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1、【相机----马达】双向意外断掉容错 + 提示：（1）ximea、pica l、pica nir（2）1轴/2轴马达，usb串口/wifi的马达通讯方式；
2、提示弹窗美化；
This commit is contained in:
tangchao0503
2026-04-03 17:00:28 +08:00
parent e3a778919a
commit fa6ce1a606
12 changed files with 559 additions and 150 deletions
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10
HPPA/CaptureCoordinator.cpp
View File

@ -97,7 +97,6 @@ void TwoMotionCaptureCoordinator::stop()
std::cout << "The user manually stops the collection! " << std::endl;
savePathLinesToCsv();
emit sequenceComplete(1);
emit finishRecordLineNumSignal(m_numCurrentPathLine);
//emit stopRecordHSISignal(m_numCurrentPathLine);
if (m_cameraCtrl != nullptr)
@ -106,6 +105,8 @@ void TwoMotionCaptureCoordinator::stop()
}
move2LocBeforeStart();
emit sequenceComplete(1);
}
void TwoMotionCaptureCoordinator::getLocBeforeStart()
@ -471,7 +472,8 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
{
disconnect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
this, &OneMotionCaptureCoordinator::handleMotorStoped);
}
void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
@ -585,6 +587,10 @@ void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
m_cameraCtrl->stop_record();
}
move2LocBeforeStart();
// emit sequenceComplete last: the slot connected to it may delete this object,
// so no member access is allowed after this point.
emit sequenceComplete(0);
}
void OneMotionCaptureCoordinator::handleCaptureComplete(double index)

393
HPPA/HPPA.cpp
View File

@ -506,6 +506,10 @@ HPPA::HPPA(QWidget* parent)
//光谱仪操作
m_Imager = nullptr;
m_RecordThread = nullptr;
m_CopyFileThread = nullptr;
m_FileOperation = nullptr;
m_TestImagerStausThread = nullptr;
m_RecordState = 0;
connect(this->ui.action_connect_imager, SIGNAL(triggered()), this, SLOT(onconnect()));//信号与槽：连接相机，相机操作相关信号与槽绑定放在函数onconnect中
@ -799,6 +803,13 @@ void HPPA::initControlTabwidget()
void HPPA::recordFromRobotArm(int fileCounter)
{
if (!testImagerVality())
{
showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
return;
}
//qDebug() << "recordFromRobotArm" << fileCounter;
if (fileCounter == -1)
@ -957,11 +968,7 @@ HPPA::~HPPA()
file.close();
}
if (m_Imager != nullptr)
{
//m_Imager->~ResononNirImager();//释放资源
delete m_Imager;
}
disconnectImagerAndCleanup();
if (s_instance == this)
{
@ -1253,14 +1260,156 @@ void HPPA::createPlantPhenotypeScenario()
}
bool HPPA::testImagerVality()
{
try
{
if (m_Imager == nullptr)
{
return false;
}
double framerate = m_Imager->getFramerate();
m_Imager->setFramerate(framerate);
return true;
}
catch (const std::exception& e)
{
disconnectImagerAndCleanup();
return false;
}
catch (int e)//ximea相机异常
{
disconnectImagerAndCleanup();
return false;
}
catch (...)
{
disconnectImagerAndCleanup();
return false;
}
}
void HPPA::showMessageBox(QString msg, QString title)
{
QMessageBox msgBox(this);
msgBox.setWindowTitle(title);
msgBox.setText(msg);
msgBox.setStyleSheet(R"(
QMessageBox {
background-color: #0D1233;
}
QMessageBox QLabel {
color: #ACCDFF;
font-size: 14px;
}
QPushButton {
background-color: #142D7F;
color: #e6eeff;
border: 1px solid #2f6bff;
border-radius: 6px;
padding: 6px 20px;
min-width: 60px;
font-size: 13px;
}
QPushButton:hover {
border: 1px solid #4d8dff;
background-color: red;
}
QPushButton:pressed {
background-color: #23345c;
}
)");
msgBox.exec();
}
bool HPPA::showResultMessageBox(QString title, QString msg)
{
QMessageBox msgBox(this);
msgBox.setWindowTitle(title);
msgBox.setText(msg);
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::No);
msgBox.setStyleSheet(R"(
QMessageBox {
background-color: #0D1233;
}
QMessageBox QLabel {
color: #ACCDFF;
font-size: 14px;
}
QPushButton {
background-color: #142D7F;
color: #e6eeff;
border: 1px solid #2f6bff;
border-radius: 6px;
padding: 6px 20px;
min-width: 60px;
font-size: 13px;
}
QPushButton:hover {
border: 1px solid #4d8dff;
background-color: red;
}
QPushButton:pressed {
background-color: #23345c;
}
)");
QMessageBox::StandardButton ret = static_cast<QMessageBox::StandardButton>(msgBox.exec());
if (ret == QMessageBox::Yes)
{
return true;
}
else
{
return false;
}
}
void HPPA::onStartRecordStep1()
{
//判断移动平台
QAction* checked = moveplatformActionGroup->checkedAction();
if (!checked)
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("请选择扫描平台！"));
msgBox.exec();
showMessageBox(QString::fromLocal8Bit("请选择扫描平台！"));
return;
}
QString checkedName = checked->objectName();
if (checkedName == "mAction_is_no_motor")
{
}
else if (checkedName == "mAction_1AxisMotor")
{
if (!m_omc->getMotorsConnectionStatus())
{
showMessageBox(QString::fromLocal8Bit("找不到马达！"));
return;
}
}
else if (checkedName == "mAction_2AxisMotor_new")
{
if (!m_tmc->getMotorsConnectionStatus())
{
showMessageBox(QString::fromLocal8Bit("找不到马达！"));
return;
}
}
else if (checkedName == "mAction_RobotArm")
{
}
//判断光谱仪
if(!testImagerVality())
{
showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
return;
}
@ -1277,14 +1426,9 @@ void HPPA::onStartRecordStep1()
int x = _access(tmp.c_str(), 0);
if (!x)//如果文件存在就执行此if的代码
{
enum QMessageBox::StandardButton response = QMessageBox::question(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("文件存在！是否覆盖？"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);;
if (response == QMessageBox::Yes)//
bool res = showResultMessageBox(QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("文件存在！是否覆盖？"));
if (!res)
{
//std::cout << "覆盖" << std::endl;
}
else
{
//std::cout << "不覆盖" << std::endl;
return;
}
}
@ -1294,7 +1438,7 @@ void HPPA::onStartRecordStep1()
m_RecordState -= 1;
}
QString checkedName = checked->objectName();
if (checkedName == "mAction_is_no_motor")
{
m_RecordState += 1;
@ -1317,7 +1461,7 @@ void HPPA::onStartRecordStep1()
m_RecordState -= 1;
ui.action_start_recording->setText(QString::fromLocal8Bit("采集"));
ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_done.svg"));
ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_done.svg"));
//ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
}
return;
@ -1332,7 +1476,7 @@ void HPPA::onStartRecordStep1()
removeAllLayersInRasterGroup();
ui.action_start_recording->setText(QString::fromLocal8Bit("停止采集"));
ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_ing.svg"));
ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_ing.svg"));
//ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
//应该先控制马达运动，当马达运动后，再开始光谱仪采集（发射开始采集信号）
@ -1360,14 +1504,14 @@ void HPPA::onStartRecordStep1()
//m_imageViewerTabWidget->clear();
removeAllLayersInRasterGroup();
ui.action_start_recording->setText(QString::fromLocal8Bit("停止采集"));
ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_ing.svg"));
//ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
emit updateRecordingFileInfoSignal(AppSettings::instance().dataFolder(), AppSettings::instance().fileName(), this->frame_number->text().toInt());
m_tmc->setImager(m_Imager);
m_tmc->setPosFileName(QString::fromStdString(x_location));
m_tmc->run();
ui.action_start_recording->setText(QString::fromLocal8Bit("停止采集"));
ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_ing.svg"));
//ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
}
else
{
@ -1489,18 +1633,21 @@ void HPPA::onActionOpenDirectory()
void HPPA::onFramerateChanged(double framerate)
{
if (!m_Imager) return;
m_Imager->setFramerate(framerate);
m_hic->setFrameRate(m_Imager->getFramerate());
}
void HPPA::onIntegrationTimeChanged(double integrationTime)
{
if (!m_Imager) return;
m_Imager->setIntegrationTime(integrationTime);
m_hic->setIntegrationTime(m_Imager->getIntegrationTime());
}
void HPPA::onGainChanged(double gain)
{
if (!m_Imager) return;
m_Imager->setGain(gain);
m_hic->setGain(m_Imager->getGain());
}
@ -1670,40 +1817,8 @@ void HPPA::onExit()
void HPPA::closeEvent(QCloseEvent* event)
{
QMessageBox msgBox(this);
msgBox.setWindowTitle(QString::fromLocal8Bit("退出确认"));
msgBox.setText(QString::fromLocal8Bit("确定要退出程序吗？"));
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::No);
msgBox.setStyleSheet(R"(
QMessageBox {
background-color: #0D1233;
}
QMessageBox QLabel {
color: #ACCDFF;
font-size: 14px;
}
QPushButton {
background-color: #142D7F;
color: #e6eeff;
border: 1px solid #2f6bff;
border-radius: 6px;
padding: 6px 20px;
min-width: 60px;
font-size: 13px;
}
QPushButton:hover {
border: 1px solid #4d8dff;
background-color: red;
}
QPushButton:pressed {
background-color: #23345c;
}
)");
QMessageBox::StandardButton ret = static_cast<QMessageBox::StandardButton>(msgBox.exec());
if (ret == QMessageBox::Yes)
bool res = showResultMessageBox(QString::fromLocal8Bit("退出确认"), QString::fromLocal8Bit("确定要退出程序吗？"));
if (res)
{
event->accept(); // 允许关闭
}
@ -1733,12 +1848,104 @@ void HPPA::onOpenImg()
addLayer(baseName, uri, true);
}
void HPPA::disconnectImagerAndCleanup()
{
if (m_Imager == nullptr)
return;
// 如果正在采集，先停止
if (m_RecordState % 2 == 1)
{
m_Imager->setRecordControlState(false);
m_RecordState = 0;
}
// 断开所有与 m_Imager 相关的信号槽
disconnect(m_Imager, nullptr, this, nullptr);
disconnect(this, SIGNAL(StartFocusSignal()), m_Imager, SLOT(focus()));
disconnect(this, SIGNAL(StartRecordSignal()), m_Imager, SLOT(start_record()));
disconnect(this, &HPPA::updateRecordingFileInfoSignal, m_Imager, &ImagerOperationBase::updateRecordingFileInfo);
disconnect(this, SIGNAL(RecordWhiteSignal()), m_Imager, SLOT(record_white()));
disconnect(this, SIGNAL(RecordDarlSignal()), m_Imager, SLOT(record_dark()));
// 断开 UI 控件与本类槽的连接（它们在 onconnect 中绑定，避免重复连接）
disconnect(ui.action_auto_exposure, SIGNAL(triggered()), this, SLOT(onAutoExposure()));
disconnect(ui.action_focus, SIGNAL(triggered()), this, SLOT(onFocus1()));
disconnect(ui.action_dark, SIGNAL(triggered()), this, SLOT(onDark()));
disconnect(ui.action_reference, SIGNAL(triggered()), this, SLOT(onReference()));
disconnect(ui.action_start_recording, SIGNAL(triggered()), this, SLOT(onStartRecordStep1()));
disconnect(ui.actionOpenDirectory, SIGNAL(triggered()), this, SLOT(onActionOpenDirectory()));
disconnect(m_hic, SIGNAL(framerateChanged(double)), this, SLOT(onFramerateChanged(double)));
disconnect(m_hic, SIGNAL(integrationTimeChanged(double)), this, SLOT(onIntegrationTimeChanged(double)));
disconnect(m_hic, SIGNAL(gainChanged(double)), this, SLOT(onGainChanged(double)));
// 停止采集线程
if (m_RecordThread)
{
m_RecordThread->quit();
m_RecordThread->wait(3000);
delete m_RecordThread;
m_RecordThread = nullptr;
}
// 停止文件拷贝线程
if (m_CopyFileThread)
{
if (m_FileOperation)
{
disconnect(this, SIGNAL(CopyFileThreadSignal(QString, QString)), m_FileOperation, SLOT(copyFile(QString, QString)));
disconnect(m_FileOperation, SIGNAL(CopyFinishedSignal()), this, SLOT(onCopyFinished()));
}
m_CopyFileThread->quit();
m_CopyFileThread->wait(3000);
delete m_FileOperation;
m_FileOperation = nullptr;
delete m_CopyFileThread;
m_CopyFileThread = nullptr;
}
// 删除 imager 对象
try
{
m_Imager->disconnectImager();
}
catch (...)
{
// 断连时忽略异常
}
delete m_Imager;
m_Imager = nullptr;
// 禁用相机参数控件
frame_number->setEnabled(false);
m_hic->setDisabled(true);
// 重置图标
ui.action_connect_imager->setIcon(QIcon(":/svg/resources/icons/svg/connect_imager.svg"));
ui.action_auto_exposure->setIcon(QIcon(":/svg/resources/icons/svg/exposure.svg"));
ui.action_dark->setIcon(QIcon(":/svg/resources/icons/svg/dark.svg"));
ui.action_reference->setIcon(QIcon(":/svg/resources/icons/svg/reference.svg"));
ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record.svg"));
ui.action_start_recording->setText(QString::fromLocal8Bit("采集"));
}
void HPPA::onconnect()
{
if (m_Imager != nullptr)
if (!testImagerVality())
{
//std::cout << "相机已经连接！" << std::endl;
return;
disconnectImagerAndCleanup();
}
else
{
bool res = showResultMessageBox(QString::fromLocal8Bit("相机连接"), QString::fromLocal8Bit("确定要重连相机吗？"));
if (res)
{
disconnectImagerAndCleanup();
}
else
{
return;
}
}
try
@ -1766,11 +1973,9 @@ void HPPA::onconnect()
}
else
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("请选择相机！"));
msgBox.exec();
showMessageBox(QString::fromLocal8Bit("请选择相机类型！"));
return;
return;
}
ui.action_connect_imager->setIcon(QIcon(":/svg/resources/icons/svg/connect_imager_ing.svg"));
@ -1782,7 +1987,7 @@ void HPPA::onconnect()
connect(m_Imager, SIGNAL(PlotSignal(int, int, QString)), this, SLOT(onPlotHyperspectralImageRgbImage(int, int, QString)));
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)));
connect(m_Imager, SIGNAL(SpectralSignal(int)), this, SLOT(focusPlotSpectralImg(int)));
connect(m_Imager, SIGNAL(testImagerStatus()), this, SLOT(testImagerStatus()));
connect(m_Imager, &ImagerOperationBase::autoExposureSignal, this, &HPPA::autoExposureFinished);
@ -1849,13 +2054,17 @@ void HPPA::onconnect()
delete m_Imager;
m_Imager = nullptr;
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("请连接相机！"));
msgBox.exec();
showMessageBox(QString::fromLocal8Bit("请连接相机！"));
}
catch (int e)//ximea相机异常
{
ui.action_connect_imager->setIcon(QIcon(":/svg/resources/icons/svg/connect_imager.svg"));
delete m_Imager;
m_Imager = nullptr;
showMessageBox(QString::fromLocal8Bit("请连接相机！"));
}
}
void HPPA::testImagerStatus()
@ -1871,6 +2080,13 @@ void HPPA::autoExposureFinished()
void HPPA::onAutoExposure()
{
if (!testImagerVality())
{
showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
return;
}
ui.action_auto_exposure->setIcon(QIcon(":/svg/resources/icons/svg/exposure_ing.svg"));
double ReturnedExposureTime = m_Imager->auto_exposure();
@ -1883,6 +2099,13 @@ void HPPA::onAutoExposure()
void HPPA::onFocus1()
{
if (!testImagerVality())
{
showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
return;
}
focusWindow* w = new focusWindow(this, m_Imager);
connect(w, SIGNAL(StartManualFocusSignal(int)), this, SLOT(onFocus2(int)));
connect(w, SIGNAL(closeSignal()), this, SLOT(onFocusWindowClosed()));
@ -1922,14 +2145,16 @@ void HPPA::onFocus2(int command)
}
else if (command == 0)
{
m_Imager->setFocusControlState(false);
if (m_Imager)
m_Imager->setFocusControlState(false);
}
}
void HPPA::onFocusWindowClosed()
{
//关闭调焦窗口时，停止调焦功能
m_Imager->setFocusControlState(false);
if (m_Imager)
m_Imager->setFocusControlState(false);
//关闭调焦窗口tab
int index = m_imageViewerTabWidget->indexOf(m_focusTab);
if (index != -1)
@ -1955,9 +2180,14 @@ void HPPA::settingWindow()
void HPPA::onDark()
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("采集暗电流，请确保镜头盖盖上！"));
msgBox.exec();
if (!testImagerVality())
{
showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
return;
}
showMessageBox(QString::fromLocal8Bit("采集暗电流，请确保镜头盖盖上！"));
ui.action_dark->setIcon(QIcon(":/svg/resources/icons/svg/dark_ing.svg"));
@ -1988,9 +2218,14 @@ void HPPA::recordDarkFinish()
void HPPA::onReference()
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("请确保白板放置正确！"));
msgBox.exec();
if (!testImagerVality())
{
showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
return;
}
showMessageBox(QString::fromLocal8Bit("请确保白板放置正确！"));
ui.action_reference->setIcon(QIcon(":/svg/resources/icons/svg/reference_ing.svg"));
@ -2021,6 +2256,8 @@ void HPPA::recordWhiteFinish()
void HPPA::onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath)
{
if (!m_Imager) return;
//使用机械臂采集时，会在停止采集后的瞬间又开始采集，会导致上次采集最后发射的信号调用此槽函数报错
QAction* checked = moveplatformActionGroup->checkedAction();
QString checkedName = checked->objectName();
@ -2068,8 +2305,10 @@ void HPPA::onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QSt
//currentImageViewer[0]->SetImage(&QPixmap::fromImage(CuttedImage));//绘制图像
}
void HPPA::PlotSpectral(int state)
void HPPA::focusPlotSpectralImg(int state)
{
if (!m_Imager) return;
if (state == 1)
{
//显示影像

9
HPPA/HPPA.h
View File

@ -299,10 +299,15 @@ private:
QWidget* m_focusTab=nullptr;
recordFrameCounter* m_recordFrameCounter = nullptr;
bool testImagerVality();
void showMessageBox(QString msg, QString title= QString::fromLocal8Bit("提示"));
bool showResultMessageBox(QString title, QString msg);
void disconnectImagerAndCleanup();
public Q_SLOTS:
void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
void PlotSpectral(int state);
void focusPlotSpectralImg(int state);
void onRecordFinishedSignal_WhenFrameNumberMeet();
void onRecordFinishedSignal_WhenFrameNumberNotMeet();
void onsequenceComplete();

2
HPPA/HPPA.vcxproj
View File

@ -134,6 +134,7 @@
<ClCompile Include="MapToolPan.cpp" />
<ClCompile Include="MapTools.cpp" />
<ClCompile Include="MapToolSpectral.cpp" />
<ClCompile Include="MotorWindowBase.cpp" />
<ClCompile Include="OneMotorControl.cpp" />
<ClCompile Include="path_tc.cpp" />
<ClCompile Include="PowerControl.cpp" />
@ -227,6 +228,7 @@
<QtMoc Include="MapToolPan.h" />
<QtMoc Include="MapToolSpectral.h" />
<QtMoc Include="MapTools.h" />
<ClInclude Include="MotorWindowBase.h" />
<ClInclude Include="RasterDataProvider.h" />
<ClInclude Include="RasterRenderer.h" />
<QtMoc Include="recordFrameCounter.h" />

6
HPPA/HPPA.vcxproj.filters
View File

@ -208,6 +208,9 @@
<ClCompile Include="FileNameLineEdit.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MotorWindowBase.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<QtMoc Include="fileOperation.h">
@ -383,6 +386,9 @@
<ClInclude Include="AppSettings.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MotorWindowBase.h">
<Filter>Header Files</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<QtUic Include="FocusDialog.ui">

11
HPPA/MotorWindowBase.cpp Normal file
View File

@ -0,0 +1,11 @@
#include "MotorWindowBase.h"
MotorWindowBase::MotorWindowBase()
{
}
MotorWindowBase::~MotorWindowBase()
{
}

15
HPPA/MotorWindowBase.h Normal file
View File

@ -0,0 +1,15 @@
#pragma once
class MotorWindowBase
{
public:
MotorWindowBase();
~MotorWindowBase();
protected:
virtual bool getMotorsConnectionStatus()=0;
private:
};

108
HPPA/OneMotorControl.cpp
View File

@ -6,6 +6,16 @@ OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
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(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
}
OneMotorControl::~OneMotorControl()
@ -16,6 +26,31 @@ OneMotorControl::~OneMotorControl()
void OneMotorControl::onConnectMotor()
{
if (getMotorsConnectionStatus())
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
msgBox.exec();
return;
}
if (m_multiAxisController != nullptr)
{
disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
m_motorThread.quit();
m_motorThread.wait();
m_multiAxisController = nullptr;
}
try
{
FileOperation* fileOperation = new FileOperation();
@ -29,33 +64,25 @@ void OneMotorControl::onConnectMotor()
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
msgBox.exec();
return;
}
m_multiAxisController->moveToThread(&m_motorThread);
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()));
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(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);
}
@ -73,11 +100,36 @@ 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);}");
m_xMotorConnectionStatus = true;
this->ui.motor_state_label->setStyleSheet(R"(
QLabel
{
background-color: #08FACE;
border-radius: 4px;
}
)");
}
else
{
this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
m_xMotorConnectionStatus = false;
this->ui.motor_state_label->setStyleSheet(R"(
QLabel
{
background-color: red;
border-radius: 4px;
}
)");
}
if (getMotorsConnectionStatus())
{
this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
}
else
{
this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
}
}
@ -150,15 +202,12 @@ void OneMotorControl::record_white()
void OneMotorControl::run()
{
if (m_coordinator == nullptr)
{
qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
}
connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
OneMotionCapturePathLine tmp;
tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
@ -172,7 +221,22 @@ void OneMotorControl::stop()
emit stopStepMotionSignal();
}
void OneMotorControl::onSequenceComplete()
void OneMotorControl::onSequenceComplete(int state)
{
emit sequenceComplete();
disconnect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
disconnect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
disconnect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
// Use deleteLater() instead of delete: this slot may have been called directly
// from OneMotionCaptureCoordinator's call stack (direct connection), so deleting
// the object here would cause a crash when execution returns to the destroyed object.
m_coordinator->deleteLater();
m_coordinator = nullptr;
}
bool OneMotorControl::getMotorsConnectionStatus()
{
return m_xMotorConnectionStatus;
}

10
HPPA/OneMotorControl.h
View File

@ -7,8 +7,9 @@
#include "IrisMultiMotorController.h"
#include "fileOperation.h"
#include "CaptureCoordinator.h"
#include "MotorWindowBase.h"
class OneMotorControl : public QDialog
class OneMotorControl : public QDialog, public MotorWindowBase
{
Q_OBJECT
@ -24,6 +25,7 @@ public:
void record_dark();
void record_white();
bool getMotorsConnectionStatus();
public Q_SLOTS:
void onConnectMotor();
@ -38,7 +40,7 @@ public Q_SLOTS:
void onxMotorLeft();
void onxMotorStop();
void onSequenceComplete();
void onSequenceComplete(int state);
signals:
void moveSignal(int, bool, double, int);
@ -61,11 +63,13 @@ private:
Ui::OneMotorControl_UI ui;
QThread m_motorThread;
IrisMultiMotorController* m_multiAxisController;
IrisMultiMotorController* m_multiAxisController = nullptr;
OneMotionCaptureCoordinator* m_coordinator = nullptr;
ImagerOperationBase* m_Imager;
DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
bool m_xMotorConnectionStatus = false;
};

127
HPPA/TwoMotorControl.cpp
View File

@ -18,6 +18,22 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
}
void TwoMotorControl::setImager(ImagerOperationBase* imager)
@ -34,6 +50,9 @@ void TwoMotorControl::setPosFileName(QString posFileName)
bool TwoMotorControl::getState()
{
if (m_coordinator == nullptr)
return false;
QEventLoop loop;
bool tmp = false;
bool received = false;
@ -86,29 +105,33 @@ void TwoMotorControl::record_white()
void TwoMotorControl::run()
{
if (m_coordinator==nullptr)
{
qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
m_coordinator->moveToThread(&m_coordinatorThread);
connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
m_coordinatorThread.start();
}
if (getState())
{
//std::cout << "已经开始运行，请勿重复点击！！！！！！！！" << std::endl;
QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！！！！！！！！！"));
QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！"));
return;
}
QVector<PathLine> pathLines;
int rowCount = ui.recordLine_tableWidget->rowCount();
if(rowCount == 0)
{
QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
emit sequenceComplete();
return;
}
qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
m_coordinator->moveToThread(&m_coordinatorThread);
connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
m_coordinatorThread.start();
QVector<PathLine> pathLines;
//int columnCount = ui.recordLine_tableWidget->columnCount();
for (size_t i = 0; i < rowCount; i++)
{
@ -128,7 +151,7 @@ void TwoMotorControl::run()
{
for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
{
ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
}
}
@ -151,6 +174,30 @@ TwoMotorControl::~TwoMotorControl()
void TwoMotorControl::onConnectMotor()
{
if (getMotorsConnectionStatus())
{
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
msgBox.exec();
return;
}
if (m_multiAxisController != nullptr)
{
disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
m_motorThread.quit();
m_motorThread.wait();
m_multiAxisController = nullptr;
}
try
{
FileOperation* fileOperation = new FileOperation();
@ -164,34 +211,20 @@ void TwoMotorControl::onConnectMotor()
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
msgBox.exec();
return;
}
m_multiAxisController->moveToThread(&m_motorThread);
connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(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(on_rangeMeasurement()));
connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
@ -223,15 +256,26 @@ void TwoMotorControl::onSequenceComplete()
{
isWritePosFile = false;
fclose(m_posFileHandle);
m_coordinatorThread.quit();
m_coordinatorThread.wait();
m_coordinator = nullptr;
emit sequenceComplete();
}
bool TwoMotorControl::getMotorsConnectionStatus()
{
return m_xMotorConnectionStatus && m_yMotorConnectionStatus;
}
void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
{
//std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
if (connectivity[0])
{
m_xMotorConnectionStatus = true;
this->ui.xMotorStateLabel->setStyleSheet(R"(
QLabel
{
@ -242,6 +286,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
}
else
{
m_xMotorConnectionStatus = false;
this->ui.xMotorStateLabel->setStyleSheet(R"(
QLabel
{
@ -253,6 +299,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
if (connectivity[1])
{
m_yMotorConnectionStatus = true;
this->ui.yMotorStateLabel->setStyleSheet(R"(
QLabel
{
@ -263,6 +311,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
}
else
{
m_yMotorConnectionStatus = false;
this->ui.yMotorStateLabel->setStyleSheet(R"(
QLabel
{
@ -271,6 +321,15 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
}
)");
}
if(getMotorsConnectionStatus())
{
this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
}
else
{
this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
}
}
void TwoMotorControl::onxMotorRight()

11
HPPA/TwoMotorControl.h
View File

@ -8,12 +8,11 @@
#include "IrisMultiMotorController.h"
#include "fileOperation.h"
#include "CaptureCoordinator.h"
#include "MotorWindowBase.h"
#define PI 3.1415926
class TwoMotorControl : public QDialog
class TwoMotorControl : public QDialog, public MotorWindowBase
{
Q_OBJECT
@ -26,6 +25,8 @@ public:
void record_dark();
void record_white();
bool getMotorsConnectionStatus();
private:
ImagerOperationBase* m_Imager;
@ -35,6 +36,8 @@ private:
QString m_posFileName;
FILE* m_posFileHandle;
bool m_xMotorConnectionStatus = false;
bool m_yMotorConnectionStatus = false;
public Q_SLOTS:
void onConnectMotor();
@ -94,5 +97,5 @@ private:
DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
QThread m_motorThread;
IrisMultiMotorController* m_multiAxisController;
IrisMultiMotorController* m_multiAxisController = nullptr;
};

7
HPPA/twoMotorControl.ui
View File

@ -367,7 +367,7 @@ QScrollBar::add-line:horizontal, QScrollBar::sub-line:horizontal {
<string notr="true">/* 表格整体 */
QTableWidget {
background-color: #0E1C4C;
color: #ACCDFF;
color: white;
gridline-color: #4B60A6;
border: 1px solid #4B60A6;
}
@ -377,11 +377,6 @@ QTableWidget QAbstractScrollArea::viewport {
background-color: #0E1C4C;
}
/* 单元格 */
QTableWidget::item {
background-color: #0E1C4C;
color: #ACCDFF;
}
/* 表头 */
QHeaderView::section {