add

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；

HPPA.sln

@@ -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

HPPA/Corning410Imager.cpp

@@ -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()

HPPA/HPPA.cpp

@@ -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);;
+		m_RecordState -= 1;
-		if (response == QMessageBox::Yes)//
+
+		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;
+			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)//
-		else
+			{
-		{
+				//std::cout << "<22><><EFBFBD><EFBFBD>" << std::endl;
-			//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>
+			else
-			return;
+			{
+				//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;
+			}
 		}
 	}
-
+	else
-	m_Imager->setFrameNumber(this->frame_number->text().toInt());
+	{
-	m_Imager->setFileName2Save(imgPath);
+		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();
+	//FileOperation* fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryOfExe();
+	//string directory = fileOperation->getDirectoryOfExe();
-	string rgbFilePathNoStrech = directory + "\\tmp_image_no_strech2.png";//<2F><><EFBFBD><EFBFBD>ͼƬ
+	//string rgbFilePathNoStrech = directory + "\\tmp_image_no_strech.png";//δ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼƬ
-	cv::imwrite(rgbFilePathNoStrech, rgbImageStretched);
+	//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;
+	QString checkedName = checked->objectName();
-	if (checked)
-	{
-		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()

HPPA/HPPA.h

@@ -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();

HPPA/HPPA.ui

@@ -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>

HPPA/HPPA.vcxproj

@@ -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;$(IncludePath)</IncludePath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;$(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;$(LibraryPath)</LibraryPath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;$(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;$(IncludePath)</IncludePath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\IrisMultiMotorController\IrisMultiMotorController;$(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;$(LibraryPath)</LibraryPath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;$(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" />

HPPA/HPPA.vcxproj.filters

@@ -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" />

HPPA/ImagerOperationBase.cpp

@@ -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)
 	{

HPPA/ImagerOperationBase.h

@@ -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>

HPPA/OneMotorControl.cpp

@@ -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();
+}

HPPA/OneMotorControl.h

@@ -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;
+};

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();
+			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)
 	{

HPPA/about.ui

@@ -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">

HPPA/fileOperation.h

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

HPPA/image2display.cpp

@@ -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");
 
 
 

HPPA/oneMotorControl.ui

@@ -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>