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1、添加corning 410控制；
2、通过 IrisMultiMotorController 添加一轴马达控制，通过配置文件控制马达个数和马达初始化参数；

fix
1、修复点击显示光谱bug；
2、修复机械臂bug；
This commit is contained in:
tangchao0503
2025-05-13 14:32:36 +08:00
parent c1e4144ed6
commit a629115e91
16 changed files with 646 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
HPPA.sln
View File

@ -10,6 +10,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HPPA", "HPPA\HPPA.vcxproj",
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "vincecontrol", "vincecontrol\vincecontrol.vcxproj", "{B12702AD-ABFB-343A-A199-8E24837244A3}"
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "IrisMultiMotorController", "IrisMultiMotorController\IrisMultiMotorController\IrisMultiMotorController.vcxproj", "{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|x64 = Debug|x64
@ -34,6 +36,14 @@ Global
{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
{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x64.ActiveCfg = Debug|x64
{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x64.Build.0 = Debug|x64
{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x86.ActiveCfg = Debug|x64
{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x86.Build.0 = Debug|x64
{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x64.ActiveCfg = Release|x64
{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x64.Build.0 = Release|x64
{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x86.ActiveCfg = Release|x64
{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x86.Build.0 = Release|x64
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE

4
HPPA/Corning410Imager.cpp
View File

@ -32,7 +32,7 @@ double Corning410Imager::getFramerate()
double Corning410Imager::getIntegrationTime()
{
return m_imager.get_integration_time();
return m_imager.get_integration_time() / 1000;
}
double Corning410Imager::getGain()
@ -53,7 +53,7 @@ void Corning410Imager::setFramerate(const double frames_per_second)
void Corning410Imager::setIntegrationTime(const double milliseconds)
{
m_imager.set_integration_time(milliseconds);
m_imager.set_integration_time(milliseconds * 1000);
}
int Corning410Imager::getStartBand()

148
HPPA/HPPA.cpp
View File

@ -299,6 +299,17 @@ HPPA::HPPA(QWidget *parent)
tabifyDockWidget(dock_adt, dock_rac);
mPanelMenu->addAction(dock_rac->toggleViewAction());
//һ<><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
omc = new OneMotorControl();
connect(omc, SIGNAL(startRecordLineSignal(int)), this, SLOT(recordHyperSpecImg(int)));
QDockWidget* dock_omc = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
dock_omc->setObjectName("mDockOneMotorControl");
dock_omc->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
dock_omc->setWidget(omc);
tabifyDockWidget(dock_rac, dock_omc);
mPanelMenu->addAction(dock_omc->toggleViewAction());
createActionGroups();
connect(mImagerGroup, &QActionGroup::triggered, this, &HPPA::selectingImager);
@ -317,6 +328,19 @@ HPPA::HPPA(QWidget *parent)
}
}
void HPPA::recordHyperSpecImg(int status)
{
if (status == 1)
{
emit StartRecordSignal();//<2F><><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>ź<EFBFBD>
}
else if (status == 0)
{
m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
}
}
void HPPA::recordFromRobotArm(int fileCounter)
{
//qDebug() << "recordFromRobotArm" << fileCounter;
@ -393,6 +417,7 @@ void HPPA::createMoveplatformActionGroup()
moveplatformActionGroup->addAction(ui.mAction_is_no_motor);
moveplatformActionGroup->addAction(ui.mAction_2AxisMotor);
moveplatformActionGroup->addAction(ui.mAction_RobotArm);
moveplatformActionGroup->addAction(ui.mAction_1AxisMotor);
// <20><>ȡ<EFBFBD>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
QSettings settings;
@ -411,6 +436,10 @@ void HPPA::createMoveplatformActionGroup()
{
ui.mAction_RobotArm->setChecked(true);
}
else if (lastSelectedAction == "mAction_1AxisMotor")
{
ui.mAction_1AxisMotor->setChecked(true);
}
}
void HPPA::selectingMoveplatform(QAction* selectedAction)
@ -497,27 +526,35 @@ void HPPA::onStartRecordStep1()
string directory = fileOperation->getDirectoryFromString();
//string imgPath = directory + "\\tmp_image";
string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString();
int x = _access(imgPath.c_str(), 0);
if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD>
m_RecordState += 1;
if (m_RecordState % 2 == 1)
{
enum QMessageBox::StandardButton response = QMessageBox::question(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><EFBFBD>Ƿ񸲸ǣ<EFBFBD>"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);;
if (response == QMessageBox::Yes)//
m_RecordState -= 1;
string tmp = imgPath + "_" + std::to_string(1) + ".bil";
int x = _access(tmp.c_str(), 0);
if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD>
{
//std::cout << "<22><><EFBFBD><EFBFBD>" << std::endl;
}
else
{
//std::cout << "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
//m_RecordState -= 1;//<2F><><EFBFBD><EFBFBD><EFBFBD>ǵĻ<C7B5><C4BB><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
return;
enum QMessageBox::StandardButton response = QMessageBox::question(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><EFBFBD>Ƿ񸲸ǣ<EFBFBD>"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);;
if (response == QMessageBox::Yes)//
{
//std::cout << "<22><><EFBFBD><EFBFBD>" << std::endl;
}
else
{
//std::cout << "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
//m_RecordState -= 1;//<2F><><EFBFBD><EFBFBD><EFBFBD>ǵĻ<C7B5><C4BB><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
return;
}
}
}
m_Imager->setFrameNumber(this->frame_number->text().toInt());
m_Imager->setFileName2Save(imgPath);
else
{
m_RecordState -= 1;
}
QString checkedName = checked->objectName();
if (checkedName == "mAction_is_no_motor")
{
m_RecordState += 1;
@ -528,7 +565,9 @@ void HPPA::onStartRecordStep1()
onCreateTab(0);
m_numberOfRecording = 0;
m_Imager->setFileName2Save(imgPath);
m_Imager->setFrameNumber(this->frame_number->text().toInt());
emit StartRecordSignal();//<2F><><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>ź<EFBFBD>
ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
@ -537,6 +576,36 @@ void HPPA::onStartRecordStep1()
else
{
m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
m_RecordState -= 1;
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_1AxisMotor")
{
m_RecordState += 1;
if (m_RecordState % 2 == 1)
{
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);}");
//Ӧ<><D3A6><EFBFBD>ȿ<EFBFBD><C8BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>Dzɼ<C7B2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>źţ<C5BA>
m_Imager->setFileName2Save(imgPath);
m_Imager->setFrameNumber(this->frame_number->text().toInt());
omc->moveMotorAndRecordHyperSpecImg(500);
}
else
{
omc->moveMotor2StartPosAndStopRecord();
m_RecordState -= 1;
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);}");
@ -586,6 +655,8 @@ void HPPA::onStartRecordStep1()
string x_location = removeFileExtension(imgPath) + "x_location.pos";
m_hTimesFile = fopen(x_location.c_str(), "w+");
m_Imager->setFileName2Save(imgPath);
//<2F><>ʼѭ<CABC><D1AD>
m_ForLoopControl->setLoopCount(m_pathPlan->getRecordLineTableWidget()->rowCount());//Ϊѭ<CEAA><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
emit StartLoopSignal();
@ -618,6 +689,8 @@ void HPPA::onStartRecordStep1()
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
m_Imager->setFileName2Save(imgPath);
m_Imager->setFrameNumber(this->frame_number->text().toInt());
rac->executeTaskWithHyperImager();
return;
@ -1796,7 +1869,7 @@ void HPPA::onconnect()
m_Imager->connect_imager(frame_number->text().toInt());
m_Imager->setFileName2Save(m_FilenameLineEdit->text().toStdString());
connect(m_Imager, SIGNAL(PlotSignal()), this, SLOT(onPlotHyperspectralImageRgbImage()));
connect(m_Imager, SIGNAL(PlotSignal(int)), this, SLOT(onPlotHyperspectralImageRgbImage(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)));
@ -2035,8 +2108,16 @@ void HPPA::recordWhiteFinish()
}
}
void HPPA::onPlotHyperspectralImageRgbImage()
void HPPA::onPlotHyperspectralImageRgbImage(int number)
{
//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")
{
return;
}
//return;
//<2F><>ȡ<EFBFBD><C8A1>ͼ<EFBFBD>ؼ<EFBFBD>
QWidget* currentWidget = ui.ImageViewerTabWidget->widget(m_numberOfRecording);
@ -2054,10 +2135,12 @@ void HPPA::onPlotHyperspectralImageRgbImage()
//20241225
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgb
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryOfExe();
string rgbFilePathNoStrech = directory + "\\tmp_image_no_strech2.png";//<2F><><EFBFBD><EFBFBD>ͼƬ
cv::imwrite(rgbFilePathNoStrech, rgbImageStretched);
//FileOperation* fileOperation = new FileOperation();
//string directory = fileOperation->getDirectoryOfExe();
//string rgbFilePathNoStrech = directory + "\\tmp_image_no_strech.png";//δ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼƬ
//string rgbFilePathStrech = directory + "\\tmp_image_strech.png";//<2F><><EFBFBD><EFBFBD>ͼƬ
//cv::imwrite(rgbFilePathNoStrech, rgbImage);
//cv::imwrite(rgbFilePathStrech, rgbImageStretched);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ʾ<EFBFBD><CABE>ͼ<EFBFBD><CDBC>--qt<71>汾
//QRect CuttedRect = m_Imager->getRgbImage()->m_QRgbImage->rect();//<2F>Ȼ<EFBFBD>ȡimage<67><65><EFBFBD><EFBFBD>rect
@ -2078,7 +2161,7 @@ void HPPA::PlotSpectral(int state)
ImageProcessor imageProcessor;
//cv::Mat grayImage(*m_Imager->getRgbImage()->m_matFocusGrayImage, cv::Range::all(), cv::Range::all());//2022.3.18<EFBFBD>ع<EFBFBD><EFBFBD><EFBFBD>
cv::Mat grayImage(*m_Imager->getMatFocusGrayImage(), cv::Range::all(), cv::Range::all());
//cv::Mat grayImage(*m_Imager->getMatFocusGrayImage(), cv::Range::all(), cv::Range::all());
//currentImageViewer[0]->SetImage(&QPixmap::fromImage(imageProcessor.Mat2QImage(grayImage)));//<2F><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>
currentImageViewer[0]->SetImage(&QPixmap::fromImage(m_Imager->getQImageFocusGrayImage()));//<2F><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>
@ -2091,7 +2174,8 @@ void HPPA::PlotSpectral(int state)
{
//malloc<6F><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>÷<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//series->append(i, m_Imager->buffer[i + 5 * 900]);
series->append(i, m_Imager->buffer[900 * 150 + i]);
//series->append(i, m_Imager->buffer[900 * 150 + i]);
series->append(i, m_Imager->buffer[1368 * 150 + i]);
}
QChart *chart = new QChart();
@ -2156,16 +2240,20 @@ void HPPA::onRecordFinishedSignal_WhenFrameNumberMeet()
ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
m_RecordState++;//<2F><><EFBFBD>Զ<EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
QAction* checked = moveplatformActionGroup->checkedAction();
QString checkedName = checked->objectName();
if (checkedName == "mAction_1AxisMotor")
{
omc->moveMotor2StartPosAndStopRecord();
}
}
void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet()
{
QAction* checked = moveplatformActionGroup->checkedAction();
QString checkedName;
if (checked)
{
checkedName = checked->objectName();
}
QString checkedName = checked->objectName();
if (checkedName == "mAction_RobotArm")//<2F><>е<EFBFBD>ۻ<EFBFBD><DBBB><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD>ֿ<EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ui.action_start_recording<6E><67>ʾ<EFBFBD>쳣
{
@ -2177,6 +2265,8 @@ void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet()
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()

6
HPPA/HPPA.h
View File

@ -34,6 +34,7 @@
#include "PowerControl.h"
#include "PathPlan.h"
#include "RobotArmControl.h"
#include "OneMotorControl.h"
#include "hppaConfigFile.h"
#include "path_tc.h"
@ -244,6 +245,8 @@ private:
void createMoveplatformActionGroup();
void selectingMoveplatform(QAction* selectedAction);
RobotArmControl* rac;
OneMotorControl* omc;
PathPlan* m_pathPlan;
@ -251,7 +254,7 @@ private:
FILE* m_hTimesFile;
public Q_SLOTS:
void onPlotHyperspectralImageRgbImage();
void onPlotHyperspectralImageRgbImage(int number);
void PlotSpectral(int state);
void onRecordFinishedSignal_WhenFrameNumberMeet();
void onRecordFinishedSignal_WhenFrameNumberNotMeet();
@ -341,6 +344,7 @@ public Q_SLOTS:
void requestFinished(QNetworkReply* reply);
void recordFromRobotArm(int fileCounter);
void recordHyperSpecImg(int status);
signals:
void StartFocusSignal();

10
HPPA/HPPA.ui
View File

@ -167,7 +167,9 @@ color:white;
<string>扫描平台</string>
</property>
<addaction name="mAction_is_no_motor"/>
<addaction name="mAction_1AxisMotor"/>
<addaction name="mAction_2AxisMotor"/>
<addaction name="separator"/>
<addaction name="mAction_RobotArm"/>
</widget>
<addaction name="file"/>
@ -1585,6 +1587,14 @@ QDockWidget::title {
<string>机械臂</string>
</property>
</action>
<action name="mAction_1AxisMotor">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>1 轴线性马达</string>
</property>
</action>
</widget>
<layoutdefault spacing="6" margin="11"/>
<customwidgets>

17
HPPA/HPPA.vcxproj
View File

@ -55,16 +55,16 @@
</ImportGroup>
<PropertyGroup Label="UserMacros" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
<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\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;$(IncludePath)</IncludePath>
<LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;$(LibraryPath)</LibraryPath>
<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\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;$(IncludePath)</IncludePath>
<LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;$(LibraryPath)</LibraryPath>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
<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\vincecontrol;$(IncludePath)</IncludePath>
<LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;$(LibraryPath)</LibraryPath>
<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\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\IrisMultiMotorController\IrisMultiMotorController;$(IncludePath)</IncludePath>
<LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;$(LibraryPath)</LibraryPath>
</PropertyGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
<Link>
<AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.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;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
</Link>
<ClCompile>
@ -73,7 +73,7 @@
</ItemDefinitionGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
<Link>
<AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
</Link>
</ItemDefinitionGroup>
@ -99,7 +99,7 @@
<RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
</ClCompile>
<Link>
<SubSystem>Windows</SubSystem>
<SubSystem>Console</SubSystem>
<GenerateDebugInformation>false</GenerateDebugInformation>
</Link>
</ItemDefinitionGroup>
@ -111,6 +111,7 @@
<ClCompile Include="ImagerOperationBase.cpp" />
<ClCompile Include="imager_base.cpp" />
<ClCompile Include="irisximeaimager.cpp" />
<ClCompile Include="OneMotorControl.cpp" />
<ClCompile Include="PathPlan.cpp" />
<ClCompile Include="path_tc.cpp" />
<ClCompile Include="PowerControl.cpp" />
@ -141,6 +142,7 @@
<ClCompile Include="imagerSimulatioin.cpp" />
<ClCompile Include="ImageViewer.cpp" />
<ClCompile Include="main.cpp" />
<QtUic Include="oneMotorControl.ui" />
<QtUic Include="PathPlan.ui" />
<QtUic Include="PowerControl.ui" />
<QtUic Include="RobotArmControl.ui" />
@ -162,6 +164,7 @@
<QtMoc Include="Corning410Imager.h" />
<ClInclude Include="imager_base.h" />
<ClInclude Include="irisximeaimager.h" />
<QtMoc Include="OneMotorControl.h" />
<ClInclude Include="utility_tc.h" />
<QtMoc Include="aboutWindow.h" />
<ClInclude Include="hppaConfigFile.h" />

9
HPPA/HPPA.vcxproj.filters
View File

@ -124,6 +124,9 @@
<ClCompile Include="irisximeaimager.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="OneMotorControl.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<QtMoc Include="fileOperation.h">
@ -177,6 +180,9 @@
<QtMoc Include="Corning410Imager.h">
<Filter>Header Files</Filter>
</QtMoc>
<QtMoc Include="OneMotorControl.h">
<Filter>Header Files</Filter>
</QtMoc>
</ItemGroup>
<ItemGroup>
<ClInclude Include="imageProcessor.h">
@ -229,6 +235,9 @@
<QtUic Include="RobotArmControl.ui">
<Filter>Form Files</Filter>
</QtUic>
<QtUic Include="oneMotorControl.ui">
<Filter>Form Files</Filter>
</QtUic>
</ItemGroup>
<ItemGroup>
<None Include="cpp.hint" />

8
HPPA/ImagerOperationBase.cpp
View File

@ -54,9 +54,9 @@ double ImagerOperationBase::auto_exposure()
while (true)
{
getFrame(buffer);
if (GetMaxValue(buffer, m_FrameSize) >= 4095)
if (GetMaxValue(buffer, m_FrameSize) >= 4094)
{
setIntegrationTime(getIntegrationTime() * 0.8);
setIntegrationTime(getIntegrationTime() * 0.95);
std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
}
else
@ -270,7 +270,7 @@ 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();
emit PlotSignal(m_iFrameCounter);
}
if (m_iFrameCounter >= m_iFrameNumber)
@ -287,7 +287,7 @@ void ImagerOperationBase::start_record()
//<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();//<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>
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)
{

2
HPPA/ImagerOperationBase.h
View File

@ -94,7 +94,7 @@ public slots:
virtual void record_dark();
virtual void record_white();
signals:
void PlotSignal();//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ź<EFBFBD>
void PlotSignal(int);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>źţ<EFBFBD>-1<><31><EFBFBD>˴βɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD><CEBB><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>

133
HPPA/OneMotorControl.cpp Normal file
View File

@ -0,0 +1,133 @@
#include "OneMotorControl.h"
OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
{
ui.setupUi(this);
connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
}
OneMotorControl::~OneMotorControl()
{
m_motorThread.quit();
m_motorThread.wait();
}
void OneMotorControl::onConnectMotor()
{
try
{
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryOfExe();
QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile.cfg";
m_multiAxisController = new IrisMultiMotorController(configFilePath);
}
catch (std::exception const& e)
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
msgBox.exec();
}
m_multiAxisController->moveToThread(&m_motorThread);
m_motorThread.start();
connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(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(onx_rangeMeasurement()));
connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
connect(this, SIGNAL(recordHyperSpecImgOneMotorSignal(int, double, double)), m_multiAxisController, SLOT(recordHyperSpecImgOneMotor(int, double, double)));
connect(m_multiAxisController, SIGNAL(startRecordLineSignal(int)), this, SIGNAL(startRecordLineSignal(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>)));
emit testConnectivitySignal(0, 1000);
}
void OneMotorControl::display_x_loc(std::vector<double> loc)
{
double tmp = round(loc[0] * 100) / 100;
this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
}
void OneMotorControl::display_motors_connectivity(std::vector<int> connectivity)
{
//std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
if (connectivity[0])
{
this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
}
else
{
this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
}
}
void OneMotorControl::zeroStart()
{
zeroStartSignal(0);
}
void OneMotorControl::onx_rangeMeasurement()
{
double s0 = ui.speed_lineEdit->text().toDouble();
emit rangeMeasurement(0, s0, 1000);
}
void OneMotorControl::onxMove2Loc()
{
double s = ui.speed_lineEdit->text().toDouble();
double l = ui.move2loc_lineEdit->text().toDouble();
emit move2LocSignal(0, l, s, 1000);
}
void OneMotorControl::onxMotorRight()
{
double s = ui.speed_lineEdit->text().toDouble();
emit moveSignal(0, false, s, 1000);
}
void OneMotorControl::onxMotorLeft()
{
double s = ui.speed_lineEdit->text().toDouble();
emit moveSignal(0, true, s, 1000);
}
void OneMotorControl::onxMotorStop()
{
emit stopSignal(0);
}
void OneMotorControl::moveMotorAndRecordHyperSpecImg(int updateIntervalMs)
{
double runSpeed = ui.speed_lineEdit->text().toDouble();
double returnSpeed = ui.return_speed_lineEdit->text().toDouble();
emit recordHyperSpecImgOneMotorSignal(updateIntervalMs, runSpeed, returnSpeed);
}
void OneMotorControl::moveMotor2StartPosAndStopRecord()
{
m_multiAxisController->cancelRecord();
}

53
HPPA/OneMotorControl.h Normal file
View File

@ -0,0 +1,53 @@
#pragma once
#include <QThread>
#include <QMessageBox>
#include "ui_oneMotorControl.h"
#include "IrisMultiMotorController.h"
#include "fileOperation.h"
class OneMotorControl : public QDialog
{
Q_OBJECT
public:
OneMotorControl(QWidget* parent = nullptr);
~OneMotorControl();
void moveMotorAndRecordHyperSpecImg(int updateIntervalMs);
void moveMotor2StartPosAndStopRecord();
public Q_SLOTS:
void onConnectMotor();
void display_x_loc(std::vector<double> loc);
void display_motors_connectivity(std::vector<int> connectivity);
void onxMove2Loc();
void zeroStart();
void onx_rangeMeasurement();
void onxMotorRight();
void onxMotorLeft();
void onxMotorStop();
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 recordHyperSpecImgOneMotorSignal(int updateIntervalMs, double runSpeed, double returnSpeed);
void startRecordLineSignal(int);
private:
Ui::OneMotorControl_UI ui;
QThread m_motorThread;
IrisMultiMotorController* m_multiAxisController;
};

4
HPPA/ResononNirImager.cpp
View File

@ -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();
emit PlotSignal(m_iFrameCounter);
}
if (m_iFrameCounter >= m_iFrameNumber)
@ -371,7 +371,7 @@ void ResononNirImager::start_record()
//<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();//<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
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)
{

2
HPPA/about.ui
View File

@ -70,7 +70,7 @@
</rect>
</property>
<property name="text">
<string>版本：1.8.8</string>
<string>版本：1.9.0</string>
</property>
</widget>
<widget class="QLabel" name="label_4">

2
HPPA/fileOperation.h
View File

@ -17,7 +17,7 @@ public:
~FileOperation();
string getDirectoryOfExe();//getDirectoryOfExe
string getDirectoryFromString(string directory="C:/HPPA_image");
string getDirectoryFromString(string directory="C:\\HPPA_image");

2
HPPA/image2display.cpp
View File

@ -172,7 +172,7 @@ void CImage::FillFocusGrayQImage(unsigned short * datacube)
}
}
m_qimageFocusGrayImage->save("D:/delete/2222222222/test.bmp");
//m_qimageFocusGrayImage->save("D:/delete/2222222222/test.bmp");

285
HPPA/oneMotorControl.ui Normal file
View File

@ -0,0 +1,285 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>OneMotorControl_UI</class>
<widget class="QDialog" name="OneMotorControl_UI">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>544</width>
<height>346</height>
</rect>
</property>
<property name="windowTitle">
<string>一轴马达控制</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>实时位置</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_6">
<property name="text">
<string>运行速度</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>返回速度</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLineEdit" name="realTimeLoc_lineEdit">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="speed_lineEdit">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>0.1</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="return_speed_lineEdit">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>2</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="move2loc_lineEdit">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QPushButton" name="connect_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>连接</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="zero_start_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>归零</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="rangeMeasurement_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>量程测量</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="move2loc_pushButton">
<property name="text">
<string>移动至</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item row="0" column="1">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>161</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QPushButton" name="left_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>←0</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="right_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>→</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<spacer name="horizontalSpacer_2">
<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>
<widget class="QLabel" name="motor_state_label">
<property name="text">
<string>马达状态</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="3" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>191</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>