add，计划采集10：

解决偶发单反唤起失败问题；

任务文件要求：
1、高光谱必须在前面，没有顺序要求，因为在执行高光谱任务前会预热卤素灯，所有高光谱任务完成后才关闭卤素灯；
2、单反/深度必须在后面，没有顺序要求；
3、必须要有高光谱任务：单反存在唤醒程序和一定反应时间，所以必须依赖前一个任务进行唤醒；
 （1）当单反已经是唤醒状态时，重新上电（先下电后上电）后可马上重新唤醒单反：单反适配器剩余电量马上耗尽，所以才能马上重新唤醒单反；
 （2）当单反在上电的状态下，从唤醒状态自动进入休眠状态时，重新下电后需要等待2分15秒（135秒）后，再重新上电才能唤醒单反：等待135秒的目的是将适配器中电容的剩余电量耗尽；

HPPA/CaptureCoordinator.cpp

@@ -87,6 +87,7 @@ void TwoMotionCaptureCoordinator::getLocBeforeStart()
 	QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
 		[&](std::vector<double> pos) {
 			m_locBeforeStart = pos;
+			std::cout << "start pos: "<< pos[0] <<", " << pos[1] << std::endl;
 			received = true;
 			loop.quit();
 		});
@@ -348,6 +349,7 @@ void TwoMotionCaptureCoordinator::startRecordHsi()
 		emit moveTo(0, tmp.targetXMaxPosition, tmp.speedTargetXMaxPosition, 1000);
 
 		emit startRecordHSISignal(m_numCurrentPathLine);
+		emit startRecordLineNumSignal(m_numCurrentPathLine);
 	}
 }
 
@@ -409,7 +411,7 @@ void TwoMotionCaptureCoordinator::processNextPathLine()
 	}
 
 	std::cout << "\nNew path line: " << m_numCurrentPathLine << std::endl;
-	emit startRecordLineNumSignal(m_numCurrentPathLine);
+	emit gotoRecordLineNumSignal(m_numCurrentPathLine);
 	m_isValidCapturing = true;
 
 	PathLine &tmp = m_pathLines[m_numCurrentPathLine];

HPPA/CaptureCoordinator.h

@@ -47,6 +47,7 @@ public:
 signals:
 	void sequenceComplete(int);//0：所有采集线正常运行完成，1：用户主动取消采集
 	void back2OriginSignal();
+	void gotoRecordLineNumSignal(int lineNum);
 	void startRecordLineNumSignal(int lineNum);
 	void finishRecordLineNumSignal(int lineNum);
 

HPPA/HPPA.cpp

@@ -609,11 +609,6 @@ void HPPA::initTimedDataCollection()
 	// 相机/马达 → 定时采集控制器
 	connect(m_tmc, &TwoMotorControl::sequenceComplete, mTimedDataCollectionWindow, &TimedDataCollection::subTaskCompleted);
 	connect(m_tmc, &TwoMotorControl::back2OriginSignal_TimedDataCollection, mTimedDataCollectionWindow, &TimedDataCollection::onBack2Origin);
-
-	//电源控制m_pc3D
-
-
-	//连接马达控制和单反/深度
 }
 
 void HPPA::setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName)

HPPA/TimedDataCollectionDataStructures.cpp

@@ -160,6 +160,7 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::timedTaskToJson(const
     obj["durationSeconds"] = task.durationSeconds;
     obj["savePath"] = task.savePath;
     obj["status"] = taskStatusToString(task.status);
+    obj["HalogenLampPreheatingTime_Minute"] = task.HalogenLampPreheatingTime_Minute;
 
     QJsonArray subTasksArray;
     for (const auto& subTask : task.subTasks) {
@@ -179,6 +180,7 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO
     task.durationSeconds = json["durationSeconds"].toInt();
     task.savePath = json["savePath"].toString();
     task.status = stringToTaskStatus(json["status"].toString());
+    task.HalogenLampPreheatingTime_Minute = json["HalogenLampPreheatingTime_Minute"].toDouble();
 
     QJsonArray subTasksArray = json["subTasks"].toArray();
     task.subTasks.clear();
@@ -224,10 +226,20 @@ void TaskExecutor::execute(const TimedTask& task)
 
     // 打开卤素灯预热
     emit switchHalogenLampSignal(1);
+    printMsgAndTime("open HalogenLamp");
+
     makeFolder(m_task.savePath);
 
     // 开始执行第一个子任务
-    QTimer::singleShot(20*1000, this, &TaskExecutor::executeNextSubTask);
+    double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
+    QTimer::singleShot(sleepTimeSecond *1000, this, &TaskExecutor::executeNextSubTask);
+}
+
+void TaskExecutor::printMsgAndTime(QString msg)
+{
+    QDateTime now = QDateTime::currentDateTime();
+    QString timeString = now.toString("yyyy-MM-dd hh:mm:ss.zzz");
+    qDebug() << msg + " time:" << timeString;
 }
 
 void TaskExecutor::stop()
@@ -283,6 +295,7 @@ void TaskExecutor::onSequenceComplete(int status)
         case SubTaskType::SingleLensReflex:
         {
             emit switchD65LampSignal(0);
+            emit switchSlrSignal(0);
             break;
         }
         case SubTaskType::DepthCamera:
@@ -320,8 +333,18 @@ void TaskExecutor::onBack2Origin()
     m_currentSubTaskIndex++;
     if (m_currentSubTaskIndex < m_task.subTasks.size()) {
         // 执行下一个子任务
+        if(m_task.subTasks[m_currentSubTaskIndex].type== SubTaskType::SingleLensReflex)
+        {
+            printMsgAndTime("Slr task，for weak up，please wait 135 seconds!");
+            emit switchSlrSignal(0);
+
+            QTimer::singleShot(135*1000, this, &TaskExecutor::executeNextSubTask);
+        }
+        else
+        {
             QTimer::singleShot(1000, this, &TaskExecutor::executeNextSubTask);
         }
+    }
     else {
         // 所有子任务完成
         m_isRunning = false;
@@ -346,14 +369,16 @@ void TaskExecutor::executeNextSubTask()
         return;
     }
 
-    std::cerr << "TaskExecutor::executeNextSubTask，执行子任务" << std::endl;
-
     SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
     subTask.status = TaskStatus::Running;
     subTask.startTime = QDateTime::currentDateTime();
 
-    qDebug() << "TaskExecutor: Starting subtask" << m_currentSubTaskIndex 
+    QString tmp = "TaskExecutor: Starting subtask" + QString::number(m_currentSubTaskIndex) + "type:" + static_cast<int>(subTask.type);
-             << "type:" << static_cast<int>(subTask.type);
+    printMsgAndTime(tmp);
+    //printMsgAndTime("excute " + QString::number(m_currentSubTaskIndex) + " subTask: ");
+
+    //qDebug() << "TaskExecutor: Starting subtask" << m_currentSubTaskIndex 
+    //         << "type:" << static_cast<int>(subTask.type);
 
     emit subTaskStarted(m_currentSubTaskIndex, subTask.type);
     
@@ -364,7 +389,6 @@ void TaskExecutor::executeNextSubTask()
     {
         case SubTaskType::HyperSpectual400_1000nm:
         {
-            //提前需做：需要打开卤素灯进行预热5分钟，具体的实现方式：通过QTcpServer通讯，ip：192.168.1.2:6003，
             camType = 0;
             emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("L"), "test");
             
@@ -372,7 +396,6 @@ void TaskExecutor::executeNextSubTask()
         }
         case SubTaskType::HyperSpectual1000_1700nm:
         {
-            //提前需做：需要打开卤素灯进行预热5分钟
             camType = 1;
             emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("NIR"), "test");
 
@@ -380,19 +403,18 @@ void TaskExecutor::executeNextSubTask()
         }
         case SubTaskType::SingleLensReflex:
         {
-            //提前需做：（1）需要打开D65灯（2）需要将单反的电源重新上电
             camType = 2;
             emit camParm(camType, 3, makeSubTaskDataFolder("SLR"));
 
             emit switchD65LampSignal(1);
 
-            QThread::msleep(1000);
+            
+            emit switchSlrSignal(1);
 
             break;
         }
         case SubTaskType::DepthCamera:
         {
-            //提前需做：需要打开D65灯
             camType = 3;
             emit camParm(camType, 3, makeSubTaskDataFolder("DepthCamera"));
 

HPPA/TimedDataCollectionDataStructures.h

@@ -56,6 +56,7 @@ struct TimedTask {
     QString savePath;                             // 数据保存路径
     QVector<SubTask> subTasks;                    // 子任务列表
     TaskStatus status = TaskStatus::Waiting;     // 状态
+    double HalogenLampPreheatingTime_Minute;
 
     // 计算所有子任务的预计总时间
     int totalEstimatedDuration() const {
@@ -157,6 +158,8 @@ public slots:
 private:
     void executeNextSubTask();
 
+    void printMsgAndTime(QString msg);
+
     TimedTask m_task;
     int m_currentSubTaskIndex;
     bool m_isRunning;