优化自动调焦马达控制和界面

HPPA/FocusDialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>650</width>
+    <width>582</width>
-    <height>530</height>
+    <height>465</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -279,13 +279,28 @@ QRadioButton
             <item row="0" column="1">
              <widget class="QGroupBox" name="groupBox">
               <property name="title">
-               <string>连接调焦模块</string>
+               <string>连接调焦线性平台</string>
               </property>
               <layout class="QGridLayout" name="gridLayout_7">
-               <item row="2" column="0" colspan="2">
+               <item row="0" column="0">
-                <widget class="QPushButton" name="connectMotor_btn">
+                <widget class="QRadioButton" name="is_new_version_radioButton">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
                  <property name="text">
-                  <string>连接线性平台</string>
+                  <string>新版</string>
+                 </property>
+                 <property name="checkable">
+                  <bool>true</bool>
+                 </property>
+                 <property name="checked">
+                  <bool>true</bool>
+                 </property>
+                 <property name="autoExclusive">
+                  <bool>false</bool>
                  </property>
                 </widget>
                </item>
@@ -296,7 +311,7 @@ QRadioButton
                  </property>
                  <property name="sizeHint" stdset="0">
                   <size>
-                   <width>107</width>
+                   <width>40</width>
                    <height>20</height>
                   </size>
                  </property>
@@ -359,22 +374,72 @@ QRadioButton
                  </widget>
                 </widget>
                </item>
-               <item row="0" column="0">
+               <item row="2" column="0" colspan="2">
-                <widget class="QRadioButton" name="is_new_version_radioButton">
+                <widget class="QPushButton" name="connectMotor_btn">
                  <property name="text">
-                  <string>新版</string>
+                  <string>连接</string>
-                 </property>
-                 <property name="checkable">
-                  <bool>true</bool>
-                 </property>
-                 <property name="checked">
-                  <bool>true</bool>
-                 </property>
-                 <property name="autoExclusive">
-                  <bool>false</bool>
                  </property>
                 </widget>
                </item>
+               <item row="3" column="0">
+                <spacer name="horizontalSpacer">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item row="3" column="1">
+                <layout class="QHBoxLayout" name="horizontalLayout">
+                 <item>
+                  <widget class="QLabel" name="label_4">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="text">
+                    <string>状态</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="motor_state_label">
+                   <property name="maximumSize">
+                    <size>
+                     <width>8</width>
+                     <height>8</height>
+                    </size>
+                   </property>
+                   <property name="sizeIncrement">
+                    <size>
+                     <width>8</width>
+                     <height>8</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">QLabel#motor_state_label
+{
+	background-color: red;
+	border-radius: 4px;
+}</string>
+                   </property>
+                   <property name="text">
+                    <string/>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </item>
               </layout>
              </widget>
             </item>
@@ -446,7 +511,7 @@ QRadioButton
                   </size>
                  </property>
                  <property name="text">
-                  <string>10</string>
+                  <string>0</string>
                  </property>
                  <property name="alignment">
                   <set>Qt::AlignCenter</set>
@@ -462,7 +527,7 @@ QRadioButton
                   </size>
                  </property>
                  <property name="text">
-                  <string>10</string>
+                  <string>1</string>
                  </property>
                  <property name="alignment">
                   <set>Qt::AlignCenter</set>
@@ -518,7 +583,7 @@ QRadioButton
                   </size>
                  </property>
                  <property name="text">
-                  <string>10</string>
+                  <string>1</string>
                  </property>
                  <property name="alignment">
                   <set>Qt::AlignCenter</set>

HPPA/focusWindow.cpp

@@ -78,6 +78,40 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 	m_dSpeed = 1.0;
 }
 
+void focusWindow::showMessageBox(QString msg, QString title)
+{
+	QMessageBox msgBox(this);
+	msgBox.setWindowTitle(title);
+	msgBox.setText(msg);
+	msgBox.setStyleSheet(R"(
+			QMessageBox {
+				background-color: #0D1233;
+			}
+			QMessageBox QLabel {
+				color: #ACCDFF;
+				font-size: 14px;
+			}
+			QPushButton {
+				background-color: #142D7F;
+				color: #e6eeff;
+				border: 1px solid #2f6bff;
+				border-radius: 6px;
+				padding: 6px 20px;
+				min-width: 60px;
+				font-size: 13px;
+			}
+			QPushButton:hover {
+				border: 1px solid #4d8dff;
+				background-color: red;
+			}
+			QPushButton:pressed {
+				background-color: #23345c;
+			}
+		)");
+
+	msgBox.exec();
+}
+
 focusWindow::~focusWindow()
 {
 	printf("destroy focusWindow-------------------------\n");
@@ -163,33 +197,7 @@ void focusWindow::onConnectMotor()
 {
 	if (ui.is_new_version_radioButton->isChecked())
 	{
-		FileOperation* fileOperation = new FileOperation();
+		connectMotor(true);
-		string directory = fileOperation->getDirectoryOfExe();
-		QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
-
-		m_multiAxisController = new IrisMultiMotorController(configFilePath);
-		m_multiAxisController->moveToThread(&m_motorThread);
-		connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
-		connect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
-		connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
-		connect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
-		connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
-		connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
-		connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
-		connect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
-		m_motorThread.start();
-		
-		//归零
-		//emit zeroStartSignal(0);
-
-		//自动调焦逻辑
-		m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
-		m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
-		connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
-		connect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
-		connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
-		connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
-		m_MotionCaptureCoordinatorThread.start();
 	}
 	else
 	{
@@ -260,6 +268,131 @@ void focusWindow::onConnectMotor()
 	disableBeforeConnect(false);
 }
 
+void focusWindow::connectMotor(bool isNotification)//需要修改这个函数
+{
+	if (getMotorsConnectionStatus())
+	{
+		if (isNotification)
+		{
+			showMessageBox(QString::fromLocal8Bit("马达已连接！"));
+		}
+		return;
+	}
+
+	if (m_multiAxisController)
+	{
+		disconnect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+		disconnect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
+		disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+		disconnect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+		disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+		disconnect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
+		disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+		disconnect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
+		disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+		m_motorThread.quit();
+		m_motorThread.wait();
+		m_multiAxisController->deleteLater();
+	}
+
+	if (m_coordinator)
+	{
+		disconnect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+		disconnect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
+		disconnect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
+		disconnect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
+
+		m_MotionCaptureCoordinatorThread.quit();
+		m_MotionCaptureCoordinatorThread.wait();
+		m_coordinator->deleteLater();
+	}
+
+	try
+	{
+		FileOperation* fileOperation = new FileOperation();
+		string directory = fileOperation->getDirectoryOfExe();
+		QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
+
+		m_multiAxisController = new IrisMultiMotorController(configFilePath);
+	}
+	catch (std::exception const& e)
+	{
+		showMessageBox(QString::fromLocal8Bit("请连接马达！"));
+		return;
+	}
+
+	m_multiAxisController->moveToThread(&m_motorThread);
+	connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+	connect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
+	connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+	connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+	connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
+	connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+	connect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
+	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);
+
+	//归零
+	//emit zeroStartSignal(0);
+
+	//自动调焦逻辑
+	m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
+	m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
+	connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+	connect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
+	connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
+	connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
+	m_MotionCaptureCoordinatorThread.start();
+
+}
+
+void focusWindow::display_motors_connectivity(std::vector<int> connectivity)
+{
+	//std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
+	if (connectivity[0])
+	{
+		m_xMotorConnectionStatus = true;
+
+		this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
+	}
+	else
+	{
+		m_xMotorConnectionStatus = false;
+
+		this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: red;
+				border-radius: 4px;
+			}
+		)");
+	}
+
+	if (getMotorsConnectionStatus())
+	{
+		this->ui.connectMotor_btn->setText(QString::fromLocal8Bit("已连接"));
+	}
+	else
+	{
+		this->ui.connectMotor_btn->setText(QString::fromLocal8Bit("重新连接"));
+	}
+}
+
+bool focusWindow::getMotorsConnectionStatus()
+{
+	return m_xMotorConnectionStatus;
+}
+
 void focusWindow::display_x_loc(std::vector<double> loc)
 {
 	double tmp = round(loc[0] * 100) / 100;
@@ -517,20 +650,16 @@ void focusWindow::moveAfterAutoFocus(int motorID, double location)
 	std::cout << "\n已经到达位置：" << location  << std::endl;
 
 	double tmp = abs(location - m_goodPos) / m_goodPos * 100;
-	if (tmp < 5)
+	if (tmp < 5 || m_goodPos == 0)
 	{
 		m_isMoveAfterAutoFocus = false;
 		if (!m_isAutoFocusSuccess)
 		{
-			QMessageBox msgBox;
+			showMessageBox(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
-			msgBox.setText(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
-			msgBox.exec();
 		}
 		else
 		{
-			QMessageBox msgBox;
+			showMessageBox(QString::fromLocal8Bit("自动调焦成功！"));
-			msgBox.setText(QString::fromLocal8Bit("自动调焦成功！"));
-			msgBox.exec();
 		}
 	}
 	else

HPPA/focusWindow.h

@@ -18,6 +18,7 @@
 #include <QtSerialPort/QSerialPortInfo>
 #include <QDateTime>
 #include <QMutex>
+#include <QPointer>
 
 #include "ui_FocusDialog.h"
 #include "AbstractPortMiscDefines.h"
@@ -123,11 +124,11 @@ private:
 	void disableBeforeConnect(bool disable);
 
 	QThread m_motorThread;
-	IrisMultiMotorController* m_multiAxisController;
+	QPointer<IrisMultiMotorController> m_multiAxisController;
 	double m_dSpeed;
 
 	QThread m_MotionCaptureCoordinatorThread;
-	MotionCaptureCoordinator* m_coordinator;
+	QPointer<MotionCaptureCoordinator> m_coordinator;
 
 	int m_iStepSize;
 	double m_goodPos;
@@ -136,6 +137,11 @@ private:
 	void getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init);
 	void gaussian_fit(const std::vector<double>& x_data, const std::vector<double>& y_data, double& a, double& mu, double& sigma, double& c);
 
+	bool m_xMotorConnectionStatus = false;
+	bool getMotorsConnectionStatus();
+	void connectMotor(bool isNotification);
+
+	void showMessageBox(QString msg, QString title = QString::fromLocal8Bit("提示"));
 
 public Q_SLOTS:
 	void onConnectMotor();
@@ -158,6 +164,8 @@ public Q_SLOTS:
 
 	void onExit();
 
+	void display_motors_connectivity(std::vector<int> connectivity);
+
 signals:
 	void StartManualFocusSignal(int);//1：开始调焦；0：停止调焦；
 
@@ -166,6 +174,7 @@ signals:
 	void rmoveSignal(int, double, double, int);
 	void rangeMeasurementSignal(int, double, int);
 	void zeroStartSignal(int);
+	void testConnectivitySignal(int, int);
 
 	void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);
 	void closeSignal();