fix

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；

HPPA/CaptureCoordinator.cpp

@@ -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)

HPPA/HPPA.cpp

@@ -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)
+	disconnectImagerAndCleanup();
-	{
-		//m_Imager->~ResononNirImager();//释放资源
-		delete m_Imager;
-	}
 
     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;
+		showMessageBox(QString::fromLocal8Bit("请选择扫描平台！"));
-		msgBox.setText(QString::fromLocal8Bit("请选择扫描平台！"));
+		return;
-		msgBox.exec();
+	}
+
+	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);;
+			bool res = showResultMessageBox(QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("文件存在！是否覆盖？"));
-			if (response == QMessageBox::Yes)//
+			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;
@@ -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);
+	bool res = showResultMessageBox(QString::fromLocal8Bit("退出确认"), QString::fromLocal8Bit("确定要退出程序吗？"));
-	msgBox.setWindowTitle(QString::fromLocal8Bit("退出确认"));
+	if (res)
-	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)
 	{
 		event->accept();   // 允许关闭
 	}
@@ -1733,13 +1848,105 @@ 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())
+	{
+		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
 		{
-		//std::cout << "相机已经连接！" << std::endl;
 			return;
 		}
+	}
 
 	try
 	{
@@ -1766,9 +1973,7 @@ void HPPA::onconnect()
 		}
 		else
 		{
-			QMessageBox msgBox;
+			showMessageBox(QString::fromLocal8Bit("请选择相机类型！"));
-		 msgBox.setText(QString::fromLocal8Bit("请选择相机！"));
-			 msgBox.exec();
 
 			return;
 		}
@@ -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;
+		showMessageBox(QString::fromLocal8Bit("请连接相机！"));
-		msgBox.setText(QString::fromLocal8Bit("请连接相机！"));
-		msgBox.exec();
 	}
+	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()));
@@ -1922,6 +2145,7 @@ void HPPA::onFocus2(int command)
 	}
 	else if (command == 0)
 	{
+		if (m_Imager)
 			m_Imager->setFocusControlState(false);
 	}
 }
@@ -1929,6 +2153,7 @@ void HPPA::onFocus2(int command)
 void HPPA::onFocusWindowClosed()
 {
 	//关闭调焦窗口时，停止调焦功能
+	if (m_Imager)
 		m_Imager->setFocusControlState(false);
 	//关闭调焦窗口tab
 	int index = m_imageViewerTabWidget->indexOf(m_focusTab);
@@ -1955,9 +2180,14 @@ void HPPA::settingWindow()
 
 void HPPA::onDark()
 {
-	QMessageBox msgBox;
+	if (!testImagerVality())
-	msgBox.setText(QString::fromLocal8Bit("采集暗电流，请确保镜头盖盖上！"));
+	{
-	msgBox.exec();
+		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;
+	if (!testImagerVality())
-	msgBox.setText(QString::fromLocal8Bit("请确保白板放置正确！"));
+	{
-	msgBox.exec();
+		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

HPPA/HPPA.h

@@ -300,9 +300,14 @@ private:
 
 	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();

HPPA/HPPA.vcxproj

@@ -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" />

HPPA/HPPA.vcxproj.filters

@@ -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">

HPPA/MotorWindowBase.cpp

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

HPPA/MotorWindowBase.h

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

HPPA/OneMotorControl.cpp

@@ -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();
@@ -29,28 +64,20 @@ 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)));
@@ -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"));
     }
 }
 
@@ -149,16 +201,13 @@ 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()));
 
-        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;
 }

HPPA/OneMotorControl.h

@@ -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;
 };

HPPA/TwoMotorControl.cpp

@@ -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;
@@ -86,8 +105,21 @@ void TwoMotorControl::record_white()
 
 void TwoMotorControl::run()
 {
-	if (m_coordinator==nullptr)
+	if (getState())
 	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！"));
+		return;
+	}
+
+	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);
@@ -98,17 +130,8 @@ void TwoMotorControl::run()
 	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！！！！！！！！！"));
-		return;
-	}
 
 	QVector<PathLine> pathLines;
-	int rowCount = ui.recordLine_tableWidget->rowCount();
 	//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)));
@@ -224,14 +257,25 @@ 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()

HPPA/TwoMotorControl.h

@@ -8,12 +8,11 @@
 #include "IrisMultiMotorController.h"
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
+#include "MotorWindowBase.h"
 
 #define PI 3.1415926
 
-
+class TwoMotorControl : public QDialog, public MotorWindowBase
-
-class TwoMotorControl : public QDialog
 {
     Q_OBJECT
 
@@ -27,6 +26,8 @@ public:
     void record_dark();
     void record_white();
 
+    bool getMotorsConnectionStatus();
+    
 private:
     ImagerOperationBase* m_Imager;
     bool getState();
@@ -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;
 };

HPPA/twoMotorControl.ui

@@ -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 {