1、修复bug：关闭-打开马达电源后，总有一个马达连接不上，通过删掉重建马达对象解决；

2、将任总的马达控制库加入本工程；

HPPA.sln

@@ -1,20 +1,39 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 15
+# Visual Studio Version 17
-VisualStudioVersion = 15.0.28307.1267
+VisualStudioVersion = 17.5.33502.453
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HPPA", "HPPA\HPPA.vcxproj", "{E7886664-B69E-4781-BCBE-804574FB4033}"
+	ProjectSection(ProjectDependencies) = postProject
+		{B12702AD-ABFB-343A-A199-8E24837244A3} = {B12702AD-ABFB-343A-A199-8E24837244A3}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "vincecontrol", "..\..\cpp_project_vs2019\vincecontrol\vincecontrol\vincecontrol.vcxproj", "{B12702AD-ABFB-343A-A199-8E24837244A3}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
 		Release|x64 = Release|x64
+		Release|x86 = Release|x86
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
 		{E7886664-B69E-4781-BCBE-804574FB4033}.Debug|x64.ActiveCfg = Debug|x64
 		{E7886664-B69E-4781-BCBE-804574FB4033}.Debug|x64.Build.0 = Debug|x64
+		{E7886664-B69E-4781-BCBE-804574FB4033}.Debug|x86.ActiveCfg = Debug|x64
+		{E7886664-B69E-4781-BCBE-804574FB4033}.Debug|x86.Build.0 = Debug|x64
 		{E7886664-B69E-4781-BCBE-804574FB4033}.Release|x64.ActiveCfg = Release|x64
 		{E7886664-B69E-4781-BCBE-804574FB4033}.Release|x64.Build.0 = Release|x64
+		{E7886664-B69E-4781-BCBE-804574FB4033}.Release|x86.ActiveCfg = Release|x64
+		{E7886664-B69E-4781-BCBE-804574FB4033}.Release|x86.Build.0 = Release|x64
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x64.ActiveCfg = Debug|x64
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x64.Build.0 = Debug|x64
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x86.ActiveCfg = Debug|Win32
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x86.Build.0 = Debug|Win32
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x64.ActiveCfg = Release|x64
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x64.Build.0 = Release|x64
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x86.ActiveCfg = Release|Win32
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x86.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

HPPA/HPPA.cpp

@@ -105,12 +105,10 @@ HPPA::HPPA(QWidget *parent)
 
 
 
-	//<2F><><EFBFBD><EFBFBD>
+	
-	m_xMotor = new VinceControl(NETTCP, 6002);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	m_xMotor = nullptr;
-	m_yMotor = new VinceControl(NETTCP, 6001);//ԭ<><D4AD><EFBFBD><EFBFBD>6001<30><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>6003
+	m_yMotor = nullptr;
-	m_xConnectCount = 0;
+	newMotor();
-	m_yConnectCount = 0;
-
 
 
 	//m_TestXmotorStausThread = new MotorWorkerThread(m_xMotor);
@@ -179,7 +177,6 @@ HPPA::HPPA(QWidget *parent)
 	connect(ui.graphicsView->imager, SIGNAL(leftMouseButtonPressed(int, int)), this, SLOT(onimagerSimulatorMove(int, int)));
 
 
-	connect(m_xMotor, SIGNAL(SendLogToCallClass(QString)), this, SLOT(OnSendLogToCallClass(QString)));
 
 	//<2F>滮<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>
 	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
@@ -275,13 +272,16 @@ HPPA::~HPPA()
 	if (m_Imager != nullptr)
 		m_Imager->~ResononImager();//<2F>ͷ<EFBFBD><CDB7><EFBFBD>Դ
 
-	if (isMotorConnected(m_xMotor))
+	if (m_xMotor != nullptr && m_yMotor != nullptr)
 	{
-		m_xMotor->StopMotormove();
+		if (isMotorConnected(m_xMotor))
-	}
+		{
-	if (isMotorConnected(m_yMotor))
+			m_xMotor->StopMotormove();
-	{
+		}
-		m_yMotor->StopMotormove();
+		if (isMotorConnected(m_yMotor))
+		{
+			m_yMotor->StopMotormove();
+		}
 	}
 }
 
@@ -407,6 +407,11 @@ void HPPA::onStartRecordStep1()
 
 void HPPA::onStartRecordStep2(int lineNumber)
 {
+	if (m_xMotor == nullptr && m_yMotor == nullptr)
+	{
+		return;
+	}
+
 	if (lineNumber >= 0)
 	{
 		m_numberOfRecording = lineNumber;
@@ -637,6 +642,12 @@ void HPPA::timerEvent(QTimerEvent *event)
 {
 	try
 	{
+		if (m_xMotor == nullptr || m_yMotor == nullptr)
+		{
+			qDebug() << "Motor pointer is null!!!!!";
+			return;
+		}
+
 		if (!m_xMotor->IsMotorInit)
 		{
 			//return;
@@ -644,7 +655,7 @@ void HPPA::timerEvent(QTimerEvent *event)
 		}
 		ByteBack xMotorState = m_xMotor->GetState();//ִ<><D6B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
-		std::cout << "------------------------------------------<2D><><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>" << xMotorState.Speed << std::endl;
+		std::cout << "------------------------------------------x<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD>" << xMotorState.Speed << std::endl;
 
 		if (xMotorState.Speed == -1000000)
 		{
@@ -1638,12 +1649,48 @@ void HPPA::onMotorPowerOpen_btn()
 {
 	QString xx = "http://192.168.1.3/setshutter?Portname=1&Value=1";
 	getRequest(xx);
+
+	newMotor();
 }
 
 void HPPA::onMotorPowerClose_btn()
 {
 	QString xx = "http://192.168.1.3/setshutter?Portname=1&Value=0";
 	getRequest(xx);
+
+	deleteMotor();
+}
+
+void HPPA::newMotor()
+{
+	if (m_xMotor != nullptr && m_yMotor != nullptr)
+	{
+		return;
+	}
+
+	//<2F><><EFBFBD><EFBFBD>
+	m_xMotor = new VinceControl(NETTCP, 6002);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	m_yMotor = new VinceControl(NETTCP, 6001);//ԭ<><D4AD><EFBFBD><EFBFBD>6001<30><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>6003
+	m_xConnectCount = 0;
+	m_yConnectCount = 0;
+
+	connect(m_xMotor, SIGNAL(SendLogToCallClass(QString)), this, SLOT(OnSendLogToCallClass(QString)));
+	connect(m_yMotor, SIGNAL(SendLogToCallClass(QString)), this, SLOT(OnSendLogToCallClass(QString)));
+}
+
+void HPPA::deleteMotor()
+{
+	disconnect(m_xMotor, SIGNAL(SendLogToCallClass(QString)), this, SLOT(OnSendLogToCallClass(QString)));
+	disconnect(m_yMotor, SIGNAL(SendLogToCallClass(QString)), this, SLOT(OnSendLogToCallClass(QString)));
+
+	delete m_xMotor;
+	delete m_yMotor;
+
+	m_xMotor = nullptr;
+	m_yMotor = nullptr;
+
+	xmotor_state_label1->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+	ymotor_state_label1->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
 }
 
 void HPPA::requestFinished(QNetworkReply* reply) {

HPPA/HPPA.h

@@ -203,6 +203,8 @@ private:
 	QString operateWidget;//<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>Ŀؼ<C4BF><D8BC><EFBFBD>
 
 	//<2F><><EFBFBD><EFBFBD>
+	void deleteMotor();
+	void newMotor();
 	bool isMotorConnected(VinceControl *motor);//<2F>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7>Ͽ<EFBFBD><CFBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͽ<EFBFBD><CFBF><EFBFBD><EFBFBD><EFBFBD>true<75><65><EFBFBD><EFBFBD><EFBFBD>򷵻<EFBFBD>false
 	void SetXMotorWidgetEnable(bool enable);
 	void SetYMotorWidgetEnable(bool enable);

HPPA/HPPA.vcxproj

@@ -55,8 +55,8 @@
   </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
-    <IncludePath>D:\cpp_library\vincecontrol_vs2017;D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;$(IncludePath)</IncludePath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA - 副本\vincecontrol;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;$(LibraryPath)</LibraryPath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA - 副本\vincecontrol\x64\Debug;$(LibraryPath)</LibraryPath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
     <IncludePath>D:\cpp_library\vincecontrol_vs2017;D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;$(IncludePath)</IncludePath>
@@ -64,7 +64,7 @@
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;%(AdditionalDependencies)</AdditionalDependencies>
     </Link>
     <ClCompile>
       <PreprocessorDefinitions>%(PreprocessorDefinitions)</PreprocessorDefinitions>

HPPA/about.ui

@@ -70,7 +70,7 @@
     </rect>
    </property>
    <property name="text">
-    <string>版本：1.5</string>
+    <string>版本：1.6</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_4">