初步实现场景切换

HPPA/HPPA.cpp

@@ -105,6 +105,7 @@ HPPA::HPPA(QWidget* parent)
 	setDockNestingEnabled(true);
 	connect(this->ui.action_about, SIGNAL(triggered()), this, SLOT(onAbout()));
 	connect(this->ui.mActionOneMotorScenario, SIGNAL(triggered()), this, SLOT(createOneMotorScenario()));
+	connect(this->ui.mActionPlantPhenotypeScenario, SIGNAL(triggered()), this, SLOT(createPlantPhenotypeScenario()));
 
 	delete ui.centralWidget;
 
@@ -125,10 +126,6 @@ HPPA::HPPA(QWidget* parent)
 	ui.mDockWidgetSimulator->setTile(QString::fromLocal8Bit("3Dģ<EFBFBD><EFBFBD>"));
 	ui.mDockWidgetSpectrometer->setTile(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
 
-	m_view3D_tmp = new View3D("D:\\cpp_project_vs2022\\HPPA\\x64\\Debug\\3DModel\\HPPA_frame.obj", "D:\\cpp_project_vs2022\\HPPA\\x64\\Debug\\3DModel\\HPPA_camera.obj");
-
-	ui.mDockWidgetSimulator->setWidget(m_view3D_tmp);
-
 	//TOC
 	CustomDockWidgetBase* dock_layers = new CustomDockWidgetBase(QString::fromLocal8Bit("layers"), this);
 	dock_layers->setObjectName("mDockLayers");
@@ -314,8 +311,8 @@ HPPA::HPPA(QWidget* parent)
 
 	m_carousel->addWidget(sa);
 	m_carousel->addWidget(new QLabel("1"));
-	m_carousel->addWidget(new QLabel("2"));
+	//m_carousel->addWidget(new QLabel("2"));
-	m_carousel->addWidget(new QLabel("3"));
+	//m_carousel->addWidget(new QLabel("3"));
 	//m_carousel->addWidget(new QLabel("4"));
 	//m_carousel->addWidget(new QLabel("5"));
 	//m_carousel->addWidget(new QLabel("6"));
@@ -334,6 +331,7 @@ HPPA::HPPA(QWidget* parent)
 	m_dock_carousel->setWidget(m_carousel);
 	
 	initControlTabwidget();
+	m_tabManager = new TabManager(ui.controlTabWidget, this);
 
 
 	splitDockWidget(dock_layers, dock_hyperimgViewer, Qt::Horizontal);
@@ -393,6 +391,9 @@ HPPA::HPPA(QWidget* parent)
 	createMoveplatformActionGroup();
 	connect(moveplatformActionGroup, &QActionGroup::triggered, this, &HPPA::selectingMoveplatform);
 
+	createScenarioActionGroup();
+	connect(m_ScenarioActionGroup, &QActionGroup::triggered, this, &HPPA::selectScenario);
+
 	ui.mDockWidgetSimulator->setFeatures(QDockWidget::DockWidgetClosable);
 
 	QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
@@ -522,8 +523,8 @@ void HPPA::initControlTabwidget()
 {
 	ui.controlTabWidget->removeTab(1);
 
-	QWidget* videoWidget = new QWidget();
+	m_videoWidget = new QWidget();
-	QVBoxLayout* vBoxLayout_videoWidget = new QVBoxLayout(videoWidget);
+	QVBoxLayout* vBoxLayout_videoWidget = new QVBoxLayout(m_videoWidget);
 	
 	vBoxLayout_videoWidget->setSpacing(6);
 	vBoxLayout_videoWidget->setObjectName(QString::fromUtf8("vBoxLayout_videoWidget"));
@@ -550,37 +551,36 @@ void HPPA::initControlTabwidget()
 	connect(m_close_rgb_camera_btn, SIGNAL(clicked()), this, SLOT(onCloseRgbCamera()));//<2F>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD>
 	connect(m_RgbCamera, SIGNAL(CamClosed()), this, SLOT(onClearLabel()));
 
-	ui.controlTabWidget->addTab(videoWidget, QString::fromLocal8Bit("rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+	ui.controlTabWidget->addTab(m_videoWidget, QString::fromLocal8Bit("rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
 
 	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>dock
-	adjustTable* adt = new adjustTable();
+	m_adt = new adjustTable();
-	adt->setWindowFlags(Qt::Widget);
+	m_adt->setWindowFlags(Qt::Widget);
-	ui.controlTabWidget->addTab(adt, QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+	ui.controlTabWidget->addTab(m_adt, QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
 
 
 	//<2F><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>
-	PowerControl* pc = new PowerControl();
+	m_pc = new PowerControl();
-	pc->setWindowFlags(Qt::Widget);
+	m_pc->setWindowFlags(Qt::Widget);
-	ui.controlTabWidget->addTab(pc, QString::fromLocal8Bit("<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+	ui.controlTabWidget->addTab(m_pc, QString::fromLocal8Bit("<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
 
 	//<2F><>е<EFBFBD>ۿ<EFBFBD><DBBF><EFBFBD>
-	rac = new RobotArmControl();
+	m_rac = new RobotArmControl();
-	connect(rac->robotController, SIGNAL(hsiRecordSignal(int)), this, SLOT(recordFromRobotArm(int)));
+	connect(m_rac->robotController, SIGNAL(hsiRecordSignal(int)), this, SLOT(recordFromRobotArm(int)));
-	rac->setWindowFlags(Qt::Widget);
+	m_rac->setWindowFlags(Qt::Widget);
-	ui.controlTabWidget->addTab(rac, QString::fromLocal8Bit("<EFBFBD><EFBFBD>е<EFBFBD>ۿ<EFBFBD><EFBFBD><EFBFBD>"));
+	ui.controlTabWidget->addTab(m_rac, QString::fromLocal8Bit("<EFBFBD><EFBFBD>е<EFBFBD>ۿ<EFBFBD><EFBFBD><EFBFBD>"));
 
 	//1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	omc = new OneMotorControl();
+	m_omc = new OneMotorControl();
-	omc->setWindowFlags(Qt::Widget);
+	m_omc->setWindowFlags(Qt::Widget);
-	ui.controlTabWidget->addTab(omc, QString::fromLocal8Bit("1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+	ui.controlTabWidget->addTab(m_omc, QString::fromLocal8Bit("1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
 
 	//2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	tmc = new TwoMotorControl(this);
+	m_tmc = new TwoMotorControl(this);
-	connect(tmc, SIGNAL(startLineNumSignal(int)), this, SLOT(onCreateTab(int)));
+	connect(m_tmc, SIGNAL(startLineNumSignal(int)), this, SLOT(onCreateTab(int)));
-	connect(tmc, SIGNAL(sequenceComplete()), this, SLOT(onsequenceComplete()));
+	connect(m_tmc, SIGNAL(sequenceComplete()), this, SLOT(onsequenceComplete()));
-	connect(tmc, SIGNAL(broadcastLocationSignal(std::vector<double>)), m_view3D_tmp, SLOT(setLoc(std::vector<double>)));
+	m_tmc->setWindowFlags(Qt::Widget);
-	tmc->setWindowFlags(Qt::Widget);
+	ui.controlTabWidget->addTab(m_tmc, QString::fromLocal8Bit("2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
-	ui.controlTabWidget->addTab(tmc, QString::fromLocal8Bit("2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
 }
 
 void HPPA::recordFromRobotArm(int fileCounter)
@@ -726,35 +726,103 @@ void HPPA::initPanelToolbar()
 	mToolbarMenu->addAction(ui.mainToolBar->toggleViewAction());
 }
 
+void HPPA::createScenarioActionGroup()
+{
+	m_ScenarioActionGroup = new QActionGroup(this);
+	m_ScenarioActionGroup->addAction(ui.mActionOneMotorScenario);
+	m_ScenarioActionGroup->addAction(ui.mActionPlantPhenotypeScenario);
+
+	// <20><>ȡ<EFBFBD>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
+	QSettings settings;
+	QString lastSelectedAction = settings.value("LastSelectedScenario").toString();
+
+	// <20>ָ<EFBFBD><D6B8>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
+	if (lastSelectedAction == "mActionOneMotorScenario")
+	{
+		ui.mActionOneMotorScenario->setChecked(true);
+		ui.mActionOneMotorScenario->trigger();
+	}
+	else if (lastSelectedAction == "mActionPlantPhenotypeScenario")
+	{
+		ui.mActionPlantPhenotypeScenario->setChecked(true);
+		ui.mActionPlantPhenotypeScenario->trigger();
+	}
+}
+
+void HPPA::selectScenario(QAction* selectedAction)
+{
+	QSettings settings;
+	settings.setValue("LastSelectedScenario", selectedAction->objectName());
+	settings.sync();
+}
+
 void HPPA::createOneMotorScenario()
 {
+	//if (ui.mActionOneMotorScenario->isChecked())
+	//	return;
+
 	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DockWidget
-	//this->removeDockWidget(ui.mDockWidgetSpectrometer);
+	//QList<QDockWidget*> dockWidgets = this->findChildren<QDockWidget*>();
-	QList<QDockWidget*> dockWidgets = this->findChildren<QDockWidget*>();
+	//for (QDockWidget* dock : dockWidgets)
-	for (QDockWidget* dock : dockWidgets)
+	//{
-	{
+	//	dock->hide();
-		dock->hide();
+	//}
-	}
 
-	ui.mDockWidgetSpectrometer->show();
+	//<2F>ڲ˵<DAB2><CBB5><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>ƶ<EFBFBD>ƽ̨
+	ui.mAction_1AxisMotor->setChecked(true);
 
-	//tabifyDockWidget(ui.mDockWidgetSpectrometer, dock_omc);
+	//<EFBFBD><EFBFBD><EFBFBD>½ǿ<EFBFBD><EFBFBD><EFBFBD>tab
+	m_tabManager->hideTab(m_videoWidget);
+	m_tabManager->hideTab(m_adt);
+	m_tabManager->hideTab(m_pc);
+	m_tabManager->hideTab(m_rac);
+	m_tabManager->hideTab(m_tmc);
 
-	//addDockWidget(Qt::RightDockWidgetArea, ui.mDockWidgetSpectrometer);
+	m_tabManager->showTab(m_omc);
 
-	//QDockWidget* dockTop = new QDockWidget(QString::fromLocal8Bit("1"), this);
+	//<EFBFBD>򿪶<EFBFBD>Ӧ<EFBFBD><EFBFBD>3Dģ<EFBFBD><EFBFBD>
-	//QDockWidget* dockBottom = new QDockWidget(QString::fromLocal8Bit("2"), this);
+	QString basePath = QCoreApplication::applicationDirPath();
-	//QDockWidget* dockBottom3 = new QDockWidget(QString::fromLocal8Bit("3"), this);
+	QString model1 = basePath + "/3DModel/linear_stage_indoor1.obj";
+	QString model2 = basePath + "/3DModel/linear_stage_indoor2.obj";
+	m_view3DLinearStage = new View3DLinearStage(model1, model2);
+	m_view3DLinearStage->setViewCenter(500, 100, 500);
+	m_view3DLinearStage->setDistance(1000);
+	ui.mDockWidgetSimulator->setWidget(m_view3DLinearStage);
+	connect(m_omc, SIGNAL(broadcastLocationSignal(std::vector<double>)), m_view3DLinearStage, SLOT(setLoc(std::vector<double>)));
 
-	//// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͻ<EFBFBD> dock
+	//<2F><><EFBFBD>Ͻ<EFBFBD><EFBFBD>ֲ<EFBFBD>
-	//addDockWidget(Qt::RightDockWidgetArea, dockTop);
 
-	//// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD> dock<63><6B><EFBFBD><EFBFBD>ʼҲ<CABC><D2B2><EFBFBD>Ҳ<EFBFBD>
+}
-	//addDockWidget(Qt::RightDockWidgetArea, dockBottom);
+
-	//addDockWidget(Qt::RightDockWidgetArea, dockBottom3);
+void HPPA::createPlantPhenotypeScenario()
+{
+	//if (ui.mActionPlantPhenotypeScenario->isChecked())
+	//	return;
+
+	//<2F>ڲ˵<DAB2><CBB5><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>ƶ<EFBFBD>ƽ̨
+	ui.mAction_2AxisMotor_new->setChecked(true);
+
+	//<2F><><EFBFBD>½ǿ<C2BD><C7BF><EFBFBD>tab
+	m_tabManager->hideTab(m_rac);
+	m_tabManager->hideTab(m_omc);
+
+	m_tabManager->showTab(m_videoWidget);
+	m_tabManager->showTab(m_adt);
+	m_tabManager->showTab(m_pc);
+	m_tabManager->showTab(m_tmc);
+
+	//<2F>򿪶<EFBFBD>Ӧ<EFBFBD><D3A6>3Dģ<44><C4A3>
+	QString basePath = QCoreApplication::applicationDirPath();
+	QString model1 = basePath + "/3DModel/HPPA_frame.obj";
+	QString model2 = basePath + "/3DModel/HPPA_camera.obj";
+	m_view3DPlantPhenotype = new View3DPlantPhenotype(model1, model2);
+	m_view3DPlantPhenotype->setViewCenter(1000, 1000, -1000);
+	m_view3DPlantPhenotype->setDistance(5000);
+	ui.mDockWidgetSimulator->setWidget(m_view3DPlantPhenotype);
+	connect(m_tmc, SIGNAL(broadcastLocationSignal(std::vector<double>)), m_view3DPlantPhenotype, SLOT(setLoc(std::vector<double>)));
+
+	//<2F><><EFBFBD>Ͻ<EFBFBD><CFBD>ֲ<EFBFBD>
 
-	// <20><><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD> dock <20>ָ<D6B8><EEB5BD><EFBFBD><EFBFBD> dock <20><><EFBFBD>·<EFBFBD>
-	//splitDockWidget(dockTop, dockBottom, Qt::Horizontal);
 }
 
 void HPPA::CalculateIntegratioinTimeRange()
@@ -854,12 +922,12 @@ void HPPA::onStartRecordStep1()
 			//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->setImager(m_Imager);
+			m_omc->setImager(m_Imager);
-			omc->run();
+			m_omc->run();
 		}
 		else
 		{
-			omc->stop();
+			m_omc->stop();
 			m_RecordState -= 1;
 
 			ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
@@ -877,16 +945,16 @@ void HPPA::onStartRecordStep1()
 
 			m_Imager->setFileName2Save(imgPath);
 			m_Imager->setFrameNumber(this->frame_number->text().toInt());
-			tmc->setImager(m_Imager);
+			m_tmc->setImager(m_Imager);
-			tmc->setPosFileName(QString::fromStdString(x_location));
+			m_tmc->setPosFileName(QString::fromStdString(x_location));
-			tmc->run();
+			m_tmc->run();
 
 			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);}");
 		}
 		else
 		{
-			tmc->stop();
+			m_tmc->stop();
 
 			m_RecordState--;
 
@@ -901,7 +969,7 @@ void HPPA::onStartRecordStep1()
 		//<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();
+		m_rac->executeTaskWithHyperImager();
 
 		return;
 	}
@@ -1439,13 +1507,13 @@ void HPPA::onDark()
 	}
 	else if (checkedName == "mAction_1AxisMotor")
 	{
-		omc->setImager(m_Imager);
+		m_omc->setImager(m_Imager);
-		omc->record_dark();
+		m_omc->record_dark();
 	}
 	else if (checkedName == "mAction_2AxisMotor_new")
 	{
-		tmc->setImager(m_Imager);
+		m_tmc->setImager(m_Imager);
-		tmc->record_dark();
+		m_tmc->record_dark();
 		return;
 	}
 }
@@ -1469,13 +1537,13 @@ void HPPA::onReference()
 	}
 	else if (checkedName == "mAction_1AxisMotor")
 	{
-		omc->setImager(m_Imager);
+		m_omc->setImager(m_Imager);
-		omc->record_white();
+		m_omc->record_white();
 	}
 	else if (checkedName == "mAction_2AxisMotor_new")
 	{
-		tmc->setImager(m_Imager);
+		m_tmc->setImager(m_Imager);
-		tmc->record_white();
+		m_tmc->record_white();
 		return;
 	}
 }

HPPA/HPPA.h

@@ -47,6 +47,7 @@
 #include "Carousel.h"
 
 #include "View3D.h"
+#include "TabManager.h"
 
 #define PI 3.1415926
 
@@ -218,13 +219,16 @@ private:
 	QActionGroup* mImagerGroup = nullptr;
 	void createActionGroups();
 	void selectingImager(QAction* selectedAction);
+
 	QActionGroup* moveplatformActionGroup = nullptr;
 	void createMoveplatformActionGroup();
 	void selectingMoveplatform(QAction* selectedAction);
-	RobotArmControl* rac;
 
-	OneMotorControl* omc;
+	QActionGroup* m_ScenarioActionGroup = nullptr;
-	TwoMotorControl* tmc;
+	void createScenarioActionGroup();
+	void selectScenario(QAction* selectedAction);
+
+	
 	
 	FILE* m_hTimesFile;
 
@@ -235,7 +239,18 @@ private:
 	QPushButton* m_open_rgb_camera_btn;
 	QPushButton* m_close_rgb_camera_btn;
 
-	View3D* m_view3D_tmp;
+	View3DPlantPhenotype* m_view3DPlantPhenotype;
+	View3DLinearStage* m_view3DLinearStage;
+
+	TabManager* m_tabManager;
+
+	QWidget* m_videoWidget;
+	adjustTable* m_adt;
+	PowerControl* m_pc;
+	RobotArmControl* m_rac;
+	OneMotorControl* m_omc;
+	TwoMotorControl* m_tmc;
+
 
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber);
@@ -288,6 +303,7 @@ public Q_SLOTS:
 	void recordFromRobotArm(int fileCounter);
 
 	void createOneMotorScenario();
+	void createPlantPhenotypeScenario();
 signals:
 	void StartFocusSignal();
 	void StartRecordSignal();

HPPA/HPPA.ui

@@ -151,11 +151,7 @@ color:white;
      <string>应用场景</string>
     </property>
     <addaction name="mActionOneMotorScenario"/>
-    <addaction name="action_8"/>
+    <addaction name="mActionPlantPhenotypeScenario"/>
-    <addaction name="action2"/>
-    <addaction name="action_7"/>
-    <addaction name="action_3"/>
-    <addaction name="action_6"/>
    </widget>
    <widget class="QMenu" name="menu_4">
     <property name="title">
@@ -722,6 +718,9 @@ QToolBar QToolButton:hover {
    </property>
   </action>
   <action name="mActionOneMotorScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="text">
     <string>室内1轴线性平台</string>
    </property>
@@ -771,7 +770,10 @@ QToolBar QToolButton:hover {
     <string>拼接</string>
    </property>
   </action>
-  <action name="action_3">
+  <action name="mActionPlantPhenotypeScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="text">
     <string>植物表型</string>
    </property>

HPPA/HPPA.vcxproj

@@ -127,6 +127,7 @@
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
     </ClCompile>
+    <ClCompile Include="TabManager.cpp" />
     <ClCompile Include="TwoMotorControl.cpp" />
     <ClCompile Include="utility_tc.cpp" />
     <ClCompile Include="View3D.cpp" />
@@ -176,6 +177,7 @@
     <ClInclude Include="irisximeaimager.h" />
     <QtMoc Include="OneMotorControl.h" />
     <QtMoc Include="TwoMotorControl.h" />
+    <QtMoc Include="TabManager.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />

HPPA/HPPA.vcxproj.filters

@@ -142,6 +142,9 @@
     <ClCompile Include="View3D.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="TabManager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -210,6 +213,9 @@
     <QtMoc Include="View3D.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="TabManager.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">

HPPA/OneMotorControl.cpp

@@ -64,6 +64,8 @@ void OneMotorControl::display_x_loc(std::vector<double> loc)
 {
     double tmp = round(loc[0] * 100) / 100;
     this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+
+    emit broadcastLocationSignal(loc);
 }
 
 void OneMotorControl::display_motors_connectivity(std::vector<int> connectivity)

HPPA/OneMotorControl.h

@@ -55,6 +55,8 @@ signals:
 
     void sequenceComplete();
 
+    void broadcastLocationSignal(std::vector<double>);
+
 private:
     Ui::OneMotorControl_UI ui;
 

HPPA/TabManager.cpp

@@ -0,0 +1,61 @@
+#include "TabManager.h"
+
+TabManager::TabManager(QTabWidget* tabWidget, QObject* parent)
+    : QObject(parent),
+    m_tabWidget(tabWidget)
+{
+    Q_ASSERT(m_tabWidget);
+}
+
+void TabManager::hideTab(QWidget* page)
+{
+    if (!page || !m_tabWidget)
+        return;
+
+    int index = m_tabWidget->indexOf(page);
+    if (index == -1)
+        return;
+
+    if (m_hiddenTabs.contains(page))
+        return;
+
+    TabInfo info;
+    info.index = index;
+    info.text = m_tabWidget->tabText(index);
+    info.icon = m_tabWidget->tabIcon(index);
+    info.toolTip = m_tabWidget->tabToolTip(index);
+
+    m_hiddenTabs.insert(page, info);
+
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><D8B5>ǵ<EFBFBD>ǰҳ<C7B0><D2B3><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>հ<EFBFBD>
+    if (m_tabWidget->currentIndex() == index)
+    {
+        int next = (index > 0) ? index - 1 : 0;
+        m_tabWidget->setCurrentIndex(next);
+    }
+
+    m_tabWidget->removeTab(index);
+    emit tabHidden(page);
+}
+
+void TabManager::showTab(QWidget* page)
+{
+    if (!page || !m_tabWidget)
+        return;
+
+    if (!m_hiddenTabs.contains(page))
+        return;
+
+    TabInfo info = m_hiddenTabs.take(page);
+
+    int insertIndex = qMin(info.index, m_tabWidget->count());
+    m_tabWidget->insertTab(insertIndex, page, info.icon, info.text);
+    m_tabWidget->setTabToolTip(insertIndex, info.toolTip);
+
+    emit tabShown(page);
+}
+
+bool TabManager::isHidden(QWidget* page) const
+{
+    return m_hiddenTabs.contains(page);
+}

HPPA/TabManager.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <QObject>
+#include <QTabWidget>
+#include <QHash>
+
+class TabManager : public QObject
+{
+    Q_OBJECT
+public:
+    explicit TabManager(QTabWidget* tabWidget, QObject* parent = nullptr);
+
+    void hideTab(QWidget* page);
+    void showTab(QWidget* page);
+    bool isHidden(QWidget* page) const;
+
+signals:
+    void tabHidden(QWidget* page);
+    void tabShown(QWidget* page);
+
+private:
+    struct TabInfo
+    {
+        int index;
+        QString text;
+        QIcon icon;
+        QString toolTip;
+    };
+
+    QTabWidget* m_tabWidget = nullptr;
+    QHash<QWidget*, TabInfo> m_hiddenTabs;
+};

HPPA/View3D.cpp

@@ -8,7 +8,7 @@
 #include <Qt3DRender/QAttribute>
 #include <QGeometryRenderer> 
 
-View3D::View3D(const QString& baseModelPath,
+View3DBase::View3DBase(const QString& baseModelPath,
     const QString& armModelPath,
     QWidget* parent)
     : QWidget(parent),
@@ -47,7 +47,19 @@ View3D::View3D(const QString& baseModelPath,
     //    });
 }
 
-void View3D::initScene()
+void View3DBase::setViewCenter(float x, float y, float z)
+{
+    m_viewCenter.setX(x);
+    m_viewCenter.setY(y);
+    m_viewCenter.setZ(z);
+}
+
+void View3DBase::setDistance(float distance)
+{
+    m_distance = distance;
+}
+
+void View3DBase::initScene()
 {
     // ===== 创建 base 根节点 =====
     auto* baseModel = new Qt3DCore::QEntity(m_rootEntity);
@@ -55,7 +67,7 @@ void View3D::initScene()
     baseLoader->setSource(QUrl::fromLocalFile(m_baseModelPath));
 
     //connect(baseLoader, &Qt3DRender::QSceneLoader::statusChanged,
-    //    this, &View3D::onSceneLoaderStatusChanged);
+    //    this, &View3DBase::onSceneLoaderStatusChanged);
 
 
     m_baseTransform = new Qt3DCore::QTransform();
@@ -88,7 +100,7 @@ void View3D::initScene()
     qDebug() << m_armTransform->matrix();
 }
 
-void View3D::createAxes()
+void View3DBase::createAxes()
 {
     // 参数
     float axisLength = 500.0f;
@@ -154,7 +166,7 @@ void View3D::createAxes()
     zAxis->addComponent(zMat);
 }
 
-void View3D::initCamera()
+void View3DBase::initCamera()
 {
     m_camera = m_view->camera();
     // 16:10 假设窗口比例，后续 resize 时相机透视会保持
@@ -162,7 +174,7 @@ void View3D::initCamera()
     updateCameraPosition();
 }
 
-void View3D::updateCameraPosition()
+void View3DBase::updateCameraPosition()
 {
     float yaw = qDegreesToRadians(m_yawDeg);
     float pitch = qDegreesToRadians(m_pitchDeg);
@@ -176,7 +188,7 @@ void View3D::updateCameraPosition()
     m_camera->setViewCenter(m_viewCenter);
 }
 
-void View3D::showEvent(QShowEvent* event)
+void View3DBase::showEvent(QShowEvent* event)
 {
     QWidget::showEvent(event);
 
@@ -194,7 +206,7 @@ void View3D::showEvent(QShowEvent* event)
     }
 }
 
-bool View3D::eventFilter(QObject* obj, QEvent* event)
+bool View3DBase::eventFilter(QObject* obj, QEvent* event)
 {
     if (obj == m_view)
     {
@@ -282,11 +294,29 @@ bool View3D::eventFilter(QObject* obj, QEvent* event)
     return QWidget::eventFilter(obj, event);
 }
 
-void View3D::setLoc(std::vector<double> loc)
+View3DPlantPhenotype::View3DPlantPhenotype(const QString& baseModelPath, const QString& armModelPath, QWidget* parent)
+:View3DBase(baseModelPath, armModelPath, parent)
+{
+
+}
+
+void View3DPlantPhenotype::setLoc(std::vector<double> loc)
 {
     double x = round(loc[0] * 100) / 100;
     double y = round(loc[1] * 100) / 100;
 
-
     m_armTransform->setTranslation(QVector3D(x, y, 0));
 }
+
+View3DLinearStage::View3DLinearStage(const QString& baseModelPath, const QString& armModelPath, QWidget* parent)
+    :View3DBase(baseModelPath, armModelPath, parent)
+{
+
+}
+
+void View3DLinearStage::setLoc(std::vector<double> loc)
+{
+    double x = round(loc[0] * 100) / 100;
+
+    m_armTransform->setTranslation(QVector3D(x, 0, 0));
+}

HPPA/View3D.h

@@ -17,25 +17,25 @@
 #include <Qt3DRender/QSceneLoader>
 #include <Qt3DExtras/QCylinderMesh>
 
-class View3D : public QWidget
+class View3DBase : public QWidget
 {
     Q_OBJECT
 public:
-    explicit View3D(const QString& baseModelPath,
+    explicit View3DBase(const QString& baseModelPath,
         const QString& armModelPath,
         QWidget* parent = nullptr);
+    void setViewCenter(float x, float y, float z);
+    void setDistance(float distance);
 
 protected:
     void showEvent(QShowEvent* event) override;
     bool eventFilter(QObject* obj, QEvent* event) override;
 
-private:
     void initScene();
     void initCamera();
     void updateCameraPosition();
     void createAxes();
 
-private:
     QString m_baseModelPath;
     QString m_armModelPath;
 
@@ -67,8 +67,43 @@ private:
     Qt3DCore::QTransform* m_baseRootTransform = nullptr;
     Qt3DCore::QTransform* m_armRootTransform = nullptr;
 
+public Q_SLOTS:
+    virtual void setLoc(std::vector<double> loc) = 0;
+};
+
+class View3DPlantPhenotype : public View3DBase
+{
+    Q_OBJECT
+public:
+    View3DPlantPhenotype(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+
+protected:
+
+private:
+
+private:
+
 public Q_SLOTS:
     void setLoc(std::vector<double> loc);
 };
 
+class View3DLinearStage : public View3DBase
+{
+    Q_OBJECT
+public:
+    View3DLinearStage(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+
+protected:
+
+private:
+
+private:
+
+public Q_SLOTS:
+    void setLoc(std::vector<double> loc);
+};
 #endif // VIEW3D_H

HPPA/twoMotorControl.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>684</width>
-    <height>799</height>
+    <height>741</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -43,14 +43,14 @@
         <x>0</x>
         <y>0</y>
         <width>684</width>
-        <height>799</height>
+        <height>741</height>
        </rect>
       </property>
       <layout class="QGridLayout" name="gridLayout_6">
        <item row="0" column="0">
         <widget class="QGroupBox" name="groupBox_2">
          <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
            <horstretch>0</horstretch>
            <verstretch>0</verstretch>
           </sizepolicy>
@@ -58,7 +58,7 @@
          <property name="maximumSize">
           <size>
            <width>16777215</width>
-           <height>150</height>
+           <height>180</height>
           </size>
          </property>
          <property name="styleSheet">
@@ -105,7 +105,7 @@
              <item row="0" column="1">
               <widget class="QPushButton" name="ymotor_forward_btn">
                <property name="sizePolicy">
-                <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
@@ -131,7 +131,7 @@
              <item row="0" column="3">
               <widget class="QPushButton" name="connect_btn">
                <property name="sizePolicy">
-                <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
@@ -144,7 +144,7 @@
              <item row="1" column="0">
               <widget class="QPushButton" name="xmotor_left_btn">
                <property name="sizePolicy">
-                <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
@@ -170,7 +170,7 @@
              <item row="1" column="2">
               <widget class="QPushButton" name="xmotor_right_btn">
                <property name="sizePolicy">
-                <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
@@ -183,7 +183,7 @@
              <item row="1" column="3">
               <widget class="QPushButton" name="zero_start_btn">
                <property name="sizePolicy">
-                <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
@@ -209,7 +209,7 @@
              <item row="2" column="1">
               <widget class="QPushButton" name="ymotor_backward_btn">
                <property name="sizePolicy">
-                <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
@@ -235,7 +235,7 @@
              <item row="2" column="3">
               <widget class="QPushButton" name="rangeMeasurement_btn">
                <property name="sizePolicy">
-                <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>