由于马达移动准确性较低，自动调焦完成后，直接移动到m_goodPos效果不好，所以先移动到tmpPos，然后移动到m_goodPos

HPPA/OneMotorControl.cpp

@@ -32,7 +32,7 @@ void OneMotorControl::onConnectMotor()
 	}
     
     m_multiAxisController->moveToThread(&m_motorThread);
-    m_motorThread.start();
+    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
 
     connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
     connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
@@ -59,6 +59,8 @@ void OneMotorControl::onConnectMotor()
 
     connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
     connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+    
+    m_motorThread.start();
     emit testConnectivitySignal(0, 1000);
 }
 

HPPA/focusWindow.cpp

@@ -118,6 +118,7 @@ void focusWindow::onConnectMotor()
 		connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
 		connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
 		connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+		connect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
 		m_motorThread.start();
 		
 		//归零
@@ -408,10 +409,14 @@ void focusWindow::onAutoFocusFinished()
 		if (mu < 0 || mu > maxPos)
 		{
 			std::cout << "拟合失败！！！！！" << std::endl;
-			QMessageBox msgBox;
+			m_goodPos = mu_init;
-			msgBox.setText(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
+			m_isAutoFocusSuccess = false;
-			msgBox.exec();
+		}
-			mu = mu_init;
+		else
+		{
+			std::cout << "拟合成功！！！！！" << std::endl;
+			m_goodPos = mu;
+			m_isAutoFocusSuccess = true;
 		}
 
 		FileOperation* fileOperation = new FileOperation();
@@ -420,13 +425,13 @@ void focusWindow::onAutoFocusFinished()
 		QString format1 = "yyyyMMdd_HHmmss";
 		QString fileName = now.toString("yyyyMMdd_HHmmss");
 
-		QString tmp = QDir::cleanPath(QString::fromStdString(directory) + QDir::separator() + fileName + "_" + QString::number(m_iStepSize) + "interval_" + QString::number(mu) + ".csv");
+		QString fitDataFile = QDir::cleanPath(QString::fromStdString(directory) + QDir::separator() + fileName + "_" + QString::number(m_iStepSize) + "interval_" + QString::number(mu) + ".csv");
+		m_coordinator->saveToCsv(fitDataFile);
 
-		QString focusFilePath = QString::fromStdString(directory) + "\\focus.csv";
+		//由于马达移动准确性较低，自动调焦完成后，直接移动到m_goodPos效果不好，所以先移动到tmpPos，然后移动到m_goodPos
-		m_coordinator->saveToCsv(tmp);
+		double tmpPos = m_goodPos - positionData[positionData.size() - 1].actualPosition / 10;
-
+		m_isMoveAfterAutoFocus = true;
-		//移动马达到最佳位置
+		emit move2LocSignal(0, (double)tmpPos, m_dSpeed, 1000);
-		emit move2LocSignal(0, (double)mu, m_dSpeed, 1000);
 	}
 	else
 	{
@@ -436,6 +441,37 @@ void focusWindow::onAutoFocusFinished()
 	this->setDisabled(false);
 }
 
+void focusWindow::moveAfterAutoFocus(int motorID, double location)
+{
+	if (!m_isMoveAfterAutoFocus)
+	{
+		return;
+	}
+
+	std::cout << "\n已经到达位置：" << location  << std::endl;
+
+	//移动马达到最佳位置
+	emit move2LocSignal(0, (double)m_goodPos, m_dSpeed, 1000);
+
+	double tmp = abs(location - m_goodPos) / m_goodPos * 100;
+	if (tmp<5)
+	{
+		if (!m_isAutoFocusSuccess)
+		{
+			QMessageBox msgBox;
+			msgBox.setText(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
+			msgBox.exec();
+		}
+		else
+		{
+			QMessageBox msgBox;
+			msgBox.setText(QString::fromLocal8Bit("自动调焦成功！"));
+			msgBox.exec();
+		}
+		m_isMoveAfterAutoFocus = false;
+	}
+}
+
 void focusWindow::getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init)
 {
 	auto minmax_element = std::minmax_element(index.begin(), index.end());

HPPA/focusWindow.h

@@ -125,6 +125,9 @@ private:
 	MotionCaptureCoordinator* m_coordinator;
 
 	int m_iStepSize;
+	double m_goodPos;
+	bool m_isAutoFocusSuccess;
+	bool m_isMoveAfterAutoFocus = false;
 	void getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init);
 	void gaussian_fit(const std::vector<double>& x_data, const std::vector<double>& y_data, double& a, double& mu, double& sigma, double& c);
 
@@ -146,6 +149,8 @@ public Q_SLOTS:
 	void display_x_loc(std::vector<double> loc);
 	void onx_rangeMeasurement();
 
+	void moveAfterAutoFocus(int motorID, double location);
+
 signals:
 	void StartManualFocusSignal(int);//1<><31><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>