add，计划采集13：

优化逻辑

HPPA/HPPA.cpp

@@ -576,7 +576,7 @@ HPPA::HPPA(QWidget* parent)
 	initMapTools();
 
 	//定时采集
-	initTimedDataCollection();
+	connect(this->ui.mActionTimedDataCollection, SIGNAL(triggered()), this, SLOT(onTimedDataCollection()));
 
 	QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
 	QFile file(strPath);
@@ -593,22 +593,26 @@ HPPA::HPPA(QWidget* parent)
 
 void HPPA::initTimedDataCollection()
 {
-	connect(this->ui.mActionTimedDataCollection, SIGNAL(triggered()), this, SLOT(onTimedDataCollection()));
+	TimedDataCollection mTimedDataCollectionWindow;
-	mTimedDataCollectionWindow = new TimedDataCollection();
+
+	m_tmc->onConnectMotor();
 
 	// 定时采集控制器 → 相机/马达
-	connect(mTimedDataCollectionWindow, &TimedDataCollection::hyperCamParm, this, &HPPA::setTimedDataCollectionHyperCamParm);
+	connect(&mTimedDataCollectionWindow, &TimedDataCollection::hyperCamParm, this, &HPPA::setTimedDataCollectionHyperCamParm);
-	connect(mTimedDataCollectionWindow, &TimedDataCollection::camParm, this, &HPPA::setTimedDataCollectionCamParm);
+	connect(&mTimedDataCollectionWindow, &TimedDataCollection::camParm, this, &HPPA::setTimedDataCollectionCamParm);
-	connect(mTimedDataCollectionWindow, &TimedDataCollection::motorParm, this, &HPPA::setTimedDataCollectionMotorParm);
+	connect(&mTimedDataCollectionWindow, &TimedDataCollection::motorParm, this, &HPPA::setTimedDataCollectionMotorParm);
-	connect(mTimedDataCollectionWindow, &TimedDataCollection::startRecordSignal, this, &HPPA::onStartTimedDataCollection);
+	connect(&mTimedDataCollectionWindow, &TimedDataCollection::startRecordSignal, this, &HPPA::onStartTimedDataCollection);
 
-	connect(mTimedDataCollectionWindow, &TimedDataCollection::switchHalogenLampSignal, m_pc3D, &PowerControl3D::switchHalogenLampPower);
+	connect(&mTimedDataCollectionWindow, &TimedDataCollection::switchHalogenLampSignal, m_pc3D, &PowerControl3D::switchHalogenLampPower);
-	connect(mTimedDataCollectionWindow, &TimedDataCollection::switchD65LampSignal, m_pc3D, &PowerControl3D::switchD65LampPower);
+	connect(&mTimedDataCollectionWindow, &TimedDataCollection::switchD65LampSignal, m_pc3D, &PowerControl3D::switchD65LampPower);
-	connect(mTimedDataCollectionWindow, &TimedDataCollection::switchSlrSignal, m_pc3D, &PowerControl3D::switchSlrPower);
+	connect(&mTimedDataCollectionWindow, &TimedDataCollection::switchSlrSignal, m_pc3D, &PowerControl3D::switchSlrPower);
 
 	// 相机/马达 → 定时采集控制器
-	connect(m_tmc, &TwoMotorControl::sequenceComplete, mTimedDataCollectionWindow, &TimedDataCollection::subTaskCompleted);
+	connect(m_tmc, &TwoMotorControl::sequenceComplete, &mTimedDataCollectionWindow, &TimedDataCollection::subTaskCompleted);
-	connect(m_tmc, &TwoMotorControl::back2OriginSignal_TimedDataCollection, mTimedDataCollectionWindow, &TimedDataCollection::onBack2Origin);
+	connect(m_tmc, &TwoMotorControl::back2OriginSignal_TimedDataCollection, &mTimedDataCollectionWindow, &TimedDataCollection::onBack2Origin);
+
+	mTimedDataCollectionWindow.show();
+	mTimedDataCollectionWindow.exec();
 }
 
 void HPPA::setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName)
@@ -716,8 +720,7 @@ void HPPA::onTimedDataCollection()
 	QString checkedScenarioName = checkedScenario->objectName();
 	if (checkedScenarioName == "mAction3DPlantPhenotypeScenario")//计划采集
 	{
-		mTimedDataCollectionWindow->show();
+		initTimedDataCollection();
-		//mTimedDataCollectionWindow->exec();
 
 		return;
 	}

HPPA/HPPA.h

@@ -321,7 +321,6 @@ private:
 	bool showResultMessageBox(QString title, QString msg);
 	void disconnectImagerAndCleanup();
 
-	TimedDataCollection* mTimedDataCollectionWindow;
 	void initTimedDataCollection();
 
 public Q_SLOTS:

HPPA/HPPA.vcxproj

@@ -140,6 +140,7 @@
     <ClCompile Include="MapToolSpectral.cpp" />
     <ClCompile Include="MotorWindowBase.cpp" />
     <ClCompile Include="OneMotorControl.cpp" />
+    <ClCompile Include="PathLine.cpp" />
     <ClCompile Include="path_tc.cpp" />
     <ClCompile Include="PowerControl.cpp" />
     <ClCompile Include="PowerControl3D.cpp" />
@@ -252,6 +253,7 @@
     <QtMoc Include="MapTools.h" />
     <ClInclude Include="MotorWindowBase.h" />
     <QtMoc Include="PowerControl3D.h" />
+    <ClInclude Include="PathLine.h" />
     <ClInclude Include="RasterDataProvider.h" />
     <ClInclude Include="MultibandRasterRenderer.h" />
     <ClInclude Include="RasterImageLayer.h" />

HPPA/HPPA.vcxproj.filters

@@ -250,6 +250,9 @@
     <ClCompile Include="TaskTreeModel.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="PathLine.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -467,6 +470,9 @@
     <ClInclude Include="MotorWindowBase.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="PathLine.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">

HPPA/PathLine.cpp

@@ -0,0 +1,319 @@
+#include "PathLine.h"
+#include <QTableWidgetItem>
+#include <cstdio>
+
+PathLineManager::PathLineManager()
+{
+}
+
+PathLineManager::~PathLineManager()
+{
+}
+
+QVector<PathLine2> PathLineManager::readFromTableWidget(QTableWidget* tableWidget)
+{
+    QVector<PathLine2> pathLines;
+
+    if (tableWidget == nullptr)
+        return pathLines;
+
+    int rowCount = tableWidget->rowCount();
+
+    for (int i = 0; i < rowCount; i++)
+    {
+        PathLine2 tmp;
+
+        tmp.targetYPosition = tableWidget->item(i, 0)->text().toDouble();
+        tmp.speedTargetYPosition = tableWidget->item(i, 1)->text().toDouble();
+        tmp.targetXMinPosition = tableWidget->item(i, 2)->text().toDouble();
+        tmp.speedTargetXMinPosition = tableWidget->item(i, 3)->text().toDouble();
+        tmp.targetXMaxPosition = tableWidget->item(i, 4)->text().toDouble();
+        tmp.speedTargetXMaxPosition = tableWidget->item(i, 5)->text().toDouble();
+
+        pathLines.append(tmp);
+    }
+
+    return pathLines;
+}
+
+void PathLineManager::writeToTableWidget(QTableWidget* tableWidget, const QVector<PathLine2>& pathLines)
+{
+    if (tableWidget == nullptr)
+        return;
+
+    // 清空现有行
+    int rowCount = tableWidget->rowCount();
+    for (int i = 0; i < rowCount; i++)
+    {
+        tableWidget->removeRow(0);
+    }
+
+    // 添加新行
+    for (int i = 0; i < pathLines.size(); i++)
+    {
+        tableWidget->insertRow(i);
+
+        QTableWidgetItem* item0 = new QTableWidgetItem(QString::number(pathLines[i].targetYPosition, 'f', 5));
+        QTableWidgetItem* item1 = new QTableWidgetItem(QString::number(pathLines[i].speedTargetYPosition, 'f', 5));
+        QTableWidgetItem* item2 = new QTableWidgetItem(QString::number(pathLines[i].targetXMinPosition, 'f', 5));
+        QTableWidgetItem* item3 = new QTableWidgetItem(QString::number(pathLines[i].speedTargetXMinPosition, 'f', 5));
+        QTableWidgetItem* item4 = new QTableWidgetItem(QString::number(pathLines[i].targetXMaxPosition, 'f', 5));
+        QTableWidgetItem* item5 = new QTableWidgetItem(QString::number(pathLines[i].speedTargetXMaxPosition, 'f', 5));
+
+        item0->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+
+        tableWidget->setItem(i, 0, item0);
+        tableWidget->setItem(i, 1, item1);
+        tableWidget->setItem(i, 2, item2);
+        tableWidget->setItem(i, 3, item3);
+        tableWidget->setItem(i, 4, item4);
+        tableWidget->setItem(i, 5, item5);
+    }
+}
+
+bool PathLineManager::saveToFile(const QString& filePath, QTableWidget* tableWidget)
+{
+    if (tableWidget == nullptr || tableWidget->rowCount() <= 0)
+        return false;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "wb+");
+    if (fileHandle == nullptr)
+        return false;
+
+    double number = tableWidget->rowCount() * tableWidget->columnCount();
+    fwrite(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+
+    for (int i = 0; i < tableWidget->rowCount(); i++)
+    {
+        for (int j = 0; j < tableWidget->columnCount(); j++)
+        {
+            data[i * tableWidget->columnCount() + j] = tableWidget->item(i, j)->text().toDouble();
+        }
+    }
+
+    fwrite(data, sizeof(double), static_cast<size_t>(number), fileHandle);
+
+    fclose(fileHandle);
+    delete[] data;
+
+    return true;
+}
+
+bool PathLineManager::saveToFile(const QString& filePath, const QVector<PathLine2>& pathLines)
+{
+    if (pathLines.isEmpty())
+        return false;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "wb+");
+    if (fileHandle == nullptr)
+        return false;
+
+    double number = pathLines.size() * COLUMN_COUNT;
+    fwrite(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+
+    for (int i = 0; i < pathLines.size(); i++)
+    {
+        data[i * COLUMN_COUNT + 0] = pathLines[i].targetYPosition;
+        data[i * COLUMN_COUNT + 1] = pathLines[i].speedTargetYPosition;
+        data[i * COLUMN_COUNT + 2] = pathLines[i].targetXMinPosition;
+        data[i * COLUMN_COUNT + 3] = pathLines[i].speedTargetXMinPosition;
+        data[i * COLUMN_COUNT + 4] = pathLines[i].targetXMaxPosition;
+        data[i * COLUMN_COUNT + 5] = pathLines[i].speedTargetXMaxPosition;
+    }
+
+    fwrite(data, sizeof(double), static_cast<size_t>(number), fileHandle);
+
+    fclose(fileHandle);
+    delete[] data;
+
+    return true;
+}
+
+bool PathLineManager::readFromFile(const QString& filePath, QTableWidget* tableWidget)
+{
+    if (tableWidget == nullptr)
+        return false;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "rb");
+    if (fileHandle == nullptr)
+        return false;
+
+    double number;
+    fread(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+    for (int i = 0; i < static_cast<int>(number); i++)
+    {
+        fread(data + i, sizeof(double), 1, fileHandle);
+    }
+
+    // 清空现有行
+    int rowCount = tableWidget->rowCount();
+    for (int i = 0; i < rowCount; i++)
+    {
+        tableWidget->removeRow(0);
+    }
+
+    // 添加新行
+    int recordLineCount = static_cast<int>(number) / tableWidget->columnCount();
+    for (int i = 0; i < recordLineCount; i++)
+    {
+        tableWidget->insertRow(i);
+    }
+
+    // 填充数据
+    for (int i = 0; i < tableWidget->rowCount(); i++)
+    {
+        for (int j = 0; j < tableWidget->columnCount(); j++)
+        {
+            QTableWidgetItem* tmp = new QTableWidgetItem(
+                QString::number(data[i * tableWidget->columnCount() + j], 'f', 5));
+            tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+            tableWidget->setItem(i, j, tmp);
+        }
+    }
+
+    fclose(fileHandle);
+    delete[] data;
+
+    return true;
+}
+
+QVector<PathLine2> PathLineManager::readFromFile(const QString& filePath, bool* success)
+{
+    QVector<PathLine2> pathLines;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "rb");
+    if (fileHandle == nullptr)
+    {
+        if (success) *success = false;
+        return pathLines;
+    }
+
+    double number;
+    fread(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+    for (int i = 0; i < static_cast<int>(number); i++)
+    {
+        fread(data + i, sizeof(double), 1, fileHandle);
+    }
+
+    int recordLineCount = static_cast<int>(number) / COLUMN_COUNT;
+    for (int i = 0; i < recordLineCount; i++)
+    {
+        PathLine2 tmp;
+        tmp.targetYPosition = data[i * COLUMN_COUNT + 0];
+        tmp.speedTargetYPosition = data[i * COLUMN_COUNT + 1];
+        tmp.targetXMinPosition = data[i * COLUMN_COUNT + 2];
+        tmp.speedTargetXMinPosition = data[i * COLUMN_COUNT + 3];
+        tmp.targetXMaxPosition = data[i * COLUMN_COUNT + 4];
+        tmp.speedTargetXMaxPosition = data[i * COLUMN_COUNT + 5];
+
+        pathLines.append(tmp);
+    }
+
+    fclose(fileHandle);
+    delete[] data;
+
+    if (success) *success = true;
+    return pathLines;
+}
+
+void PathLineManager::addRecordLine(QTableWidget* tableWidget,
+    double yPos, double ySpeed,
+    double xMinPos, double xMinSpeed,
+    double xMaxPos, double xMaxSpeed)
+{
+    if (tableWidget == nullptr)
+        return;
+
+    int currentRow = tableWidget->currentRow();
+    int insertRow = (currentRow == -1) ? tableWidget->rowCount() : currentRow + 1;
+
+    tableWidget->insertRow(insertRow);
+
+    QTableWidgetItem* item0 = new QTableWidgetItem(QString::number(yPos, 'f', 2));
+    QTableWidgetItem* item1 = new QTableWidgetItem(QString::number(ySpeed, 'f', 2));
+    QTableWidgetItem* item2 = new QTableWidgetItem(QString::number(xMinPos, 'f', 2));
+    QTableWidgetItem* item3 = new QTableWidgetItem(QString::number(xMinSpeed, 'f', 2));
+    QTableWidgetItem* item4 = new QTableWidgetItem(QString::number(xMaxPos, 'f', 2));
+    QTableWidgetItem* item5 = new QTableWidgetItem(QString::number(xMaxSpeed, 'f', 2));
+
+    item0->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+
+    tableWidget->setItem(insertRow, 0, item0);
+    tableWidget->setItem(insertRow, 1, item1);
+    tableWidget->setItem(insertRow, 2, item2);
+    tableWidget->setItem(insertRow, 3, item3);
+    tableWidget->setItem(insertRow, 4, item4);
+    tableWidget->setItem(insertRow, 5, item5);
+}
+
+double PathLineManager::calculateTimeFromFile(const QString& filePath)
+{
+    bool success = false;
+    QVector<PathLine2> pathLines = readFromFile(filePath, &success);
+    if (!success || pathLines.isEmpty())
+        return 0.0;
+
+    double totalTimeSecond = 0.0;
+    double currentX = 0.0;
+    double currentY = 0.0;
+    double yTime;
+    double xTime;
+
+    for (int i = 0; i < pathLines.size(); i++)
+    {
+        const PathLine2& line = pathLines[i];
+
+        double yDistance = qAbs(line.targetYPosition - currentY);
+        if (line.speedTargetYPosition > 0.0 && yDistance > 0.0)
+        {
+            yTime = yDistance / line.speedTargetYPosition;
+        }
+        double xMinDistance = qAbs(line.targetXMinPosition - currentX);
+        if (line.speedTargetXMinPosition > 0.0 && xMinDistance > 0.0)
+        {
+            xTime = xMinDistance / line.speedTargetXMinPosition;
+        }
+        totalTimeSecond += std::max(yTime, xTime);
+
+        double xMaxDistance = qAbs(line.targetXMaxPosition - line.targetXMinPosition);
+        if (line.speedTargetXMaxPosition > 0.0 && xMaxDistance > 0.0)
+        {
+            totalTimeSecond += xMaxDistance / line.speedTargetXMaxPosition;
+        }
+
+        currentX = line.targetXMaxPosition;
+        currentY = line.targetYPosition;
+    }
+
+    double returnYDistance = currentY;
+    double returnXDistance = currentX;
+    if (currentY > 0.0)
+    {
+        yTime += returnYDistance / pathLines[0].speedTargetYPosition;
+    }
+    if (currentX > 0.0)
+    {
+        xTime += returnXDistance / pathLines[0].speedTargetXMinPosition;
+    }
+    totalTimeSecond += std::max(yTime, xTime);
+
+    return totalTimeSecond / 60;
+}

HPPA/PathLine.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include <QString>
+#include <QVector>
+#include <QTableWidget>
+
+// PathLine 结构体定义（如果还没有在其他地方定义）
+struct PathLine2
+{
+    double targetYPosition;
+    double speedTargetYPosition;
+    double targetXMinPosition;
+    double speedTargetXMinPosition;
+    double targetXMaxPosition;
+    double speedTargetXMaxPosition;
+};
+
+class PathLineManager
+{
+public:
+    PathLineManager();
+    ~PathLineManager();
+
+    // 从TableWidget读取PathLine数据
+    static QVector<PathLine2> readFromTableWidget(QTableWidget* tableWidget);
+
+    // 将PathLine数据写入TableWidget
+    static void writeToTableWidget(QTableWidget* tableWidget, const QVector<PathLine2>& pathLines);
+
+    // 保存PathLine到文件
+    static bool saveToFile(const QString& filePath, QTableWidget* tableWidget);
+    static bool saveToFile(const QString& filePath, const QVector<PathLine2>& pathLines);
+
+    // 从文件读取PathLine
+    static bool readFromFile(const QString& filePath, QTableWidget* tableWidget);
+    static QVector<PathLine2> readFromFile(const QString& filePath, bool* success = nullptr);
+
+    // 添加一行PathLine到TableWidget
+    static void addRecordLine(QTableWidget* tableWidget,
+        double yPos = 15.0,
+        double ySpeed = 1.0,
+        double xMinPos = 0.0,
+        double xMinSpeed = 1.0,
+        double xMaxPos = 50.0,
+        double xMaxSpeed = 1.0);
+
+    static double calculateTimeFromFile(const QString& filePath);
+
+private:
+    static const int COLUMN_COUNT = 6;
+};

HPPA/TaskTreeModel.cpp

@@ -50,12 +50,16 @@ TreeNode* TreeNode::parentNode()
 TaskTreeModel::TaskTreeModel(QObject* parent)
     : QAbstractItemModel(parent)
     , m_rootNode(new TreeNode())
+    , m_countdownTimer(new QTimer(this))
 {
     m_rootNode->nodeType = TreeNodeType::Root;
+    m_countdownTimer->setInterval(1000);
+    connect(m_countdownTimer, &QTimer::timeout, this, &TaskTreeModel::onCountdownTimerTimeout);
 }
 
 TaskTreeModel::~TaskTreeModel()
 {
+    m_countdownTimer->stop();
     delete m_rootNode;
 }
 
@@ -123,6 +127,18 @@ QVariant TaskTreeModel::data(const QModelIndex& index, int role) const
                 return QString::fromLocal8Bit("定时任务 %1").arg(task.id);
             case ColScheduledTime:
                 return task.scheduledTime.toString("yyyy-MM-dd HH:mm:ss");
+            case ColCountdown: {
+                if (task.status == TaskStatus::Finished || task.status == TaskStatus::Running)
+                {
+                    return QString::fromLocal8Bit("0");
+                }
+                qint64 seconds = QDateTime::currentDateTime().secsTo(task.scheduledTime);
+                if (seconds < 0)
+                {
+                    return QString::fromLocal8Bit("已超时");
+                }
+                return formatCountdown(seconds);
+            }
             case ColStartTime:
                 return task.startTime.isValid() ?
                     task.startTime.toString("HH:mm:ss") : "-";
@@ -131,6 +147,8 @@ QVariant TaskTreeModel::data(const QModelIndex& index, int role) const
                     task.endTime.toString("HH:mm:ss") : "-";
             case ColDuration:
                 return formatDuration(task.durationMinutes);
+            case ColEstimatedDuration:
+                return formatDuration(task.estimatedDurationMinutes);
             case ColStatus:
                 return statusToString(task.status);
             case ColProgress: {
@@ -151,6 +169,8 @@ QVariant TaskTreeModel::data(const QModelIndex& index, int role) const
                 return subTaskTypeToString(subTask.type);
             case ColScheduledTime:
                 return "-";
+            case ColCountdown:
+                return "-";
             case ColStartTime:
                 return subTask.startTime.isValid() ?
                     subTask.startTime.toString("HH:mm:ss") : "-";
@@ -159,6 +179,8 @@ QVariant TaskTreeModel::data(const QModelIndex& index, int role) const
                     subTask.endTime.toString("HH:mm:ss") : "-";
             case ColDuration:
                 return formatDuration(subTask.durationMinutes);
+            case ColEstimatedDuration:
+                return formatDuration(subTask.estimatedDurationMinutes);
             case ColStatus:
                 return statusToString(subTask.status);
             case ColProgress:
@@ -265,9 +287,11 @@ QVariant TaskTreeModel::headerData(int section, Qt::Orientation orientation, int
     switch (section) {
     case ColName:          return QString::fromLocal8Bit("名称");
     case ColScheduledTime: return QString::fromLocal8Bit("计划时间");
+    case ColCountdown:     return QString::fromLocal8Bit("倒计时");
     case ColStartTime:     return QString::fromLocal8Bit("开始时间");
     case ColEndTime:       return QString::fromLocal8Bit("结束时间");
     case ColDuration:      return QString::fromLocal8Bit("耗时");
+    case ColEstimatedDuration:      return QString::fromLocal8Bit("预测耗时");
     case ColStatus:        return QString::fromLocal8Bit("状态");
     case ColProgress:      return QString::fromLocal8Bit("进度");
     case ColPath:          return QString::fromLocal8Bit("路径");
@@ -285,6 +309,8 @@ Qt::ItemFlags TaskTreeModel::flags(const QModelIndex& index) const
 
 void TaskTreeModel::setTasks(const QVector<TimedTask>& tasks)
 {
+    m_countdownTimer->stop();
+
     beginResetModel();
 
     m_tasks = tasks;
@@ -292,6 +318,8 @@ void TaskTreeModel::setTasks(const QVector<TimedTask>& tasks)
     setupModelData();
 
     endResetModel();
+
+    m_countdownTimer->start();
 }
 
 void TaskTreeModel::setupModelData()
@@ -400,6 +428,19 @@ void TaskTreeModel::updateSubTask(int taskId, int subTaskIndex, const SubTask& s
     emit subTaskUpdated(taskId, subTaskIndex);
 }
 
+void TaskTreeModel::setTaskAndSubtaskStatus(int taskId, TaskStatus status)
+{
+    int dataIndex = findTaskDataIndex(taskId);
+    if (dataIndex < 0) return;
+
+    updateTaskStatus(taskId, status);
+
+    for (size_t i = 0; i < m_tasks[dataIndex].subTaskCount(); i++)
+    {
+        updateSubTaskStatus(taskId, i, status);
+    }
+}
+
 void TaskTreeModel::updateTaskStatus(int taskId, TaskStatus status)
 {
     int dataIndex = findTaskDataIndex(taskId);
@@ -407,17 +448,6 @@ void TaskTreeModel::updateTaskStatus(int taskId, TaskStatus status)
 
     m_tasks[dataIndex].status = status;
 
-    if (status == TaskStatus::Running) {
-        m_tasks[dataIndex].startTime = QDateTime::currentDateTime();
-    }
-    else if (status == TaskStatus::Finished) {
-        m_tasks[dataIndex].endTime = QDateTime::currentDateTime();
-        if (m_tasks[dataIndex].startTime.isValid()) {
-            m_tasks[dataIndex].durationMinutes =
-                m_tasks[dataIndex].startTime.secsTo(m_tasks[dataIndex].endTime) / 60.0;
-        }
-    }
-
     QModelIndex taskIndex = getTaskIndex(taskId);
     if (taskIndex.isValid()) {
         QModelIndex topLeft = index(taskIndex.row(), 0, taskIndex.parent());
@@ -426,6 +456,12 @@ void TaskTreeModel::updateTaskStatus(int taskId, TaskStatus status)
     }
 }
 
+void TaskTreeModel::updateSubTaskStatusAndProgress(int taskId, int subTaskIndex, TaskStatus status)
+{
+    updateSubTaskStatus(taskId, subTaskIndex, status);
+    updateProgress(taskId);
+}
+
 void TaskTreeModel::updateSubTaskStatus(int taskId, int subTaskIndex, TaskStatus status)
 {
     int dataIndex = findTaskDataIndex(taskId);
@@ -435,23 +471,16 @@ void TaskTreeModel::updateSubTaskStatus(int taskId, int subTaskIndex, TaskStatus
     SubTask& subTask = m_tasks[dataIndex].subTasks[subTaskIndex];
     subTask.status = status;
 
-    if (status == TaskStatus::Running) {
-        subTask.startTime = QDateTime::currentDateTime();
-    }
-    else if (status == TaskStatus::Finished) {
-        subTask.endTime = QDateTime::currentDateTime();
-        if (subTask.startTime.isValid()) {
-            subTask.durationMinutes = subTask.startTime.secsTo(subTask.endTime) / 60.0;
-        }
-    }
-
     QModelIndex subTaskModelIndex = getSubTaskIndex(taskId, subTaskIndex);
     if (subTaskModelIndex.isValid()) {
         QModelIndex topLeft = index(subTaskModelIndex.row(), 0, subTaskModelIndex.parent());
         QModelIndex bottomRight = index(subTaskModelIndex.row(), ColumnCount - 1, subTaskModelIndex.parent());
         emit dataChanged(topLeft, bottomRight);
     }
+}
 
+void TaskTreeModel::updateProgress(int taskId)
+{
     // 更新父任务进度
     QModelIndex taskIndex = getTaskIndex(taskId);
     if (taskIndex.isValid()) {
@@ -534,12 +563,14 @@ int TaskTreeModel::findTaskDataIndex(int taskId) const
 QString TaskTreeModel::statusToString(TaskStatus status) const
 {
     switch (status) {
+    case TaskStatus::default:  return QString::fromLocal8Bit("未调度");
     case TaskStatus::Waiting:  return QString::fromLocal8Bit("等待中");
     case TaskStatus::Running:  return QString::fromLocal8Bit("运行中");
     case TaskStatus::Finished: return QString::fromLocal8Bit("已完成");
     case TaskStatus::Skiped:   return QString::fromLocal8Bit("已跳过");
+    case TaskStatus::Timeout:   return QString::fromLocal8Bit("超时");
     }
-    return "未知";
+    return "";
 }
 
 QString TaskTreeModel::subTaskTypeToString(SubTaskType type) const
@@ -582,3 +613,33 @@ QColor TaskTreeModel::statusColor(TaskStatus status) const
     }
     return QColor(255, 255, 255);
 }
+
+QString TaskTreeModel::formatCountdown(qint64 seconds) const
+{
+    if (seconds < 0) {
+        return QString::fromLocal8Bit("已超时");
+    }
+
+    int hours = static_cast<int>(seconds) / 3600;
+    int mins = (static_cast<int>(seconds) % 3600) / 60;
+    int secs = static_cast<int>(seconds) % 60;
+
+    return QString("%1:%2:%3")
+        .arg(hours, 2, 10, QChar('0'))
+        .arg(mins, 2, 10, QChar('0'))
+        .arg(secs, 2, 10, QChar('0'));
+}
+
+void TaskTreeModel::onCountdownTimerTimeout()
+{
+    for (int i = 0; i < m_tasks.size(); ++i)
+    {
+        const TimedTask& task = m_tasks[i];
+        QModelIndex taskIndex = getTaskIndex(task.id);
+        if (taskIndex.isValid())
+        {
+            QModelIndex countdownIndex = index(taskIndex.row(), ColCountdown, taskIndex.parent());
+            emit dataChanged(countdownIndex, countdownIndex);
+        }
+    }
+}

HPPA/TaskTreeModel.h

@@ -3,6 +3,7 @@
 #include <QAbstractItemModel>
 #include <QModelIndex>
 #include <QVariant>
+#include <QTimer>
 #include "TimedDataCollectionDataStructures.h"
 
 // 树节点类型
@@ -47,9 +48,11 @@ public:
     enum Column {
         ColName = 0,           // 任务名称/子任务类型
         ColScheduledTime,      // 计划时间
+        ColCountdown,          // 倒计时
         ColStartTime,          // 开始时间
         ColEndTime,            // 结束时间
         ColDuration,           // 耗时
+        ColEstimatedDuration,  // 预测耗时
         ColStatus,             // 状态
         ColProgress,           // 进度（仅任务有效）
         ColPath,               // 路径
@@ -73,7 +76,10 @@ public:
     void updateTask(const TimedTask& task);
     void updateSubTask(int taskId, int subTaskIndex, const SubTask& subTask);
     void updateTaskStatus(int taskId, TaskStatus status);
+    void setTaskAndSubtaskStatus(int taskId, TaskStatus status);
+    void updateSubTaskStatusAndProgress(int taskId, int subTaskIndex, TaskStatus status);
     void updateSubTaskStatus(int taskId, int subTaskIndex, TaskStatus status);
+    void updateProgress(int taskId);
 
     // 获取数据
     QVector<TimedTask>& tasks() { return m_tasks; }
@@ -89,6 +95,9 @@ signals:
     void taskUpdated(int taskId);
     void subTaskUpdated(int taskId, int subTaskIndex);
 
+private slots:
+    void onCountdownTimerTimeout();
+
 private:
     void setupModelData();
     void clearTree();
@@ -100,7 +109,9 @@ private:
     QString subTaskTypeToString(SubTaskType type) const;
     QString formatDuration(double minutes) const;
     QColor statusColor(TaskStatus status) const;
+    QString formatCountdown(qint64 seconds) const;
 
     TreeNode* m_rootNode;
     QVector<TimedTask> m_tasks;
+    QTimer* m_countdownTimer;
 };

HPPA/TimedDataCollection.cpp

@@ -52,9 +52,11 @@ void TimedDataCollection::setupUI()
     // 设置列宽
     ui.taskTreeView->setColumnWidth(TaskTreeModel::ColName, 200);
     ui.taskTreeView->setColumnWidth(TaskTreeModel::ColScheduledTime, 150);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColCountdown, 100);
     ui.taskTreeView->setColumnWidth(TaskTreeModel::ColStartTime, 100);
     ui.taskTreeView->setColumnWidth(TaskTreeModel::ColEndTime, 100);
     ui.taskTreeView->setColumnWidth(TaskTreeModel::ColDuration, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColEstimatedDuration, 100);
     ui.taskTreeView->setColumnWidth(TaskTreeModel::ColStatus, 100);
     ui.taskTreeView->setColumnWidth(TaskTreeModel::ColProgress, 80);
 
@@ -167,7 +169,7 @@ void TimedDataCollection::onSubTaskStarted(int taskId, int subTaskIndex)
 {
     m_currentSubTaskIndex = subTaskIndex;
 
-    m_taskModel->updateSubTaskStatus(taskId, subTaskIndex, TaskStatus::Running);
+    m_taskModel->updateSubTaskStatusAndProgress(taskId, subTaskIndex, TaskStatus::Running);
 
     // 滚动到当前子任务
     QModelIndex subTaskIndex_model = m_taskModel->getSubTaskIndex(taskId, subTaskIndex);
@@ -182,7 +184,7 @@ void TimedDataCollection::onSubTaskStarted(int taskId, int subTaskIndex)
 
 void TimedDataCollection::onSubTaskFinished(int taskId, int subTaskIndex)
 {
-    m_taskModel->updateSubTaskStatus(taskId, subTaskIndex, TaskStatus::Finished);
+    m_taskModel->updateSubTaskStatusAndProgress(taskId, subTaskIndex, TaskStatus::Finished);
 
     updateStatusBar();
     emit subTaskFinished(taskId, subTaskIndex);
@@ -396,11 +398,30 @@ void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
     if (TimedDataCollectionDataStructuresReaderWriter::loadTasksFromFile(filePath, loadedTasks)) {
         qDebug() << "Tasks loaded successfully, count:" << loadedTasks.size();
 
+        // 预测耗时：计算每个子任务和整个任务的预计耗时
+        for (int i = 0; i < loadedTasks.size(); ++i)
+        {
+            double totalEstimatedMinutes = 0.0;
+            for (int j = 0; j < loadedTasks[i].subTasks.size(); ++j)
+            {
+                QString pathLineFilePath = loadedTasks[i].subTasks[j].pathLineFilePath;
+                if (!pathLineFilePath.isEmpty())
+                {
+                    double estimatedMinutes = PathLineManager::calculateTimeFromFile(pathLineFilePath);
+                    loadedTasks[i].subTasks[j].estimatedDurationMinutes = estimatedMinutes;
+                    totalEstimatedMinutes += loadedTasks[i].subTasks[j].estimatedDurationMinutes;
+                }
+            }
+            double slrTimeMinute = 135 / 60;
+            loadedTasks[i].estimatedDurationMinutes = totalEstimatedMinutes + loadedTasks[i].HalogenLampPreheatingTime_Minute + slrTimeMinute;
+        }
+
         m_taskModel->setTasks(loadedTasks);
         ui.taskTreeView->expandAll(); // 默认展开所有任务
 
         // 更新调度器
-        if (m_scheduler) {
+        if (m_scheduler)
+        {
             m_scheduler->loadTasks(loadedTasks);
         }
 
@@ -415,7 +436,18 @@ void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
 
 void TimedDataCollection::startScheduler()
 {
-    if (m_scheduler) {
+    if (m_scheduler)
+    {
+        if (m_scheduler->isRunning())
+        {
+            return;
+        }
+
+        for (size_t i = 0; i < m_taskModel->tasks().size(); i++)
+        {
+            m_taskModel->setTaskAndSubtaskStatus(m_taskModel->tasks()[i].id, TaskStatus::Waiting);
+        }
+
         m_scheduler->loadTasks(m_taskModel->tasks());
         m_scheduler->start();
 

HPPA/TimedDataCollection.h

@@ -7,6 +7,7 @@
 #include "ui_TimedDataCollection_ui.h"
 #include "TimedDataCollectionDataStructures.h"
 #include "TaskTreeModel.h"
+#include "PathLine.h"
 
 class TimedDataCollection : public QDialog
 {

HPPA/TimedDataCollectionDataStructures.cpp

@@ -5,6 +5,7 @@
 #include <QFile>
 #include <QTextStream>
 #include <QDebug>
+#include <algorithm>
 
 // ==================== 公共接口实现 ====================
 
@@ -88,9 +89,9 @@ QString TimedDataCollectionDataStructuresReaderWriter::taskStatusToString(TaskSt
 
 TaskStatus TimedDataCollectionDataStructuresReaderWriter::stringToTaskStatus(const QString& str)
 {
-    if (str == "Running") return TaskStatus::Running;
+    //if (str == "Running") return TaskStatus::Running;
-    if (str == "Finished") return TaskStatus::Finished;
+    //if (str == "Finished") return TaskStatus::Finished;
-    return TaskStatus::Waiting;
+    return TaskStatus::default;
 }
 
 QString TimedDataCollectionDataStructuresReaderWriter::subTaskTypeToString(SubTaskType type)
@@ -135,8 +136,8 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const S
 bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObject& json, SubTask& subTask)
 {
     subTask.type = stringToSubTaskType(json["type"].toString());
-    subTask.startTime = QDateTime::fromString(json["startTime"].toString(), Qt::ISODate);
+    subTask.startTime = QDateTime::fromString(QString(), Qt::ISODate);
-    subTask.endTime = QDateTime::fromString(json["endTime"].toString(), Qt::ISODate);
+    subTask.endTime = QDateTime::fromString(QString(), Qt::ISODate);
     subTask.durationMinutes = json["durationMinutes"].toDouble();
     subTask.estimatedDurationMinutes = json["estimatedDurationMinutes"].toDouble();
     subTask.pathLineFilePath = json["pathLineFilePath"].toString();
@@ -158,6 +159,7 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::timedTaskToJson(const
     obj["startTime"] = task.startTime.toString(Qt::ISODate);
     obj["endTime"] = task.endTime.toString(Qt::ISODate);
     obj["durationMinutes"] = task.durationMinutes;
+    obj["estimatedDurationMinutes"] = task.estimatedDurationMinutes;
     obj["savePath"] = task.savePath;
     obj["status"] = taskStatusToString(task.status);
     obj["HalogenLampPreheatingTime_Minute"] = task.HalogenLampPreheatingTime_Minute;
@@ -175,9 +177,10 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO
 {
     task.id = json["id"].toInt();
     task.scheduledTime = QDateTime::fromString(json["scheduledTime"].toString(), Qt::ISODate);
-    task.startTime = QDateTime::fromString(json["startTime"].toString(), Qt::ISODate);
+    task.startTime = QDateTime::fromString(QString(), Qt::ISODate);
-    task.endTime = QDateTime::fromString(json["endTime"].toString(), Qt::ISODate);
+    task.endTime = QDateTime::fromString(QString(), Qt::ISODate);
     task.durationMinutes = json["durationMinutes"].toDouble();
+    task.estimatedDurationMinutes = json["estimatedDurationMinutes"].toDouble();
     task.savePath = json["savePath"].toString();
     task.status = stringToTaskStatus(json["status"].toString());
     task.HalogenLampPreheatingTime_Minute = json["HalogenLampPreheatingTime_Minute"].toDouble();
@@ -220,6 +223,10 @@ void TaskExecutor::execute(const TimedTask& task)
 
     m_task = task;
     m_task.startTime = QDateTime::currentDateTime();
+    m_task.status = TaskStatus::Running;
+
+    emit taskUpdated(m_task);
+
     
     m_currentSubTaskIndex = 0;
     m_isRunning = true;
@@ -293,6 +300,7 @@ void TaskExecutor::onSequenceComplete(int status)
         qDebug() << "TaskExecutor: subtask "<< m_currentSubTaskIndex<< " time consuming(Minutes): "<< subTask.durationMinutes;
 
         emit subTaskFinished(m_currentSubTaskIndex, subTask.type, (status == 0));
+        emit taskUpdated(m_task);
     }
 
     // 
@@ -315,6 +323,8 @@ void TaskExecutor::onSequenceComplete(int status)
     int nestSubTaskIndex = m_currentSubTaskIndex + 1;
     if (nestSubTaskIndex >= m_task.subTasks.size())
     {
+        emit switchD65LampSignal(0);
+        emit switchSlrSignal(0);
         emit switchHalogenLampSignal(0);
         return;
     }
@@ -501,26 +511,55 @@ void TaskScheduler::stop()
 
 void TaskScheduler::checkTasks()
 {
+    // 检查是否所有任务都不需要执行
+    bool allTasksDone = std::all_of(m_tasks.begin(), m_tasks.end(),
+        [](const TimedTask& task) {
+            return task.status != TaskStatus::Waiting;
+        });
+
+    if (allTasksDone)
+    {
+        std::cerr << "TaskScheduler::checkTasks，没有任务等待执行，停止调度器" << std::endl;
+        stop();
+    }
+
     QDateTime now = QDateTime::currentDateTime();
 
-    for (auto& task : m_tasks) {
+    if (m_currentTaskId >= 0)//有任务正在执行
+    {
+        return;
+    }
+
+    for (auto& task : m_tasks)
+    {
         if (task.status != TaskStatus::Waiting) continue;
 
-        // 超过计划时间1分钟以上，认为任务已过时，跳过
+        // 超过计划时间threSecs，认为任务已过时，跳过
-        if (task.scheduledTime.addSecs(60) < now) {
+        qint64 threSecs = 30;
+        if (task.scheduledTime.addSecs(threSecs) < now)
+        {
             std::cerr << "TaskScheduler::checkTasks，任务已过时，跳过:" << task.id << std::endl;
-            task.status = TaskStatus::Finished;
+            task.status = TaskStatus::Timeout;
+            for (size_t i = 0; i < task.subTaskCount(); i++)
+            {
+                task.subTasks[i].status = TaskStatus::Timeout;
+            }
+
+            emit taskDataChanged(task);
             continue;
         }
 
         if (task.scheduledTime > now) continue;
 
-        // 到达计划时间，启动任务
+        qint64 fireThreSecs = 5;
+        if (task.scheduledTime.addSecs(-1*fireThreSecs) < now && task.scheduledTime.addSecs(fireThreSecs) > now)// 到达计划时间，启动任务
+        {
             std::cerr << "TaskScheduler::checkTasks，到达计划时间，启动任务" << std::endl;
             executeTask(task);
             break; // 一次只执行一个任务
         }
     }
+}
 
 void TaskScheduler::onTaskFinished(bool success)
 {
@@ -561,10 +600,10 @@ void TaskScheduler::executeTask(TimedTask& task)
 {
     qDebug() << "TaskScheduler: Executing task" << task.id;
 
-    updateTaskStatus(task.id, TaskStatus::Running);
+    //updateTaskStatus(task.id, TaskStatus::Running);
     m_currentTaskId = task.id;
 
-    emit taskStarted(task.id);
+    //emit taskStarted(task.id);
 
     // 创建任务执行器
     m_currentExecutor = new TaskExecutor(this);

HPPA/TimedDataCollectionDataStructures.h

@@ -12,10 +12,12 @@
 
 // 任务状态
 enum class TaskStatus {
+    default,    //未调度
     Waiting,    // 等待
     Running,   // 运行中
     Finished,   // 结束
-    Skiped      //跳过
+    Skiped,      //跳过
+    Timeout      //超时
 };
 
 // 子任务类型
@@ -49,14 +51,15 @@ struct SubTask {
 // ==================== 定时任务 ====================
 
 struct TimedTask {
-    int id = 0;                                  // 任务ID
+    int id = 0;
-    QDateTime scheduledTime;                     // 计划时间
+    QDateTime scheduledTime;
-    QDateTime startTime;                         // 开始时间
+    QDateTime startTime;
-    QDateTime endTime;                           // 结束时间
+    QDateTime endTime;
-    double durationMinutes = 0;                     // 耗时（秒）
+    double durationMinutes = 0;
-    QString savePath;                             // 数据保存路径
+    double estimatedDurationMinutes = 0;
-    QVector<SubTask> subTasks;                    // 子任务列表
+    QString savePath;
-    TaskStatus status = TaskStatus::Waiting;     // 状态
+    QVector<SubTask> subTasks;
+    TaskStatus status = TaskStatus::Waiting;
     double HalogenLampPreheatingTime_Minute;
 
     // 计算所有子任务的预计总时间

HPPA/TimedDataCollection_ui.ui

@@ -13,54 +13,20 @@
   <property name="windowTitle">
    <string>Dialog</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_2">
-   <item row="0" column="0" colspan="3">
-    <widget class="QWidget" name="widget" native="true">
   <layout class="QGridLayout" name="gridLayout">
-      <item row="0" column="0">
+   <item row="0" column="0" colspan="3">
     <widget class="QTreeView" name="taskTreeView"/>
    </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="2" column="0">
-    <widget class="QPushButton" name="delToptask_btn">
-     <property name="text">
-      <string>删除总计划任务</string>
-     </property>
-    </widget>
-   </item>
-   <item row="4" column="0">
-    <widget class="QPushButton" name="addSubtask_btn">
-     <property name="text">
-      <string>添加子任务</string>
-     </property>
-    </widget>
-   </item>
    <item row="1" column="0">
-    <widget class="QPushButton" name="addToptask_btn">
+    <widget class="QLineEdit" name="taskFileSelect_lineEdit"/>
+   </item>
+   <item row="1" column="1">
+    <widget class="QPushButton" name="taskFileSelect_btn">
      <property name="text">
-      <string>添加总计划任务</string>
+      <string>...</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="0">
-    <widget class="QPushButton" name="delSubtask_btn">
-     <property name="text">
-      <string>删除子任务</string>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="2">
-    <widget class="QPushButton" name="stop_btn">
-     <property name="text">
-      <string>停止调度</string>
-     </property>
-    </widget>
-   </item>
-   <item row="4" column="1">
-    <widget class="QComboBox" name="comboBox"/>
-   </item>
    <item row="1" column="2">
     <widget class="QPushButton" name="refresh_btn">
      <property name="text">
@@ -68,7 +34,7 @@
      </property>
     </widget>
    </item>
-   <item row="4" column="2">
+   <item row="2" column="1">
     <widget class="QPushButton" name="start_btn">
      <property name="text">
       <string>开始调度</string>
@@ -82,6 +48,13 @@
      </property>
     </widget>
    </item>
+   <item row="3" column="1">
+    <widget class="QPushButton" name="stop_btn">
+     <property name="text">
+      <string>停止调度</string>
+     </property>
+    </widget>
+   </item>
    <item row="3" column="2">
     <widget class="QPushButton" name="collapseAll_btn">
      <property name="text">
@@ -89,11 +62,14 @@
      </property>
     </widget>
    </item>
-   <item row="5" column="1">
+   <item row="4" column="0" colspan="3">
     <widget class="QLabel" name="statusLabel">
      <property name="text">
       <string>TextLabel</string>
      </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
     </widget>
    </item>
   </layout>

HPPA/TwoMotorControl.cpp

@@ -546,49 +546,13 @@ void TwoMotorControl::onAddRecordLine_btn()
 {
 	// 准备数据：获取y马达的当前位置，获取x马达的当前位置和最大位置
 	double currentPosOfYmotor = 15;
-
 	double currentPosOfXmotor = 0;
 	double maxRangeOfXmotor = 50;
 
-	//获取选中行的索引
+	PathLineManager::addRecordLine(ui.recordLine_tableWidget,
-	int currentRow = ui.recordLine_tableWidget->currentRow();
+		currentPosOfYmotor, 1.0,
-	std::cout << "currentRow：" << currentRow << std::endl;
+		currentPosOfXmotor, 1.0,
-
+		maxRangeOfXmotor, 1.0);
-	QTableWidgetItem* Item1 = new QTableWidgetItem(QString::number(currentPosOfYmotor, 10, 2));
-	QTableWidgetItem* Item2 = new QTableWidgetItem(QString::number(1, 10, 2));
-	QTableWidgetItem* Item3 = new QTableWidgetItem(QString::number(currentPosOfXmotor, 10, 2));
-	QTableWidgetItem* Item4 = new QTableWidgetItem(QString::number(1, 10, 2));
-	QTableWidgetItem* Item5 = new QTableWidgetItem(QString::number(maxRangeOfXmotor, 10, 2));
-	QTableWidgetItem* Item6 = new QTableWidgetItem(QString::number(1, 10, 2));
-	Item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item6->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	if (currentRow == -1)//当没有选中行时
-	{
-		int RowCount = ui.recordLine_tableWidget->rowCount();//Returns the number of rows. 从1开始的
-		ui.recordLine_tableWidget->insertRow(RowCount);//增加一行，形参是从0开始的
-
-		ui.recordLine_tableWidget->setItem(RowCount, 0, Item1);
-		ui.recordLine_tableWidget->setItem(RowCount, 1, Item2);
-		ui.recordLine_tableWidget->setItem(RowCount, 2, Item3);
-		ui.recordLine_tableWidget->setItem(RowCount, 3, Item4);
-		ui.recordLine_tableWidget->setItem(RowCount, 4, Item5);
-		ui.recordLine_tableWidget->setItem(RowCount, 5, Item6);
-	}
-	else
-	{
-		ui.recordLine_tableWidget->insertRow(currentRow + 1);//增加一行，形参是从0开始的
-
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 0, Item1);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 1, Item2);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 2, Item3);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 3, Item4);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 4, Item5);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 5, Item6);
-	}
 }
 
 void TwoMotorControl::onRemoveRecordLine_btn()
@@ -612,103 +576,37 @@ void TwoMotorControl::onSaveRecordLine2File_btn()
 	// 确保采集线存在
 	if (ui.recordLine_tableWidget->rowCount() <= 0)
 	{
-		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请先生成轨迹！"));
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"),
+			QString::fromLocal8Bit("请先生成轨迹！"));
 		return;
 	}
-
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
-
 	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine3 File"),
 		QString::fromStdString(directory),
 		tr("RecordLineFile3 (*.RecordLine3)"));
-
 	if (RecordLineFilePath.isEmpty())
 	{
 		return;
 	}
-
+	PathLineManager::saveToFile(RecordLineFilePath, ui.recordLine_tableWidget);
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
-
-	double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
-	fwrite(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	//double data[number];
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			data[i * ui.recordLine_tableWidget->columnCount() + j] = ui.recordLine_tableWidget->item(i, j)->text().toDouble();
-		}
-	}
-
-	fwrite(data, sizeof(double), number, RecordLineFileHandle);
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	//QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("保存成功！"));
 }
 
 void TwoMotorControl::onReadRecordLineFile_btn()
 {
-	//打开文件
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
-
 	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine3 File"),
 		QString::fromStdString(directory),
 		tr("RecordLineFile (*.RecordLine3)"));
-
 	if (RecordLineFilePath.isEmpty())
 	{
 		return;
 	}
+
 	readRecordLineFile(RecordLineFilePath);
 }
 void TwoMotorControl::readRecordLineFile(QString RecordLineFilePath)
 {
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
+	PathLineManager::readFromFile(RecordLineFilePath, ui.recordLine_tableWidget);
-	double number;
-
-	//读取数据
-	fread(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	for (size_t i = 0; i < number; i++)
-	{
-		fread(data + i, sizeof(double), 1, RecordLineFileHandle);
-		//std::cout << *(data + i) << std::endl;
-	}
-
-	//向tableWidget添加采集线
-	//（1）去掉tableWidget中所有的行
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-	//（2）添加行（采集线）
-	int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
-	for (size_t i = 0; i < RecordLineCount; i++)
-	{
-		ui.recordLine_tableWidget->insertRow(0);
-
-	}
-	//（3）向tableWidget填充数据
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
-			tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, j, tmp);
-		}
-	}
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	//QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("读取成功！"));
 }

HPPA/TwoMotorControl.h

@@ -13,6 +13,8 @@
 #include "SingleLensReflexCameraWindow.h"
 #include "DepthCameraWindow.h"
 
+#include "PathLine.h" 
+
 #define PI 3.1415926
 
 class TwoMotorControl : public QDialog, public MotorWindowBase