add

1、分离扫描速度和手动控制速度；
2、添加扫描速度的反向运动，并保存以前的设置；

fix
和贡嘎山的相互干扰；

HPPA/AppSettings.cpp

@@ -175,6 +175,26 @@ void AppSettings::setReturnSpeed(double value)
 	m_settings.setValue("OneMotorControl/ReturnSpeed", value);
 }
 
+double AppSettings::manualMovementSpeed() const
+{
+	return m_settings.value("OneMotorControl/ManualMovementSpeed", 1).toDouble();
+}
+
+void AppSettings::setManualMovementSpeed(double value)
+{
+	m_settings.setValue("OneMotorControl/ManualMovementSpeed", value);
+}
+
+bool AppSettings::isReverseMove() const
+{
+	return m_settings.value("OneMotorControl/IsReverseMove", 0).toBool();
+}
+
+void AppSettings::setIsReverseMove(bool value)
+{
+	m_settings.setValue("OneMotorControl/IsReverseMove", value);
+}
+
 int AppSettings::gonggaShanRecordPort() const
 {
 	return m_settings.value("GonggaShanRecordCtl/Port", kDefaultGonggaShanRecordPort).toInt();

HPPA/AppSettings.h

@@ -56,6 +56,13 @@ public:
 	double returnSpeed() const;
 	void setReturnSpeed(double value);
 
+	// 手动移动速度
+	double manualMovementSpeed() const;
+	void setManualMovementSpeed(double value);
+
+	bool isReverseMove() const;
+	void setIsReverseMove(bool value);
+
 	// 贡嘎山记录端口
 	int gonggaShanRecordPort() const;
 	void setGonggaShanRecordPort(int value);

HPPA/CaptureCoordinator.cpp

@@ -10,10 +10,10 @@ TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
 	, m_isValidCapturing(false)
 {
 	//这些信号槽是按照逻辑顺序的
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
+	connect(this, qOverload<int, double, double, int>(&TwoMotionCaptureCoordinator::moveTo),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
-	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)),
+	connect(this, qOverload<const std::vector<double>, const std::vector<double>, int>(&TwoMotionCaptureCoordinator::moveTo),
-		m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+		m_motorCtrl, qOverload<const std::vector<double>, const std::vector<double>, int>(&IrisMultiMotorController::moveTo));
 	connect(this, &TwoMotionCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
 
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
@@ -444,9 +444,9 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
 	, m_cameraCtrl(cameraCtrl)
 	, m_isRunning(false)
 {
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
+	connect(this, qOverload<int, double, double, int>(&OneMotionCaptureCoordinator::moveTo),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
-	connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_motorCtrl, SLOT(move(int, bool, double, int)));
+	connect(this, &OneMotionCaptureCoordinator::moveSignal, m_motorCtrl, qOverload<int, double, int>(&IrisMultiMotorController::move));
 	connect(this, &OneMotionCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
 
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
@@ -488,7 +488,7 @@ void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathL
 	m_pathLine.timestamp1 = QDateTime::currentDateTime();
 
 	//移动马达并开始采集高光谱
-	emit moveSignal(0, false, m_pathLine.speedRecord, 1000);
+	emit moveSignal(0, m_pathLine.speedRecord, 1000);
 	emit startRecordHSISignal();
 }
 
@@ -621,9 +621,9 @@ DarkAndWhiteCaptureCoordinator::DarkAndWhiteCaptureCoordinator(
 	, m_cameraCtrl(cameraCtrl)
 	, m_isRunning(false)
 {
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
+	connect(this, qOverload<int, double, double, int>(&DarkAndWhiteCaptureCoordinator::moveTo),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
-	connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_motorCtrl, SLOT(move(int, bool, double, int)));
+	connect(this, &DarkAndWhiteCaptureCoordinator::moveSignal, m_motorCtrl, qOverload<int, double, int>(&IrisMultiMotorController::move));
 	connect(this, &DarkAndWhiteCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
 
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
@@ -667,7 +667,7 @@ void DarkAndWhiteCaptureCoordinator::startStepMotion(double speed)
 	getLocBeforeStart();
 
 	//移动马达并开始采集高光谱
-	emit moveSignal(0, false, m_speed, 1000);
+	emit moveSignal(0, m_speed, 1000);
 	emit startRecordHSISignal();
 }
 
@@ -742,11 +742,11 @@ TwoMotor1PosCoordinator::TwoMotor1PosCoordinator(
 	, m_xReached(false)
 	, m_yReached(false)
 {
-	//因为IrisMultiMotorController::moveTo有多个重载版本，所以使用信号槽连接时需要使用SIGNAL和SLOT宏来指定参数类型，避免编译器无法推断出正确的函数签名。
+	//因为IrisMultiMotorController::moveTo有多个重载版本，所以使用qOverload来指定参数类型
-	//connect(this, &TwoMotor1PosCoordinator::moveTo, m_motorCtrl, &IrisMultiMotorController::moveTo);//这行代码会报错，因为moveTo有多个重载版本，编译器无法推断出正确的函数签名。
+	connect(this, qOverload<int, double, double, int>(&TwoMotor1PosCoordinator::moveTo),
-	connect(this, SIGNAL(moveTo(int, double, double, int)), m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
-	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)), m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+	connect(this, qOverload<const std::vector<double>, const std::vector<double>, int>(&TwoMotor1PosCoordinator::moveTo),
-
+		m_motorCtrl, qOverload<const std::vector<double>, const std::vector<double>, int>(&IrisMultiMotorController::moveTo));
 
 	connect(this, &TwoMotor1PosCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
 
@@ -904,7 +904,8 @@ OneMotionCoordinator::OneMotionCoordinator(IrisMultiMotorController* motorCtrl,
 	, m_retryTimes(0)
 	, m_reached(false)
 {
-	connect(this, SIGNAL(moveTo(int, double, double, int)), m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, qOverload<int, double, double, int>(&OneMotionCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &OneMotionCoordinator::handlePositionReached);
 }
 
@@ -1008,8 +1009,8 @@ OneMotorMultiPosCoordinator::OneMotorMultiPosCoordinator(
 	, m_isZeroing(false)
 {
 	//这些信号槽是按照逻辑顺序的
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
+	connect(this, qOverload<int, double, double, int>(&OneMotorMultiPosCoordinator::moveTo),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
 
 	connect(this, &OneMotorMultiPosCoordinator::zeroStart,
 		m_motorCtrl, &IrisMultiMotorController::zeroStart);

HPPA/CaptureCoordinator.h

@@ -148,7 +148,7 @@ signals:
 	void sequenceCompleteSignal_motorBack2Origin(int);
 	void errorOccurred(const QString& error);
 	void moveTo(int, double, double, int);
-	void moveSignal(int, bool, double, int);
+	void moveSignal(int, double, int);
 	void stopMotorSignal(int axis);
 
 	void startRecordHSISignal();
@@ -190,7 +190,7 @@ public slots:
 signals:
 	void sequenceComplete(int);
 	void moveTo(int, double, double, int);
-	void moveSignal(int, bool, double, int);
+	void moveSignal(int, double, int);
 	void stopMotorSignal(int axis);
 
 	void startRecordHSISignal();

HPPA/GonggaShanRecordCtl.cpp

@@ -68,6 +68,11 @@ GonggaShanRecordCtl::~GonggaShanRecordCtl()
 	}
 }
 
+void GonggaShanRecordCtl::recordHsiFinished()
+{
+    emit recordFinishedSignal_gonggashan();
+}
+
 void GonggaShanRecordCtl::onGpsAcquisition()
 {
 	logStatus(QStringLiteral("开始GPS定位采集..."), true, false);

HPPA/GonggaShanRecordCtl.h

@@ -122,6 +122,7 @@ public:
 	GonggaShanRecordCtl(QWidget* parent = nullptr);
 	~GonggaShanRecordCtl();
 
+    void recordHsiFinished();
 
 public Q_SLOTS:
 	void onFiberImagerStartExposureSignal();

HPPA/HPPA.cpp

@@ -1121,12 +1121,22 @@ void HPPA::setupGonggashanAutoRecordConnection()
 	connect(m_fodisWindow, &FodisWindow::exposureCompleteSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::fiberExposureDoneSignal_gonggashan);
 
 	connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::startRcordSignal_gonggashan, this, &HPPA::onGonggashanRecord);
-	connect(m_omc, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord, m_rgbCameraControlWindow, &rgbCameraWindow::toggleTakePhoto);
+	connect(m_omc, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord, this, &HPPA::onSequenceCompleteStopRecord);
-	connect(m_omc, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord, m_fodisWindow, &FodisWindow::closeFiberImager);
-	connect(m_omc, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::recordFinishedSignal_gonggashan);
 	//connect(m_omc, &OneMotorControl::sequenceComplete_motorBack2Origin, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::);
 }
 
+void HPPA::onSequenceCompleteStopRecord()
+{
+	if (m_ScenarioActionGroup->checkedAction() != ui.mActionGonggaRotatingPlatformScenario)
+	{
+		return;
+	}
+
+	m_rgbCameraControlWindow->toggleTakePhoto();
+	m_fodisWindow->closeFiberImager();
+	m_gonggaShanRecordCtl->recordHsiFinished();
+}
+
 void HPPA::onGonggashanHyperAutoExposure()
 {
 	//连接马达和光谱仪

HPPA/HPPA.h

@@ -461,6 +461,8 @@ public Q_SLOTS:
 		void onGonggashanHyperAutoExposure();
 		void onGonggashanFiberAutoExposureRecord(QString posInfo, QString dataFolder);
 
+		void onSequenceCompleteStopRecord();
+
 protected:
 	void closeEvent(QCloseEvent* event) override;
 

HPPA/OneMotorControl.cpp

@@ -17,18 +17,21 @@ OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
 
     connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
 
-    // 从 AppSettings 读取速度参数
-    AppSettings& settings = AppSettings::instance();
-    ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
-    ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
-
     // 连接信号，当控件数值变化时保存到 AppSettings
-    connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+    connect(ui.scanSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
-        AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
+        AppSettings::instance().setScanSpeed(ui.scanSpeed_lineEdit->text().toDouble());
     });
     connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
         AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
     });
+    connect(ui.manualMovementSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setManualMovementSpeed(ui.manualMovementSpeed_lineEdit->text().toDouble());
+    });
+    connect(ui.reverseMove_radioButton, &QRadioButton::toggled, [this](bool checked) {
+        AppSettings::instance().setIsReverseMove(checked);
+    });
+
+    loadSettings();
 }
 
 OneMotorControl::~OneMotorControl()
@@ -37,6 +40,15 @@ OneMotorControl::~OneMotorControl()
     m_motorThread.wait();
 }
 
+void OneMotorControl::loadSettings()
+{
+    ui.scanSpeed_lineEdit->setText(QString::number(AppSettings::instance().scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(AppSettings::instance().returnSpeed()));
+    ui.manualMovementSpeed_lineEdit->setText(QString::number(AppSettings::instance().manualMovementSpeed()));
+
+    ui.reverseMove_radioButton->setChecked(AppSettings::instance().isReverseMove());
+}
+
 void OneMotorControl::onConnectMotor()
 {
     connectMotor(true);
@@ -44,7 +56,7 @@ void OneMotorControl::onConnectMotor()
 
 void OneMotorControl::setScanSpeed(double speed)
 {
-    ui.speed_lineEdit->setText(QString::number(speed));
+    ui.scanSpeed_lineEdit->setText(QString::number(speed));
 }
 
 void OneMotorControl::connectMotor(bool isNotification)
@@ -63,14 +75,14 @@ void OneMotorControl::connectMotor(bool isNotification)
 
     if (m_multiAxisController != nullptr)
     {
-        disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl::display_x_loc);
-        disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+        disconnect(this, &OneMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
-        disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+        disconnect(this, qOverload<int, double, double, int>(&OneMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
-        disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+        disconnect(this, &OneMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
-        disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+        disconnect(this, &OneMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
-        disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+        disconnect(this, &OneMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
-        disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+        disconnect(this, &OneMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
-        disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl::display_motors_connectivity);
 
         m_motorThread.quit();
         m_motorThread.wait();
@@ -94,20 +106,20 @@ void OneMotorControl::connectMotor(bool isNotification)
 	}
 
     m_multiAxisController->moveToThread(&m_motorThread);
-    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+    connect(&m_motorThread, &QThread::finished, m_multiAxisController, &QObject::deleteLater);
 
-    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl::display_x_loc);
 
-    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+    connect(this, &OneMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
-    connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+    connect(this, qOverload<int, double, double, int>(&OneMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
-    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+    connect(this, &OneMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
 
-    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+    connect(this, &OneMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
 
-    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+    connect(this, &OneMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
 
-    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+    connect(this, &OneMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
-    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl::display_motors_connectivity);
 
     m_motorThread.start();
     emit testConnectivitySignal(0, 1000);
@@ -116,7 +128,7 @@ void OneMotorControl::connectMotor(bool isNotification)
 void OneMotorControl::display_x_loc(std::vector<double> loc)
 {
     double tmp = round(loc[0] * 100) / 100;
-    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+    this->ui.realTimeLoc_label->setText(QString::number(tmp));
 
     emit broadcastLocationSignal(loc);
 }
@@ -166,13 +178,13 @@ void OneMotorControl::zeroStart()
 
 void OneMotorControl::onx_rangeMeasurement()
 {
-    double s0 = ui.speed_lineEdit->text().toDouble();
+    double s0 = ui.manualMovementSpeed_lineEdit->text().toDouble();
     emit rangeMeasurement(0, s0, 1000);
 }
 
 void OneMotorControl::onxMove2Loc()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
     double l = ui.move2loc_lineEdit->text().toDouble();
 
     emit move2LocSignal(0, l, s, 1000);
@@ -180,16 +192,16 @@ void OneMotorControl::onxMove2Loc()
 
 void OneMotorControl::onxMotorRight()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, false, s, 1000);
+    emit moveSignal(0, abs(s), 1000);
 }
 
 void OneMotorControl::onxMotorLeft()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, true, s, 1000);
+    emit moveSignal(0, abs(s)*-1, 1000);
 }
 
 void OneMotorControl::onxMotorStop()
@@ -204,7 +216,11 @@ void OneMotorControl::setImager(ImagerOperationBase* imager)
 
 void OneMotorControl::record_dark()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.scanSpeed_lineEdit->text().toDouble();
+    if (ui.reverseMove_radioButton->isChecked())
+    {
+        s = s * -1;
+    }
 
     if (m_darkCaptureCoordinator == nullptr)
     {
@@ -216,7 +232,11 @@ void OneMotorControl::record_dark()
 
 void OneMotorControl::record_white()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.scanSpeed_lineEdit->text().toDouble();
+    if (ui.reverseMove_radioButton->isChecked())
+    {
+        s = s * -1;
+    }
 
     if (m_whiteCaptureCoordinator == nullptr)
     {
@@ -246,7 +266,13 @@ void OneMotorControl::run()
         this, &OneMotorControl::onSequenceComplete_motorBack2Origin);
 
     OneMotionCapturePathLine tmp;
-    tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
+
+    double s = ui.scanSpeed_lineEdit->text().toDouble();
+    if (ui.reverseMove_radioButton->isChecked())
+    {
+        s = s * -1;
+    }
+    tmp.speedRecord = s;
     tmp.speedBack = ui.return_speed_lineEdit->text().toDouble();
 
     emit start(tmp);
@@ -275,7 +301,7 @@ void OneMotorControl::multiPosHyperAutoExposure()
     connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::sequenceComplete, this, &OneMotorControl::onSequenceComplete_gonggashan_autoexpose);
     connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::hyperAutoExposureDoneSignal, this, &OneMotorControl::hyperAutoExposureDoneSignal_gonggashan);
     
-    m_coordinator_gonggashan_autoexpose->startStepMotion(ui.speed_lineEdit->text().toDouble(), locations);
+    m_coordinator_gonggashan_autoexpose->startStepMotion(ui.manualMovementSpeed_lineEdit->text().toDouble(), locations);
 }
 
 void OneMotorControl::onSequenceComplete_gonggashan_autoexpose(int state)
@@ -365,18 +391,18 @@ OneMotorControl_LiftingPlatform::OneMotorControl_LiftingPlatform(QWidget* parent
 
     connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
 
-    // 从 AppSettings 读取速度参数
-    AppSettings& settings = AppSettings::instance();
-    ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
-    ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
-
     // 连接信号，当控件数值变化时保存到 AppSettings
-    connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+    connect(ui.scanSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
-        AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
+        AppSettings::instance().setScanSpeed(ui.scanSpeed_lineEdit->text().toDouble());
         });
     connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
         AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
         });
+    connect(ui.manualMovementSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setManualMovementSpeed(ui.manualMovementSpeed_lineEdit->text().toDouble());
+        });
+
+    loadSettings();
 }
 
 OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
@@ -385,6 +411,13 @@ OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
     m_motorThread.wait();
 }
 
+void OneMotorControl_LiftingPlatform::loadSettings()
+{
+    ui.scanSpeed_lineEdit->setText(QString::number(AppSettings::instance().scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(AppSettings::instance().returnSpeed()));
+    ui.manualMovementSpeed_lineEdit->setText(QString::number(AppSettings::instance().manualMovementSpeed()));
+}
+
 void OneMotorControl_LiftingPlatform::onConnectMotor()
 {
     connectMotor(true);
@@ -406,14 +439,14 @@ void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
 
     if (m_multiAxisController != nullptr)
     {
-        disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl_LiftingPlatform::display_x_loc);
-        disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+        disconnect(this, &OneMotorControl_LiftingPlatform::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
-        disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+        disconnect(this, qOverload<int, double, double, int>(&OneMotorControl_LiftingPlatform::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
-        disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+        disconnect(this, &OneMotorControl_LiftingPlatform::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
-        disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+        disconnect(this, &OneMotorControl_LiftingPlatform::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
-        disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+        disconnect(this, &OneMotorControl_LiftingPlatform::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
-        disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+        disconnect(this, &OneMotorControl_LiftingPlatform::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
-        disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl_LiftingPlatform::display_motors_connectivity);
 
         m_motorThread.quit();
         m_motorThread.wait();
@@ -437,20 +470,20 @@ void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
     }
 
     m_multiAxisController->moveToThread(&m_motorThread);
-    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+    connect(&m_motorThread, &QThread::finished, m_multiAxisController, &QObject::deleteLater);
 
-    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl_LiftingPlatform::display_x_loc);
 
-    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+    connect(this, &OneMotorControl_LiftingPlatform::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
-    connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+    connect(this, qOverload<int, double, double, int>(&OneMotorControl_LiftingPlatform::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
-    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+    connect(this, &OneMotorControl_LiftingPlatform::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
 
-    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+    connect(this, &OneMotorControl_LiftingPlatform::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
 
-    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+    connect(this, &OneMotorControl_LiftingPlatform::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
 
-    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+    connect(this, &OneMotorControl_LiftingPlatform::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
-    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl_LiftingPlatform::display_motors_connectivity);
 
     m_motorThread.start();
     emit testConnectivitySignal(0, 1000);
@@ -459,7 +492,7 @@ void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
 void OneMotorControl_LiftingPlatform::display_x_loc(std::vector<double> loc)
 {
     double tmp = round(loc[0] * 100) / 100;
-    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+    this->ui.realTimeLoc_label->setText(QString::number(tmp));
 
     emit broadcastLocationSignal(loc);
 }
@@ -509,13 +542,13 @@ void OneMotorControl_LiftingPlatform::zeroStart()
 
 void OneMotorControl_LiftingPlatform::onx_rangeMeasurement()
 {
-    double s0 = ui.speed_lineEdit->text().toDouble();
+    double s0 = ui.manualMovementSpeed_lineEdit->text().toDouble();
     emit rangeMeasurement(0, s0, 1000);
 }
 
 void OneMotorControl_LiftingPlatform::onxMove2Loc()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
     double l = ui.move2loc_lineEdit->text().toDouble();
 
     emit move2LocSignal(0, l, s, 1000);
@@ -523,16 +556,16 @@ void OneMotorControl_LiftingPlatform::onxMove2Loc()
 
 void OneMotorControl_LiftingPlatform::onxMotorRight()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, false, s, 1000);
+    emit moveSignal(0, abs(s), 1000);
 }
 
 void OneMotorControl_LiftingPlatform::onxMotorLeft()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, true, s, 1000);
+    emit moveSignal(0, abs(s)*-1, 1000);
 }
 
 void OneMotorControl_LiftingPlatform::onxMotorStop()
@@ -555,7 +588,7 @@ void OneMotorControl_LiftingPlatform::run()
         return;
     }
 
-    m_coordinator->moveToTarget(targetDepth, ui.speed_lineEdit->text().toDouble());
+    m_coordinator->moveToTarget(targetDepth, ui.manualMovementSpeed_lineEdit->text().toDouble());
 }
 
 void OneMotorControl_LiftingPlatform::stop()

HPPA/OneMotorControl.h

@@ -54,7 +54,7 @@ public Q_SLOTS:
     void onSequenceComplete_gonggashan_autoexpose(int state);
 
 signals:
-    void moveSignal(int, bool, double, int);
+    void moveSignal(int, double, int);
     void move2LocSignal(int, double, double, int);
     void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
     void stopSignal(int);
@@ -92,6 +92,8 @@ private:
     bool m_xMotorConnectionStatus = false;
 
     QPointer<OneMotorMultiPosCoordinator> m_coordinator_gonggashan_autoexpose;
+
+    void loadSettings();
 };
 
 class OneMotorControl_LiftingPlatform : public QDialog, public MotorWindowBase
@@ -125,7 +127,7 @@ public Q_SLOTS:
     void onBack2Origin(double pos);
 
 signals:
-    void moveSignal(int, bool, double, int);
+    void moveSignal(int, double, int);
     void move2LocSignal(int, double, double, int);
     void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
     void stopSignal(int);
@@ -152,4 +154,5 @@ private:
     QPointer<OneMotionCoordinator> m_coordinator;
 
     bool m_xMotorConnectionStatus = false;
+    void loadSettings();
 };

HPPA/TwoMotorControl.cpp

@@ -306,7 +306,7 @@ void TwoMotorControl::run()
 	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(this, SIGNAL(stopSignal_CaptureCoordinator()), 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(int)));
@@ -352,7 +352,7 @@ void TwoMotorControl::stop_record()
 
 void TwoMotorControl::stop()
 {
-	emit stopSignal();
+	emit stopSignal_CaptureCoordinator();
 }
 
 TwoMotorControl::~TwoMotorControl()
@@ -385,14 +385,14 @@ void TwoMotorControl::connectMotor(bool isNotification)
 
 	if (m_multiAxisController != nullptr)
 	{
-		disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
+		disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &TwoMotorControl::displayRealTimeLoc);
-		disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+		disconnect(this, &TwoMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
-		disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+		disconnect(this, qOverload<int, double, double, int>(&TwoMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
-		disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+		disconnect(this, &TwoMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
-		disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+		disconnect(this, &TwoMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
-		disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+		disconnect(this, &TwoMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
-		disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+		disconnect(this, &TwoMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
-		disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+		disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &TwoMotorControl::display_motors_connectivity);
 
 		m_motorThread.quit();
 		m_motorThread.wait();
@@ -416,20 +416,20 @@ void TwoMotorControl::connectMotor(bool isNotification)
     }
 
     m_multiAxisController->moveToThread(&m_motorThread);
-    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+    connect(&m_motorThread, &QThread::finished, m_multiAxisController, &QObject::deleteLater);
 
-    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &TwoMotorControl::displayRealTimeLoc);
 
-    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+    connect(this, &TwoMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
-    connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+    connect(this, qOverload<int, double, double, int>(&TwoMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
-    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+    connect(this, &TwoMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
 
-    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+    connect(this, &TwoMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
 
-    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+    connect(this, &TwoMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
 
-    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+    connect(this, &TwoMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
-    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &TwoMotorControl::display_motors_connectivity);
 
     m_motorThread.start();
     emit testConnectivitySignal(0, 1000);
@@ -543,14 +543,14 @@ void TwoMotorControl::onxMotorRight()
 {
     double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, false, s, 1000);
+    emit moveSignal(0, abs(s), 1000);
 }
 
 void TwoMotorControl::onxMotorLeft()
 {
     double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, true, s, 1000);
+    emit moveSignal(0, abs(s)*-1, 1000);
 }
 
 void TwoMotorControl::onxMotorStop()
@@ -562,14 +562,14 @@ void TwoMotorControl::onyMotorforward()
 {
     double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
 
-    emit moveSignal(1, false, s, 1000);
+    emit moveSignal(1, abs(s), 1000);
 }
 
 void TwoMotorControl::onyMotorbackward()
 {
     double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
 
-    emit moveSignal(1, true, s, 1000);
+    emit moveSignal(1, abs(s)*-1, 1000);
 }
 
 void TwoMotorControl::onyMotorStop()

HPPA/TwoMotorControl.h

@@ -96,7 +96,7 @@ public Q_SLOTS:
     void stop_record();
 
 signals:
-    void moveSignal(int, bool, double, int);
+    void moveSignal(int, double, int);
     void move2LocSignal(int, double, double, int);
     void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
     void stopSignal(int);
@@ -106,7 +106,7 @@ signals:
     void testConnectivitySignal(int, int);
 
     void start(QVector<PathLine>);
-    void stopSignal();
+    void stopSignal_CaptureCoordinator();
 
     void startLineNumSignal(int lineNum);
     void sequenceComplete(int status);//所有采集线正常运行完成

HPPA/focusWindow.cpp

@@ -859,8 +859,8 @@ MotionCaptureCoordinator::MotionCaptureCoordinator(
 	, m_isZeroing(false)
 {
 	//这些信号槽是按照逻辑顺序的
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
+	connect(this, qOverload<int, double, double, int>(&MotionCaptureCoordinator::moveTo),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
 
 	connect(this, &MotionCaptureCoordinator::zeroStart,
 		m_motorCtrl, &IrisMultiMotorController::zeroStart);
@@ -870,8 +870,8 @@ MotionCaptureCoordinator::MotionCaptureCoordinator(
 	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
 	//	this, &MotionCaptureCoordinator::handleError);
 
-	connect(this, SIGNAL(getFocusIndexSobel()),
+	connect(this, &MotionCaptureCoordinator::getFocusIndexSobel,
-		m_cameraCtrl, SLOT(getFocusIndexSobel()));
+		m_cameraCtrl, &ImagerOperationBase::getFocusIndexSobel);
 
 	connect(m_cameraCtrl, &ImagerOperationBase::FocusIndexSobelSignal,
 		this, &MotionCaptureCoordinator::handleCaptureComplete);

HPPA/oneMotorControl.ui

@@ -56,7 +56,11 @@ QLabel
 	color: #ACCDFF;
 	background-color: transparent;
 }
-
+QRadioButton
+{
+	color: #ACCDFF;
+	background-color: transparent;
+}
 
 
 
@@ -80,7 +84,7 @@ QLineEdit:focus {
     background-color: #23345c;
 }</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_2" rowstretch="1,3,1" columnstretch="1,3,1">
+  <layout class="QGridLayout" name="gridLayout_4">
    <item row="0" column="1">
     <spacer name="verticalSpacer">
      <property name="orientation">
@@ -112,75 +116,8 @@ QLineEdit:focus {
      <property name="spacing">
       <number>10</number>
      </property>
-     <item row="0" column="0">
-      <widget class="QLabel" name="label">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>实时位置</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="1">
-      <widget class="QLineEdit" name="realTimeLoc_lineEdit">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>88</width>
-         <height>30</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>0</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="2">
-      <widget class="QPushButton" name="connect_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>连接</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="0">
-      <widget class="QLabel" name="label_6">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>运行速度</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
      <item row="1" column="1">
-      <widget class="QLineEdit" name="speed_lineEdit">
+      <widget class="QLineEdit" name="scanSpeed_lineEdit">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
          <horstretch>0</horstretch>
@@ -210,7 +147,33 @@ QLineEdit:focus {
        </property>
       </widget>
      </item>
-     <item row="1" column="2">
+     <item row="4" column="2">
+      <widget class="QPushButton" name="move2loc_pushButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>移动至</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="2">
+      <widget class="QPushButton" name="rangeMeasurement_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>量程测量</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="2">
       <widget class="QPushButton" name="zero_start_btn">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
@@ -223,8 +186,56 @@ QLineEdit:focus {
        </property>
       </widget>
      </item>
-     <item row="2" column="0">
+     <item row="5" column="1">
-      <widget class="QLabel" name="label_3">
+      <widget class="QPushButton" name="left_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>←0</string>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="2">
+      <widget class="QPushButton" name="right_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>→</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="1">
+      <widget class="QLineEdit" name="move2loc_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_7">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
          <horstretch>0</horstretch>
@@ -232,7 +243,99 @@ QLineEdit:focus {
         </sizepolicy>
        </property>
        <property name="text">
-        <string>返回速度</string>
+        <string>扫描速度</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QPushButton" name="connect_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>连接</string>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="1">
+      <widget class="QWidget" name="widget" native="true">
+       <layout class="QGridLayout" name="gridLayout_3">
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_4">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="text">
+           <string>实时位置：</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QLabel" name="realTimeLoc_label">
+          <property name="text">
+           <string>null</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item row="3" column="1">
+      <widget class="QLineEdit" name="manualMovementSpeed_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>0.1</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="0">
+      <widget class="QLabel" name="label_6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>手动速度</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
@@ -261,113 +364,60 @@ QLineEdit:focus {
        </property>
       </widget>
      </item>
-     <item row="2" column="2">
+     <item row="2" column="0">
-      <widget class="QPushButton" name="rangeMeasurement_btn">
+      <widget class="QLabel" name="label_3">
        <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
          <horstretch>0</horstretch>
          <verstretch>0</verstretch>
         </sizepolicy>
        </property>
        <property name="text">
-        <string>量程测量</string>
+        <string>返回速度</string>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="1">
-      <widget class="QLineEdit" name="move2loc_lineEdit">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>88</width>
-         <height>30</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>0</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
-     <item row="3" column="2">
+     <item row="6" column="2">
-      <widget class="QPushButton" name="move2loc_pushButton">
+      <widget class="QWidget" name="widget_2" native="true">
-       <property name="sizePolicy">
+       <layout class="QGridLayout" name="gridLayout_2">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <item row="0" column="0">
-         <horstretch>0</horstretch>
+         <widget class="QRadioButton" name="reverseMove_radioButton">
-         <verstretch>0</verstretch>
+          <property name="styleSheet">
-        </sizepolicy>
+           <string notr="true"/>
-       </property>
+          </property>
-       <property name="text">
+          <property name="text">
-        <string>移动至</string>
+           <string>反转</string>
-       </property>
+          </property>
-      </widget>
+         </widget>
-     </item>
+        </item>
-     <item row="4" column="1">
+        <item row="0" column="1">
-      <widget class="QPushButton" name="left_btn">
+         <widget class="QLabel" name="motor_state_label">
-       <property name="sizePolicy">
+          <property name="maximumSize">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+           <size>
-         <horstretch>0</horstretch>
+            <width>8</width>
-         <verstretch>0</verstretch>
+            <height>8</height>
-        </sizepolicy>
+           </size>
-       </property>
+          </property>
-       <property name="text">
+          <property name="sizeIncrement">
-        <string>←0</string>
+           <size>
-       </property>
+            <width>8</width>
-      </widget>
+            <height>8</height>
-     </item>
+           </size>
-     <item row="4" column="2">
+          </property>
-      <widget class="QPushButton" name="right_btn">
+          <property name="styleSheet">
-       <property name="sizePolicy">
+           <string notr="true">background-color: red;
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>→</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="2">
-      <layout class="QHBoxLayout" name="horizontalLayout">
-       <item>
-        <widget class="QLabel" name="label_2">
-         <property name="text">
-          <string>状态</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="motor_state_label">
-         <property name="maximumSize">
-          <size>
-           <width>8</width>
-           <height>8</height>
-          </size>
-         </property>
-         <property name="sizeIncrement">
-          <size>
-           <width>8</width>
-           <height>8</height>
-          </size>
-         </property>
-         <property name="styleSheet">
-          <string notr="true">background-color: red;
 border-radius: 4px;</string>
-         </property>
+          </property>
-         <property name="text">
+          <property name="text">
-          <string/>
+           <string/>
-         </property>
+          </property>
-        </widget>
+         </widget>
-       </item>
+        </item>
-      </layout>
+       </layout>
+      </widget>
      </item>
     </layout>
    </item>

HPPA/setWindow.cpp

@@ -11,8 +11,8 @@ setWindow::setWindow(QWidget* parent)
 	setWindowFlags(Qt::FramelessWindowHint);
 
 	//顺序不能更改，和AppSettings::HyperimgDisplayMode一致
-	ui.hyperimgDisplayMode_comboBox->addItem("full");
+	ui.hyperimgDisplayMode_comboBox->addItem(QString::fromLocal8Bit("全图"));
-	ui.hyperimgDisplayMode_comboBox->addItem("waterfall");
+	ui.hyperimgDisplayMode_comboBox->addItem(QString::fromLocal8Bit("瀑布流"));
 
 	connect(this->ui.closeBtn, SIGNAL(released()), this, SLOT(onExit()));
 	connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));