add

采集高光谱扫描时，支持反向运动
2026-09-16 17:50:23 +08:00
parent 08dee5bbec
commit b8febdf8ff
5 changed files with 279 additions and 198 deletions
--- a/HPPA/AppSettings.cpp
+++ b/HPPA/AppSettings.cpp
@ -175,6 +175,16 @@ void AppSettings::setReturnSpeed(double value)
 	m_settings.setValue("OneMotorControl/ReturnSpeed", value);
 }

+double AppSettings::manualMovementSpeed() const
+{
+	return m_settings.value("OneMotorControl/ManualMovementSpeed", 1).toDouble();
+}
+
+void AppSettings::setManualMovementSpeed(double value)
+{
+	m_settings.setValue("OneMotorControl/ManualMovementSpeed", value);
+}
+
 int AppSettings::gonggaShanRecordPort() const
 {
 	return m_settings.value("GonggaShanRecordCtl/Port", kDefaultGonggaShanRecordPort).toInt();
--- a/HPPA/AppSettings.h
+++ b/HPPA/AppSettings.h
@ -56,6 +56,10 @@ public:
 	double returnSpeed() const;
 	void setReturnSpeed(double value);

+	// 手动移动速度
+	double manualMovementSpeed() const;
+	void setManualMovementSpeed(double value);
+
 	// 贡嘎山记录端口
 	int gonggaShanRecordPort() const;
 	void setGonggaShanRecordPort(int value);
--- a/HPPA/OneMotorControl.cpp
+++ b/HPPA/OneMotorControl.cpp
@ -17,18 +17,18 @@ OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)

    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));

-    // 从 AppSettings 读取速度参数
-    AppSettings& settings = AppSettings::instance();
-    ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
-    ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
-
    // 连接信号，当控件数值变化时保存到 AppSettings
-    connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
-        AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
+    connect(ui.scanSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.scanSpeed_lineEdit->text().toDouble());
    });
    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
    });
+    connect(ui.manualMovementSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setManualMovementSpeed(ui.manualMovementSpeed_lineEdit->text().toDouble());
+    });
+
+    loadSettings();
 }

 OneMotorControl::~OneMotorControl()
@ -37,6 +37,13 @@ OneMotorControl::~OneMotorControl()
    m_motorThread.wait();
 }

+void OneMotorControl::loadSettings()
+{
+    ui.scanSpeed_lineEdit->setText(QString::number(AppSettings::instance().scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(AppSettings::instance().returnSpeed()));
+    ui.manualMovementSpeed_lineEdit->setText(QString::number(AppSettings::instance().manualMovementSpeed()));
+}
+
 void OneMotorControl::onConnectMotor()
 {
    connectMotor(true);
@ -44,7 +51,7 @@ void OneMotorControl::onConnectMotor()

 void OneMotorControl::setScanSpeed(double speed)
 {
-    ui.speed_lineEdit->setText(QString::number(speed));
+    ui.scanSpeed_lineEdit->setText(QString::number(speed));
 }

 void OneMotorControl::connectMotor(bool isNotification)
@ -116,7 +123,7 @@ void OneMotorControl::connectMotor(bool isNotification)
 void OneMotorControl::display_x_loc(std::vector<double> loc)
 {
    double tmp = round(loc[0] * 100) / 100;
-    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+    this->ui.realTimeLoc_label->setText(QString::number(tmp));

    emit broadcastLocationSignal(loc);
 }
@ -166,13 +173,13 @@ void OneMotorControl::zeroStart()

 void OneMotorControl::onx_rangeMeasurement()
 {
-    double s0 = ui.speed_lineEdit->text().toDouble();
+    double s0 = ui.manualMovementSpeed_lineEdit->text().toDouble();
    emit rangeMeasurement(0, s0, 1000);
 }

 void OneMotorControl::onxMove2Loc()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
    double l = ui.move2loc_lineEdit->text().toDouble();

    emit move2LocSignal(0, l, s, 1000);
@ -180,14 +187,14 @@ void OneMotorControl::onxMove2Loc()

 void OneMotorControl::onxMotorRight()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();

    emit moveSignal(0, abs(s), 1000);
 }

 void OneMotorControl::onxMotorLeft()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();

    emit moveSignal(0, abs(s)*-1, 1000);
 }
@ -204,7 +211,7 @@ void OneMotorControl::setImager(ImagerOperationBase* imager)

 void OneMotorControl::record_dark()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.scanSpeed_lineEdit->text().toDouble();

    if (m_darkCaptureCoordinator == nullptr)
    {
@ -216,7 +223,7 @@ void OneMotorControl::record_dark()

 void OneMotorControl::record_white()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.scanSpeed_lineEdit->text().toDouble();

    if (m_whiteCaptureCoordinator == nullptr)
    {
@ -246,7 +253,7 @@ void OneMotorControl::run()
        this, &OneMotorControl::onSequenceComplete_motorBack2Origin);

    OneMotionCapturePathLine tmp;
-    tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
+    tmp.speedRecord = ui.scanSpeed_lineEdit->text().toDouble();
    tmp.speedBack = ui.return_speed_lineEdit->text().toDouble();

    emit start(tmp);
@ -275,7 +282,7 @@ void OneMotorControl::multiPosHyperAutoExposure()
    connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::sequenceComplete, this, &OneMotorControl::onSequenceComplete_gonggashan_autoexpose);
    connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::hyperAutoExposureDoneSignal, this, &OneMotorControl::hyperAutoExposureDoneSignal_gonggashan);
    
-    m_coordinator_gonggashan_autoexpose->startStepMotion(ui.speed_lineEdit->text().toDouble(), locations);
+    m_coordinator_gonggashan_autoexpose->startStepMotion(ui.manualMovementSpeed_lineEdit->text().toDouble(), locations);
 }

 void OneMotorControl::onSequenceComplete_gonggashan_autoexpose(int state)
@ -365,18 +372,18 @@ OneMotorControl_LiftingPlatform::OneMotorControl_LiftingPlatform(QWidget* parent

    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));

-    // 从 AppSettings 读取速度参数
-    AppSettings& settings = AppSettings::instance();
-    ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
-    ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
-
    // 连接信号，当控件数值变化时保存到 AppSettings
-    connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
-        AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
+    connect(ui.scanSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.scanSpeed_lineEdit->text().toDouble());
        });
    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
        });
+    connect(ui.manualMovementSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setManualMovementSpeed(ui.manualMovementSpeed_lineEdit->text().toDouble());
+        });
+
+    loadSettings();
 }

 OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
@ -385,6 +392,13 @@ OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
    m_motorThread.wait();
 }

+void OneMotorControl_LiftingPlatform::loadSettings()
+{
+    ui.scanSpeed_lineEdit->setText(QString::number(AppSettings::instance().scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(AppSettings::instance().returnSpeed()));
+    ui.manualMovementSpeed_lineEdit->setText(QString::number(AppSettings::instance().manualMovementSpeed()));
+}
+
 void OneMotorControl_LiftingPlatform::onConnectMotor()
 {
    connectMotor(true);
@ -459,7 +473,7 @@ void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
 void OneMotorControl_LiftingPlatform::display_x_loc(std::vector<double> loc)
 {
    double tmp = round(loc[0] * 100) / 100;
-    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+    this->ui.realTimeLoc_label->setText(QString::number(tmp));

    emit broadcastLocationSignal(loc);
 }
@ -509,13 +523,13 @@ void OneMotorControl_LiftingPlatform::zeroStart()

 void OneMotorControl_LiftingPlatform::onx_rangeMeasurement()
 {
-    double s0 = ui.speed_lineEdit->text().toDouble();
+    double s0 = ui.manualMovementSpeed_lineEdit->text().toDouble();
    emit rangeMeasurement(0, s0, 1000);
 }

 void OneMotorControl_LiftingPlatform::onxMove2Loc()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
    double l = ui.move2loc_lineEdit->text().toDouble();

    emit move2LocSignal(0, l, s, 1000);
@ -523,14 +537,14 @@ void OneMotorControl_LiftingPlatform::onxMove2Loc()

 void OneMotorControl_LiftingPlatform::onxMotorRight()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();

    emit moveSignal(0, abs(s), 1000);
 }

 void OneMotorControl_LiftingPlatform::onxMotorLeft()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();

    emit moveSignal(0, abs(s)*-1, 1000);
 }
@ -555,7 +569,7 @@ void OneMotorControl_LiftingPlatform::run()
        return;
    }

-    m_coordinator->moveToTarget(targetDepth, ui.speed_lineEdit->text().toDouble());
+    m_coordinator->moveToTarget(targetDepth, ui.manualMovementSpeed_lineEdit->text().toDouble());
 }

 void OneMotorControl_LiftingPlatform::stop()
--- a/HPPA/OneMotorControl.h
+++ b/HPPA/OneMotorControl.h
@ -92,6 +92,8 @@ private:
    bool m_xMotorConnectionStatus = false;

    QPointer<OneMotorMultiPosCoordinator> m_coordinator_gonggashan_autoexpose;
+
+    void loadSettings();
 };

 class OneMotorControl_LiftingPlatform : public QDialog, public MotorWindowBase
@ -152,4 +154,5 @@ private:
    QPointer<OneMotionCoordinator> m_coordinator;

    bool m_xMotorConnectionStatus = false;
+    void loadSettings();
 };
--- a/HPPA/oneMotorControl.ui
+++ b/HPPA/oneMotorControl.ui
@ -56,7 +56,11 @@ QLabel
 	color: #ACCDFF;
 	background-color: transparent;
 }
-
+QRadioButton
+{
+	color: #ACCDFF;
+	background-color: transparent;
+}



@ -80,7 +84,7 @@ QLineEdit:focus {
    background-color: #23345c;
 }</string>
  </property>
-  <layout class="QGridLayout" name="gridLayout_2" rowstretch="1,3,1" columnstretch="1,3,1">
+  <layout class="QGridLayout" name="gridLayout_4">
   <item row="0" column="1">
    <spacer name="verticalSpacer">
     <property name="orientation">
@ -112,75 +116,8 @@ QLineEdit:focus {
     <property name="spacing">
      <number>10</number>
     </property>
-     <item row="0" column="0">
-      <widget class="QLabel" name="label">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>实时位置</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="1">
-      <widget class="QLineEdit" name="realTimeLoc_lineEdit">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>88</width>
-         <height>30</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>0</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="2">
-      <widget class="QPushButton" name="connect_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>连接</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="0">
-      <widget class="QLabel" name="label_6">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>运行速度</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
     <item row="1" column="1">
-      <widget class="QLineEdit" name="speed_lineEdit">
+      <widget class="QLineEdit" name="scanSpeed_lineEdit">
       <property name="sizePolicy">
        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
         <horstretch>0</horstretch>
@ -210,7 +147,33 @@ QLineEdit:focus {
       </property>
      </widget>
     </item>
-     <item row="1" column="2">
+     <item row="4" column="2">
+      <widget class="QPushButton" name="move2loc_pushButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>移动至</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="2">
+      <widget class="QPushButton" name="rangeMeasurement_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>量程测量</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="2">
      <widget class="QPushButton" name="zero_start_btn">
       <property name="sizePolicy">
        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
@ -223,8 +186,56 @@ QLineEdit:focus {
       </property>
      </widget>
     </item>
-     <item row="2" column="0">
-      <widget class="QLabel" name="label_3">
+     <item row="5" column="1">
+      <widget class="QPushButton" name="left_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>←0</string>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="2">
+      <widget class="QPushButton" name="right_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>→</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="1">
+      <widget class="QLineEdit" name="move2loc_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_7">
       <property name="sizePolicy">
        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
         <horstretch>0</horstretch>
@ -232,7 +243,99 @@ QLineEdit:focus {
        </sizepolicy>
       </property>
       <property name="text">
-        <string>返回速度</string>
+        <string>扫描速度</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QPushButton" name="connect_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>连接</string>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="1">
+      <widget class="QWidget" name="widget" native="true">
+       <layout class="QGridLayout" name="gridLayout_3">
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_4">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="text">
+           <string>实时位置：</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QLabel" name="realTimeLoc_label">
+          <property name="text">
+           <string>null</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item row="3" column="1">
+      <widget class="QLineEdit" name="manualMovementSpeed_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>0.1</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="0">
+      <widget class="QLabel" name="label_6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>手动速度</string>
       </property>
       <property name="alignment">
        <set>Qt::AlignCenter</set>
@ -261,113 +364,60 @@ QLineEdit:focus {
       </property>
      </widget>
     </item>
-     <item row="2" column="2">
-      <widget class="QPushButton" name="rangeMeasurement_btn">
+     <item row="2" column="0">
+      <widget class="QLabel" name="label_3">
       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
         <horstretch>0</horstretch>
         <verstretch>0</verstretch>
        </sizepolicy>
       </property>
       <property name="text">
-        <string>量程测量</string>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="1">
-      <widget class="QLineEdit" name="move2loc_lineEdit">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>88</width>
-         <height>30</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>0</string>
+        <string>返回速度</string>
       </property>
       <property name="alignment">
        <set>Qt::AlignCenter</set>
       </property>
      </widget>
     </item>
-     <item row="3" column="2">
-      <widget class="QPushButton" name="move2loc_pushButton">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>移动至</string>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="1">
-      <widget class="QPushButton" name="left_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>←0</string>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="2">
-      <widget class="QPushButton" name="right_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>→</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="2">
-      <layout class="QHBoxLayout" name="horizontalLayout">
-       <item>
-        <widget class="QLabel" name="label_2">
-         <property name="text">
-          <string>状态</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="motor_state_label">
-         <property name="maximumSize">
-          <size>
-           <width>8</width>
-           <height>8</height>
-          </size>
-         </property>
-         <property name="sizeIncrement">
-          <size>
-           <width>8</width>
-           <height>8</height>
-          </size>
-         </property>
-         <property name="styleSheet">
-          <string notr="true">background-color: red;
+     <item row="6" column="2">
+      <widget class="QWidget" name="widget_2" native="true">
+       <layout class="QGridLayout" name="gridLayout_2">
+        <item row="0" column="0">
+         <widget class="QRadioButton" name="reverseMove_radioButton">
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>反转</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QLabel" name="motor_state_label">
+          <property name="maximumSize">
+           <size>
+            <width>8</width>
+            <height>8</height>
+           </size>
+          </property>
+          <property name="sizeIncrement">
+           <size>
+            <width>8</width>
+            <height>8</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: red;
 border-radius: 4px;</string>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-      </layout>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
     </item>
    </layout>
   </item>