state);
 
 	void d65LampPowerOn();
 	void d65LampPowerDown();
+	void switchD65LampPower(int state);
 
 	void slrPowerOn();
 	void slrPowerDown();
+	void switchSlrPower(int state);
 
 signals:
 	//void powerOpened();

HPPA/TimedDataCollection.cpp

@@ -29,6 +29,10 @@ TimedDataCollection::TimedDataCollection(QWidget* parent)
 	connect(m_scheduler, &TaskScheduler::motorParm, this, &TimedDataCollection::motorParm);
 	connect(m_scheduler, &TaskScheduler::startRecordSignal, this, &TimedDataCollection::startRecordSignal);
 
+	connect(m_scheduler, &TaskScheduler::switchHalogenLampSignal, this, &TimedDataCollection::switchHalogenLampSignal);
+	connect(m_scheduler, &TaskScheduler::switchD65LampSignal, this, &TimedDataCollection::switchD65LampSignal);
+	connect(m_scheduler, &TaskScheduler::switchSlrSignal, this, &TimedDataCollection::switchSlrSignal);
+
 	connect(this, &TimedDataCollection::sequenceCompleteSignal, m_scheduler, &TaskScheduler::sequenceCompleteSignal);
 	connect(this, &TimedDataCollection::Back2OriginSignal, m_scheduler, &TaskScheduler::Back2OriginSignal);
 

HPPA/TimedDataCollection.h

@@ -38,6 +38,10 @@ Q_SIGNALS:
 	void motorParm(QString pathLineFilePath);
 	void startRecordSignal(int camType);
 
+	void switchHalogenLampSignal(int state);
+	void switchD65LampSignal(int state);
+	void switchSlrSignal(int state);
+
 	// 马达反馈的信号
 	void sequenceCompleteSignal(int status);
 	void Back2OriginSignal();

HPPA/TimedDataCollectionDataStructures.cpp

@@ -222,9 +222,12 @@ void TaskExecutor::execute(const TimedTask& task)
 
     qDebug() << "TaskExecutor: Starting task" << task.id;
 
-    // 开始执行第一个子任务
+    // 打开卤素灯预热
+    emit switchHalogenLampSignal(1);
     makeFolder(m_task.savePath);
-    executeNextSubTask();
+
+    // 开始执行第一个子任务
+    QTimer::singleShot(20*1000, this, &TaskExecutor::executeNextSubTask);
 }
 
 void TaskExecutor::stop()
@@ -273,6 +276,42 @@ void TaskExecutor::onSequenceComplete(int status)
 
         emit subTaskFinished(m_currentSubTaskIndex, subTask.type, (status == 0));
     }
+
+    // 
+    switch (m_task.subTasks[m_currentSubTaskIndex].type)
+    {
+        case SubTaskType::SingleLensReflex:
+        {
+            emit switchD65LampSignal(0);
+            break;
+        }
+        case SubTaskType::DepthCamera:
+        {
+            emit switchD65LampSignal(0);
+            break;
+        }
+    }
+
+    // 判断下一次的任务是否为高光谱任务，如果不是关闭卤素灯
+    int nestSubTaskIndex = m_currentSubTaskIndex + 1;
+    if (nestSubTaskIndex >= m_task.subTasks.size())
+    {
+        emit switchHalogenLampSignal(0);
+        return;
+    }
+    switch (m_task.subTasks[nestSubTaskIndex].type)
+    {
+        case SubTaskType::SingleLensReflex:
+        {
+            emit switchHalogenLampSignal(0);
+            break;
+        }
+        case SubTaskType::DepthCamera:
+        {
+            emit switchHalogenLampSignal(0);
+            break;
+        }
+    }
 }
 
 void TaskExecutor::onBack2Origin()
@@ -281,7 +320,7 @@ void TaskExecutor::onBack2Origin()
     m_currentSubTaskIndex++;
     if (m_currentSubTaskIndex < m_task.subTasks.size()) {
         // 执行下一个子任务
-        QTimer::singleShot(100, this, &TaskExecutor::executeNextSubTask);
+        QTimer::singleShot(1000, this, &TaskExecutor::executeNextSubTask);
     }
     else {
         // 所有子任务完成
@@ -325,6 +364,7 @@ void TaskExecutor::executeNextSubTask()
     {
         case SubTaskType::HyperSpectual400_1000nm:
         {
+            //提前需做：需要打开卤素灯进行预热5分钟，具体的实现方式：通过QTcpServer通讯，ip：192.168.1.2:6003，
             camType = 0;
             emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("L"), "test");
             
@@ -332,6 +372,7 @@ void TaskExecutor::executeNextSubTask()
         }
         case SubTaskType::HyperSpectual1000_1700nm:
         {
+            //提前需做：需要打开卤素灯进行预热5分钟
             camType = 1;
             emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("NIR"), "test");
 
@@ -339,16 +380,24 @@ void TaskExecutor::executeNextSubTask()
         }
         case SubTaskType::SingleLensReflex:
         {
+            //提前需做：（1）需要打开D65灯（2）需要将单反的电源重新上电
             camType = 2;
             emit camParm(camType, 3, makeSubTaskDataFolder("SLR"));
 
+            emit switchD65LampSignal(1);
+
+            QThread::msleep(1000);
+
             break;
         }
         case SubTaskType::DepthCamera:
         {
+            //提前需做：需要打开D65灯
             camType = 3;
             emit camParm(camType, 3, makeSubTaskDataFolder("DepthCamera"));
 
+            emit switchD65LampSignal(1);
+
             break;
         }
     }
@@ -501,6 +550,10 @@ void TaskScheduler::executeTask(TimedTask& task)
     connect(m_currentExecutor, &TaskExecutor::startRecordSignal,
             this, &TaskScheduler::startRecordSignal);
 
+    connect(m_currentExecutor, &TaskExecutor::switchHalogenLampSignal, this, &TaskScheduler::switchHalogenLampSignal);
+    connect(m_currentExecutor, &TaskExecutor::switchD65LampSignal, this, &TaskScheduler::switchD65LampSignal);
+    connect(m_currentExecutor, &TaskExecutor::switchSlrSignal, this, &TaskScheduler::switchSlrSignal);
+
     connect(this, &TaskScheduler::sequenceCompleteSignal, m_currentExecutor, &TaskExecutor::onSequenceComplete);
     connect(this, &TaskScheduler::Back2OriginSignal, m_currentExecutor, &TaskExecutor::onBack2Origin);
 

HPPA/TimedDataCollectionDataStructures.h

@@ -145,6 +145,10 @@ signals:
     void motorParm(QString pathLineFilePath);
     void startRecordSignal(int camType);
 
+    void switchHalogenLampSignal(int state);
+    void switchD65LampSignal(int state);
+    void switchSlrSignal(int state);
+
 public slots:
     void onSequenceComplete(int status);
     void onBack2Origin();
@@ -187,11 +191,12 @@ signals:
     void taskStarted(int taskId);                          // 任务开始
     void taskFinished(int taskId, bool success);            // 任务完成
 
+    void schedulerStateChanged(bool running);                // 调度器状态变化
+
     // 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 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);
@@ -199,6 +204,10 @@ signals:
     void motorParm(QString pathLineFilePath);
     void startRecordSignal(int camType);
 
+    void switchHalogenLampSignal(int state);
+    void switchD65LampSignal(int state);
+    void switchSlrSignal(int state);
+
     // 马达反馈的信号
     void sequenceCompleteSignal(int status);
     void Back2OriginSignal();

HPPA/TwoMotorControl.cpp

@@ -122,6 +122,7 @@ void TwoMotorControl::run2(SingleLensReflexCameraWindow* window)
 
 	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, window, &SingleLensReflexCameraWindow::onStartTimedDataCollection);
 	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, window, &SingleLensReflexCameraWindow::onStopTimedDataCollection);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, this, &TwoMotorControl::sequenceComplete);
 
 	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin2);
 
@@ -171,6 +172,7 @@ void TwoMotorControl::run3(DepthCameraWindow* window)
 
 	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, window, &DepthCameraWindow::openDepthCamera);
 	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, window, &DepthCameraWindow::closeDepthCamera);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, this, &TwoMotorControl::sequenceComplete);
 
 	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin2);