add

1、创建场景：室内线性一轴平台；
fix
1、采集逻辑错误；
2、鼠标左键单击显示光谱；

HPPA.sln

@@ -1,20 +1,49 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 15
-VisualStudioVersion = 15.0.28307.1267
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.33502.453
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HPPA", "HPPA\HPPA.vcxproj", "{E7886664-B69E-4781-BCBE-804574FB4033}"
+	ProjectSection(ProjectDependencies) = postProject
+		{B12702AD-ABFB-343A-A199-8E24837244A3} = {B12702AD-ABFB-343A-A199-8E24837244A3}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "vincecontrol", "vincecontrol\vincecontrol.vcxproj", "{B12702AD-ABFB-343A-A199-8E24837244A3}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "IrisMultiMotorController", "IrisMultiMotorController\IrisMultiMotorController\IrisMultiMotorController.vcxproj", "{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
 		Release|x64 = Release|x64
+		Release|x86 = Release|x86
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
 		{E7886664-B69E-4781-BCBE-804574FB4033}.Debug|x64.ActiveCfg = Debug|x64
 		{E7886664-B69E-4781-BCBE-804574FB4033}.Debug|x64.Build.0 = Debug|x64
+		{E7886664-B69E-4781-BCBE-804574FB4033}.Debug|x86.ActiveCfg = Debug|x64
+		{E7886664-B69E-4781-BCBE-804574FB4033}.Debug|x86.Build.0 = Debug|x64
 		{E7886664-B69E-4781-BCBE-804574FB4033}.Release|x64.ActiveCfg = Release|x64
 		{E7886664-B69E-4781-BCBE-804574FB4033}.Release|x64.Build.0 = Release|x64
+		{E7886664-B69E-4781-BCBE-804574FB4033}.Release|x86.ActiveCfg = Release|x64
+		{E7886664-B69E-4781-BCBE-804574FB4033}.Release|x86.Build.0 = Release|x64
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x64.ActiveCfg = Debug|x64
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x64.Build.0 = Debug|x64
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x86.ActiveCfg = Debug|Win32
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x86.Build.0 = Debug|Win32
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x64.ActiveCfg = Release|x64
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x64.Build.0 = Release|x64
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x86.ActiveCfg = Release|Win32
+		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x86.Build.0 = Release|Win32
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x64.ActiveCfg = Debug|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x64.Build.0 = Debug|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x86.ActiveCfg = Debug|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x86.Build.0 = Debug|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x64.ActiveCfg = Release|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x64.Build.0 = Release|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x86.ActiveCfg = Release|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x86.Build.0 = Release|x64
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

HPPA/Corning410Imager.cpp

@@ -0,0 +1,158 @@
+#include "Corning410Imager.h"
+
+Corning410Imager::Corning410Imager()
+{
+	//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><D0A3>ʹ<EFBFBD><CDB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+	string CfgFile = getPathofEXE() + "\\corning410.cfg";
+	m_configfile.setConfigfilePath(CfgFile);
+	if (!m_configfile.isConfigfileExist())
+	{
+		m_configfile.createConfigFile();
+		qDebug() << "create: " << QString::fromStdString(CfgFile);
+	}
+	m_configfile.parseConfigfile();
+	qDebug() << "exist: " << QString::fromStdString(CfgFile);
+}
+
+Corning410Imager::~Corning410Imager()
+{
+	if (buffer != nullptr)
+	{
+		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		free(buffer);
+		free(dark);
+		free(white);
+	}
+}
+
+double Corning410Imager::getFramerate()
+{
+	return m_imager.get_framerate();
+}
+
+double Corning410Imager::getIntegrationTime()
+{
+	return m_imager.get_integration_time() / 1000;
+}
+
+double Corning410Imager::getGain()
+{
+	return m_imager.get_gain();
+}
+
+void Corning410Imager::setGain(const double gain)
+{
+	m_imager.set_gain(gain);
+}
+
+void Corning410Imager::setFramerate(const double frames_per_second)
+{
+	m_imager.set_framerate(frames_per_second);
+	m_RgbImage->m_iFramerate = frames_per_second;
+}
+
+void Corning410Imager::setIntegrationTime(const double milliseconds)
+{
+	m_imager.set_integration_time(milliseconds * 1000);
+}
+
+int Corning410Imager::getStartBand()
+{
+	return m_imager.get_start_band();
+}
+
+int Corning410Imager::getEndBand()
+{
+	return m_imager.get_end_band();
+}
+
+void Corning410Imager::connectImager(const char* camera_sn)
+{
+	m_imager.connect();
+
+	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>
+	bool ret, ret1, ret2;
+
+	int spatialBin;
+	int spectralBin;
+	ret1 = m_configfile.getspatialBin(spatialBin);
+	ret2 = m_configfile.getSpectralBin(spectralBin);
+	if (ret1 && ret2)
+	{
+		bool haha = m_imager.setSpectralBin(spectralBin);
+		bool haha2 = m_imager.setSpatialBin(spatialBin);
+
+		std::cout << "spectralBin<EFBFBD><EFBFBD>" << spectralBin << std::endl;
+		std::cout << "spatialBin<EFBFBD><EFBFBD>" << spatialBin << std::endl;
+	}
+
+	float gain, offset;
+	ret = m_configfile.getGainOffset(gain, offset);
+	if (ret)
+	{
+		m_imager.setGainOffset(gain, offset);
+	}
+
+	int width = 0, offsetx = 0, height = 0, offsety = 0;
+	ret = m_configfile.getEffectiveWindow(width, offsetx, height, offsety);
+	if (ret)
+	{
+		m_imager.setEffectiveWindow(offsetx, width, offsety, height);
+	}
+
+
+	int bufferPolicy, acqBufferSize;
+	ret1 = m_configfile.getBufferPolicy(bufferPolicy);
+	if (ret1)
+	{
+		m_imager.setBufferPolicy(bufferPolicy);
+	}
+	ret1 = m_configfile.getAcqBufferSize(acqBufferSize);
+	if (ret1)
+	{
+		m_imager.setAcqBufferSize(acqBufferSize);
+	}
+
+}
+
+void Corning410Imager::disconnectImager()
+{
+	m_imager.disconnect();
+}
+
+void Corning410Imager::imagerStartCollect()
+{
+	m_imager.start();
+}
+
+void Corning410Imager::imagerStopCollect()
+{
+	m_imager.stop();
+}
+
+unsigned short* Corning410Imager::getFrame(unsigned short* buffer)
+{
+	m_imager.get_frame(buffer);
+
+	return buffer;
+}
+
+void Corning410Imager::setSpectraBin(int new_spectral_bin)
+{
+
+}
+
+double Corning410Imager::getWavelengthAtBand(int band)
+{
+	return m_imager.get_wavelength_at_band(band);
+}
+
+int Corning410Imager::getBandCount()
+{
+	return m_imager.get_band_count();
+}
+
+int Corning410Imager::getSampleCount()
+{
+	return m_imager.get_sample_count();
+}

HPPA/Corning410Imager.h

@@ -0,0 +1,48 @@
+#pragma once
+#include <string>
+#include <opencv2/core/core.hpp> 
+
+#include "ImagerOperationBase.h"
+#include "image2display.h"
+#include "fileOperation.h"
+
+#include "irisximeaimager.h"
+#include "path_tc.h"
+#include "hppaConfigFile.h"
+
+class Corning410Imager :public ImagerOperationBase
+{
+	Q_OBJECT
+
+public:
+	Corning410Imager();
+	~Corning410Imager();
+
+	Iris::IrisXimeaImager m_imager;
+
+	double getWavelengthAtBand(int band);
+	int getBandCount();
+	int getSampleCount();
+	double getFramerate();
+	double getIntegrationTime();
+	double getGain();
+	void setFramerate(const double frames_per_second);
+	void setIntegrationTime(const double milliseconds);
+	void setGain(const double gain);
+	int getStartBand();
+	int getEndBand();
+	void connectImager(const char* camera_sn = NULL);
+	void disconnectImager();
+	void imagerStartCollect();
+	void imagerStopCollect();
+	unsigned short* getFrame(unsigned short* buffer);
+	void setSpectraBin(int new_spectral_bin);
+
+protected:
+private:
+	CorningConfigfile m_configfile;
+
+public slots:
+
+signals:
+};

HPPA/FocusDialog.ui

@@ -6,12 +6,12 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1312</width>
-    <height>752</height>
+    <width>600</width>
+    <height>332</height>
    </rect>
   </property>
   <property name="windowTitle">
-   <string>Dialog</string>
+   <string>调焦</string>
   </property>
   <property name="windowIcon">
    <iconset resource="HPPA.qrc">

HPPA/HPPA.h

@@ -26,13 +26,22 @@
 #include "fileOperation.h"
 #include "RgbCameraOperation.h"
 #include "imageProcessor.h"
+#include "fileOperation.h"
 
 #include "focusWindow.h"
 #include "aboutWindow.h"
+#include "adjustTable.h"
+#include "PowerControl.h"
+#include "PathPlan.h"
+#include "RobotArmControl.h"
+#include "OneMotorControl.h"
 
 #include "hppaConfigFile.h"
 #include "path_tc.h"
 
+#include "ResononNirImager.h"
+#include "Corning410Imager.h"
+
 #define PI 3.1415926
 
 QT_CHARTS_USE_NAMESPACE//QChartView ʹ<><CAB9> <20><>Ҫ<EFBFBD>Ӻ꣬ <20><><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD>ʹ<EFBFBD><CAB9>
@@ -44,9 +53,9 @@ private:
 
 
 public:
-	ResononImager *m_Imager;
+	ImagerOperationBase*m_Imager;
 
-	WorkerThread(ResononImager * Imager)
+	WorkerThread(ImagerOperationBase* Imager)
 	{
 		m_Imager = Imager;
 	}
@@ -158,13 +167,21 @@ public:
 
 private:
 	Ui::HPPAClass ui;
+
+	QMenu* mPanelMenu = nullptr;
+	QMenu* mToolbarMenu = nullptr;
+
+	void initPanelToolbar();
+
 	QLineEdit * frame_number;
 	QLineEdit * m_FilenameLineEdit;
 	QLabel * xmotor_state_label1;
 	QLabel * ymotor_state_label1;
 
+	Configfile mConfigfile;
+
 	ForLoopControl * m_ForLoopControl;
-	ResononImager * m_Imager;//
+	ImagerOperationBase* m_Imager;//
 
 	int m_RecordState;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>̣<EFBFBD>ȡ2<C8A1><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1 <20><> <20><><EFBFBD>ڲɼ<DAB2><C9BC><EFBFBD>0 <20><> ֹͣ<CDA3>ɼ<EFBFBD>
 
@@ -201,8 +218,7 @@ private:
 	QTimer *m_timerYmotorLocationFeedBackAfterRecord;//<2F>ɼ<EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD><EFBFBD>ɺ󣬽<C9BA><F3A3ACBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>ʵʱ<CAB5><CAB1><EFBFBD>ص<EFBFBD>slider<65><72>
 
 	QString operateWidget;//<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>Ŀؼ<C4BF><D8BC><EFBFBD>
-
-	//<2F><><EFBFBD><EFBFBD>
+	
 	bool isMotorConnected(VinceControl *motor);//<2F>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7>Ͽ<EFBFBD><CFBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͽ<EFBFBD><CFBF><EFBFBD><EFBFBD><EFBFBD>true<75><65><EFBFBD><EFBFBD><EFBFBD>򷵻<EFBFBD>false
 	void SetXMotorWidgetEnable(bool enable);
 	void SetYMotorWidgetEnable(bool enable);
@@ -222,8 +238,24 @@ private:
 
 	void getRequest(QString str);
 
+	QActionGroup* mImagerGroup = nullptr;
+	void createActionGroups();
+	void selectingImager(QAction* selectedAction);
+	QActionGroup* moveplatformActionGroup = nullptr;
+	void createMoveplatformActionGroup();
+	void selectingMoveplatform(QAction* selectedAction);
+	RobotArmControl* rac;
+
+	OneMotorControl* omc;
+	QDockWidget* dock_omc;
+	
+
+	PathPlan* m_pathPlan;
+
+	FILE* m_hTimesFile;
+
 public Q_SLOTS:
-	void onPlotHyperspectralImageRgbImage();
+	void onPlotHyperspectralImageRgbImage(int number);
 	void PlotSpectral(int state);
 	void onRecordFinishedSignal_WhenFrameNumberMeet();
 	void onRecordFinishedSignal_WhenFrameNumberNotMeet();
@@ -236,7 +268,9 @@ public Q_SLOTS:
 	void onFocus2(int command);
 	void onAbout();
 	void onDark();
+	void recordDarkFinish();
 	void onReference();
+	void recordWhiteFinish();
 	void onStartRecordStep1();
 	void onStartRecordStep2(int lineNumber);
 	void onCreateTab(int trackNumber);
@@ -255,7 +289,12 @@ public Q_SLOTS:
 
 
 	//<2F><><EFBFBD><EFBFBD>
+	void deleteMotor();
+	void newMotor();
 	void timerEvent(QTimerEvent *event);
+	void setMotorParamMicroscope(VinceControl* motor);
+	void setXMotorParamFromCfgFile(VinceControl* motor);
+	void setYMotorParamFromCfgFile(VinceControl* motor);
 
 
 	void onxMotorLeft();
@@ -290,14 +329,6 @@ public Q_SLOTS:
 	void ontimerTestRangeOfxMotor();
 	void ontimerTestRangeOfyMotor();
 
-	//<2F>ɼ<EFBFBD><C9BC>߹滮
-	void onAddRecordLine_btn();
-	void onRemoveRecordLine_btn();
-	void onGenerateRecordLine_btn();
-	void onDeleteRecordLine_btn();
-	void onSaveRecordLine2File_btn();
-	void onReadRecordLineFile_btn();
-
 	void ontimerMoveXmotor();
 	void ontimerMoveYmotor();
 
@@ -311,19 +342,20 @@ public Q_SLOTS:
 
 	void onCopyFinished();
 
-	void onLampPowerOpen_btn();
-	void onLampPowerClose_btn();
-
-	void onMotorPowerOpen_btn();
-	void onMotorPowerClose_btn();
-
 	void requestFinished(QNetworkReply* reply);
 
+	void recordFromRobotArm(int fileCounter);
+	void recordHyperSpecImg(int status);
+
+	void createOneMotorScenario();
 signals:
 	void StartFocusSignal();
 	void StartLoopSignal();
 	void StartRecordSignal();
 	void CopyFileThreadSignal(QString, QString);
+	void BroadcastXMotorPosSignal(long long, int);
 
+	void RecordWhiteSignal();
+	void RecordDarlSignal();
 };
 

HPPA/HPPA.vcxproj

@@ -55,16 +55,17 @@
   </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
-    <IncludePath>D:\cpp_library\vincecontrol_vs2017;D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;$(LibraryPath)</LibraryPath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
-    <IncludePath>D:\cpp_library\vincecontrol_vs2017;D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;$(LibraryPath)</LibraryPath>
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
     <ClCompile>
       <PreprocessorDefinitions>%(PreprocessorDefinitions)</PreprocessorDefinitions>
@@ -72,7 +73,8 @@
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="Configuration">
@@ -84,7 +86,7 @@
       <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
     </ClCompile>
     <Link>
-      <SubSystem>Windows</SubSystem>
+      <SubSystem>Console</SubSystem>
       <GenerateDebugInformation>true</GenerateDebugInformation>
     </Link>
   </ItemDefinitionGroup>
@@ -103,19 +105,30 @@
   </ItemDefinitionGroup>
   <ItemGroup>
     <ClCompile Include="aboutWindow.cpp" />
+    <ClCompile Include="adjustTable.cpp" />
+    <ClCompile Include="Corning410Imager.cpp" />
     <ClCompile Include="hppaConfigFile.cpp" />
+    <ClCompile Include="ImagerOperationBase.cpp" />
+    <ClCompile Include="imager_base.cpp" />
+    <ClCompile Include="irisximeaimager.cpp" />
+    <ClCompile Include="OneMotorControl.cpp" />
+    <ClCompile Include="PathPlan.cpp" />
     <ClCompile Include="path_tc.cpp" />
+    <ClCompile Include="PowerControl.cpp" />
     <ClCompile Include="QDoubleSlider.cpp" />
     <ClCompile Include="QMotorDoubleSlider.cpp" />
-    <ClCompile Include="QYMotorDoubleSlider.cpp" />
     <ClCompile Include="resononImager.cpp" />
+    <ClCompile Include="ResononNirImager.cpp" />
     <ClCompile Include="RgbCameraOperation.cpp" />
+    <ClCompile Include="RobotArmControl.cpp" />
     <ClCompile Include="stdafx.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
     </ClCompile>
+    <ClCompile Include="utility_tc.cpp" />
     <QtRcc Include="HPPA.qrc" />
     <QtUic Include="about.ui" />
+    <QtUic Include="adjustTable.ui" />
     <QtUic Include="FocusDialog.ui" />
     <QtUic Include="HPPA.ui" />
     <QtMoc Include="HPPA.h" />
@@ -129,6 +142,10 @@
     <ClCompile Include="imagerSimulatioin.cpp" />
     <ClCompile Include="ImageViewer.cpp" />
     <ClCompile Include="main.cpp" />
+    <QtUic Include="oneMotorControl.ui" />
+    <QtUic Include="PathPlan.ui" />
+    <QtUic Include="PowerControl.ui" />
+    <QtUic Include="RobotArmControl.ui" />
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h" />
@@ -140,16 +157,26 @@
     <QtMoc Include="image2display.h" />
   </ItemGroup>
   <ItemGroup>
+    <QtMoc Include="adjustTable.h" />
+    <QtMoc Include="PowerControl.h" />
+    <QtMoc Include="PathPlan.h" />
+    <QtMoc Include="RobotArmControl.h" />
+    <QtMoc Include="Corning410Imager.h" />
+    <ClInclude Include="imager_base.h" />
+    <ClInclude Include="irisximeaimager.h" />
+    <QtMoc Include="OneMotorControl.h" />
+    <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />
     <ClInclude Include="imageProcessor.h" />
     <ClInclude Include="ImageReaderWriter.h" />
+    <QtMoc Include="ImagerOperationBase.h" />
     <ClInclude Include="path_tc.h" />
+    <ClInclude Include="ResononNirImager.h" />
     <ClInclude Include="resource.h" />
     <ClInclude Include="stdafx.h" />
     <QtMoc Include="RgbCameraOperation.h" />
     <QtMoc Include="resononImager.h" />
-    <QtMoc Include="QYMotorDoubleSlider.h" />
     <QtMoc Include="QMotorDoubleSlider.h" />
     <QtMoc Include="QDoubleSlider.h" />
     <QtMoc Include="ImageViewer.h" />

HPPA/HPPA.vcxproj.filters

@@ -21,6 +21,12 @@
       <UniqueIdentifier>{639EADAA-A684-42e4-A9AD-28FC9BCB8F7C}</UniqueIdentifier>
       <Extensions>ts</Extensions>
     </Filter>
+    <Filter Include="Header Files\motor">
+      <UniqueIdentifier>{eadfac5f-f4f9-49e2-9f99-0849bf074cf8}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\motor">
+      <UniqueIdentifier>{4672856c-86fb-46e3-94ff-0a296dcc6111}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtRcc Include="HPPA.qrc">
@@ -70,9 +76,6 @@
     <ClCompile Include="QMotorDoubleSlider.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="QYMotorDoubleSlider.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="resononImager.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -91,6 +94,39 @@
     <ClCompile Include="path_tc.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="ResononNirImager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="ImagerOperationBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="utility_tc.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="adjustTable.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PowerControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PathPlan.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RobotArmControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Corning410Imager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="imager_base.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="irisximeaimager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="OneMotorControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -117,9 +153,6 @@
     <QtMoc Include="QMotorDoubleSlider.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="QYMotorDoubleSlider.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="resononImager.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -129,6 +162,27 @@
     <QtMoc Include="aboutWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="ImagerOperationBase.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="adjustTable.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="PowerControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="PathPlan.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="RobotArmControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="Corning410Imager.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="OneMotorControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -149,6 +203,18 @@
     <ClInclude Include="path_tc.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="ResononNirImager.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="utility_tc.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="imager_base.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="irisximeaimager.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">
@@ -157,6 +223,21 @@
     <QtUic Include="about.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="adjustTable.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="PowerControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="PathPlan.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="RobotArmControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="oneMotorControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />

HPPA/ImageViewer.cpp

@@ -37,6 +37,7 @@ ImageViewer::ImageViewer(QWidget* pParent) :QGraphicsView(pParent)
 
 	setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
 	setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+	setFrameShape(QFrame::NoFrame);
 }
 
 ImageViewer::~ImageViewer()

HPPA/ImagerOperationBase.cpp

@@ -0,0 +1,442 @@
+#include "ImagerOperationBase.h"
+
+ImagerOperationBase::ImagerOperationBase()
+{
+	m_iFrameCounter = 1;
+	m_bRecordControlState = true;
+
+	m_FileName2Save = "tmp_image";
+	m_FileSavedCounter = 1;
+
+	m_RgbImage = new CImage();
+
+	buffer = nullptr;
+	dark = nullptr;
+	white = nullptr;
+
+	m_HasDark = false;
+	m_HasWhite = false;
+	m_bFocusControlState = false;
+}
+
+ImagerOperationBase::~ImagerOperationBase()
+{
+
+}
+
+void ImagerOperationBase::connect_imager(int frameNumber)
+{
+	connectImager();
+	setIntegrationTime(1);
+	setFramerate(30.0);
+	//set_gain(0);
+
+	//m_ResononNirImager.set_spectral_bin(2);
+
+	set_buffer();
+	m_RgbImage->SetRgbImageWidthAndHeight(getBandCount(), getSampleCount(), frameNumber);
+	m_iFrameNumber = frameNumber;
+
+	emit testImagerStatus();
+
+	//std::cout << "------------------------------------------------------" << std::endl;
+}
+
+double ImagerOperationBase::auto_exposure()
+{
+	//<2F><>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>Ϊ<EFBFBD>ڵ<EFBFBD>ǰ֡<C7B0><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	double x = 1 / getFramerate() * 1000;//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>
+	setIntegrationTime(x);
+
+	//<2F>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>ѭ<EFBFBD><D1AD>Ѱ<EFBFBD><D1B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>
+	imagerStartCollect();
+
+	while (true)
+	{
+		getFrame(buffer);
+		if (GetMaxValue(buffer, m_FrameSize) >= 4094)
+		{
+			setIntegrationTime(getIntegrationTime() * 0.95);
+			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
+		}
+		else
+		{
+			break;
+		}
+	}
+
+	imagerStopCollect();
+
+	//std::cout << "<22>Զ<EFBFBD><D4B6>ع⣺" << getIntegrationTime() << std::endl;
+
+	return getIntegrationTime();
+}
+
+void ImagerOperationBase::focus()
+{
+	m_iFocusFrameCounter = 1;
+	//std::cout << "<22><><EFBFBD><EFBFBD>-----------" << std::endl;
+
+	double tmpFrmerate = getFramerate();
+	double tmpIntegrationTime = getIntegrationTime();
+
+
+	setFramerate(5);
+	auto_exposure();
+	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
+
+	imagerStartCollect();
+
+	//emit SpectralSignal(1);
+	m_bFocusControlState = true;
+	while (m_bFocusControlState)
+	{
+		getFrame(buffer);
+		//m_RgbImage->FillFocusGrayImage(buffer);
+		m_RgbImage->FillFocusGrayQImage(buffer);
+
+		emit SpectralSignal(1);
+
+		++m_iFocusFrameCounter;
+	}
+	emit SpectralSignal(0);
+
+	imagerStopCollect();
+
+	setFramerate(tmpFrmerate);
+	setIntegrationTime(tmpIntegrationTime);
+}
+
+void ImagerOperationBase::record_dark()
+{
+	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	imagerStartCollect();
+	
+	unsigned int* dark_tmp = new unsigned int[m_FrameSize];
+	std::fill(dark_tmp, dark_tmp + m_FrameSize, 0);
+
+	int counter = 50;
+	for (size_t i = 0; i < counter; i++)
+	{
+		getFrame(dark);
+
+		for (size_t j = 0; j < m_FrameSize; j++)
+		{
+			dark_tmp[j] = dark[j] + dark_tmp[j];
+		}
+	}
+
+	for (size_t j = 0; j < m_FrameSize; j++)
+	{
+		dark[j] = (unsigned short)(dark_tmp[j] / counter);
+	}
+	delete[] dark_tmp;
+
+	imagerStopCollect();
+
+	m_HasDark = true;
+
+	emit RecordDarlFinishSignal();
+}
+
+void ImagerOperationBase::record_white()
+{
+	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	imagerStartCollect();
+
+	unsigned int* white_tmp = new unsigned int[m_FrameSize];
+	std::fill(white_tmp, white_tmp + m_FrameSize, 0);
+
+	int counter = 50;
+	for (size_t i = 0; i < counter; i++)
+	{
+		getFrame(white);
+
+		for (size_t j = 0; j < m_FrameSize; j++)
+		{
+			white_tmp[j] = white[j] + white_tmp[j];
+		}
+	}
+
+	for (size_t j = 0; j < m_FrameSize; j++)
+	{
+		white[j] = (unsigned short)(white_tmp[j] / counter);
+	}
+	delete[] white_tmp;
+	
+	imagerStopCollect();
+
+	//<2F>װ<EFBFBD><D7B0>۰<EFBFBD><DBB0><EFBFBD><EFBFBD><EFBFBD>
+	if (m_HasDark)
+	{
+		for (size_t i = 0; i < m_FrameSize; i++)
+		{
+			if (white[i] < dark[i])
+			{
+				white[i] = 0;
+			}
+			else
+			{
+				white[i] = white[i] - dark[i];
+			}
+		}
+	}
+
+	m_HasWhite = true;
+
+	emit RecordWhiteFinishSignal();
+}
+
+void ImagerOperationBase::start_record()
+{
+	using namespace std;
+
+	//std::cout << "------------------------------------------------------" << std::endl;
+
+	m_iFrameCounter = 0;
+	m_RgbImage->m_iFrameCounter = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<62><CDBC><EFBFBD>ĵ<EFBFBD>0<EFBFBD><30>
+	m_bRecordControlState = true;
+
+	//<2F>ж<EFBFBD><D0B6>ڴ<EFBFBD>buffer<65>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	if (buffer == 0)
+	{
+		std::cerr << "Error: memory could not be allocated for datacube";
+		exit(EXIT_FAILURE);
+	}
+
+	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
+	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
+
+	size_t x;
+	double pixelValueTmp;
+
+	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
+	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
+
+	imagerStartCollect();
+	while (m_bRecordControlState)
+	{
+		m_iFrameCounter++;
+
+		getFrame(buffer);
+		long long timeOs = getNanosecondsSinceMidnight();
+
+		//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
+		if (m_HasDark)
+		{
+			for (size_t i = 0; i < m_FrameSize; i++)
+			{
+				if (buffer[i] < dark[i])
+				{
+					buffer[i] = 0;
+				}
+				else
+				{
+					buffer[i] = buffer[i] - dark[i];
+				}
+
+			}
+		}
+
+
+		//ת<><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		if (m_HasWhite)
+		{
+			for (size_t i = 0; i < m_FrameSize; i++)
+			{
+				//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壩Ϊ0<CEAA><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				if (white[i] != 0)
+				{
+					pixelValueTmp = buffer[i];
+					buffer[i] = (pixelValueTmp / white[i]) * 10000;
+				}
+				else
+				{
+					buffer[i] = 0;
+				}
+
+
+			}
+		}
+
+		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
+		fprintf(hTimesFile, "%d\n", timeOs);
+
+		//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
+
+		//std::cout << "<22><>" << m_iFrameCounter << "֡д<D6A1><D0B4>" << x << "<22><>unsigned short<72><74>" << std::endl;
+
+		//ÿ<><C3BF>1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><CEBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
+		if (m_iFrameCounter % (int)getFramerate() == 0)
+		{
+			emit PlotSignal(m_iFrameCounter);
+		}
+
+		if (m_iFrameCounter >= m_iFrameNumber)
+		{
+			break;
+		}
+
+	}
+	imagerStopCollect();
+
+	m_bRecordControlState = false;
+	WriteHdr();
+	m_FileSavedCounter++;
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//m_RgbImage
+	emit PlotSignal(-1);//<2F><>1<EFBFBD><31><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ<EFBFBD><C8AB>2<EFBFBD><32>ʹ<EFBFBD>û<EFBFBD>е<EFBFBD>۲ɼ<DBB2>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ᵼ<EFBFBD><E1B5BC><EFBFBD>ϴβɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4>źŵ<C5BA><C5B5>õIJۺ<C4B2><DBBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˼<EFBFBD><CBBC>ݣ<EFBFBD>ע<EFBFBD>͵<EFBFBD>
+
+	if (m_iFrameCounter >= m_iFrameNumber)
+	{
+		emit RecordFinishedSignal_WhenFrameNumberMeet();
+	}
+	else
+	{
+		emit RecordFinishedSignal_WhenFrameNumberNotMeet();
+	}
+
+	//QThread::msleep(1001);
+	fclose(m_fImage);
+	fclose(hTimesFile);
+}
+
+void ImagerOperationBase::setFrameNumber(int FrameNumber)
+{
+	m_iFrameNumber = FrameNumber;
+	m_RgbImage->SetRgbImageWidthAndHeight(getBandCount(), getSampleCount(), FrameNumber);
+}
+
+void ImagerOperationBase::setFileName2Save(string FileName)
+{
+	m_FileName2Save = FileName;
+	m_FileSavedCounter = 1;
+}
+
+void ImagerOperationBase::setFocusControlState(bool FocusControlState)
+{
+	m_bFocusControlState = FocusControlState;
+}
+
+int ImagerOperationBase::GetFrameSize(int& iWidth, int& iHeight)
+{
+	/*using namespace GENAPI_NAMESPACE;
+	using namespace std;
+	INodeMap& nodemap = m_phCamera->GetNodeMap();
+
+	iWidth = (int)CIntegerPtr(nodemap.GetNode("Width"))->GetValue();
+	iHeight = (int)CIntegerPtr(nodemap.GetNode("Height"))->GetValue();*/
+
+	iWidth = getSampleCount();
+	iHeight = getBandCount();
+
+	return 0;
+}
+
+CImage* ImagerOperationBase::getRgbImage() const
+{
+	return m_RgbImage;
+}
+
+cv::Mat* ImagerOperationBase::getMatRgbImage() const
+{
+	return m_RgbImage->m_matRgbImage;
+}
+
+cv::Mat* ImagerOperationBase::getMatFocusGrayImage() const
+{
+	return m_RgbImage->m_matFocusGrayImage;
+}
+
+QImage ImagerOperationBase::getQImageFocusGrayImage() const
+{
+	return *m_RgbImage->m_qimageFocusGrayImage;
+}
+
+bool ImagerOperationBase::getRecordControlState() const
+{
+	return m_bRecordControlState;
+}
+
+void ImagerOperationBase::setRecordControlState(bool RecordControlState)
+{
+	m_bRecordControlState = RecordControlState;
+}
+
+int ImagerOperationBase::getFrameCounter() const
+{
+	return m_iFrameCounter;
+}
+
+int ImagerOperationBase::getFocusFrameCounter() const
+{
+	return m_iFocusFrameCounter;
+}
+
+void ImagerOperationBase::set_buffer()
+{
+	//<2F><><EFBFBD><EFBFBD>
+	if (buffer != nullptr)
+	{
+		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		free(buffer);
+	}
+
+	m_FrameSize = getBandCount() * getSampleCount();
+	//std::cout << "m_FrameSize<7A><65>СΪ" << m_FrameSize << std::endl;
+
+	buffer = new unsigned short[m_FrameSize];
+	dark = new unsigned short[m_FrameSize];
+	white = new unsigned short[m_FrameSize];
+
+	std::cout << "buffer<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << buffer << std::endl;
+	std::cout << "dark<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << dark << std::endl;
+	std::cout << "white<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << white << std::endl;
+}
+
+void ImagerOperationBase::WriteHdr()
+{
+	//write an ENVI compatible header file
+	using namespace std;
+
+	string hdrPath = removeFileExtension(m_FileName2Save2) + ".hdr";
+
+	std::ofstream outfile(hdrPath.c_str());
+	outfile << "ENVI\n";
+	outfile << "interleave = bil\n";
+	outfile << "data type = 12\n";
+	outfile << "bit depth = 12\n";
+	outfile << "samples = " << getSampleCount() << "\n";
+	outfile << "bands = " << getBandCount() << "\n";
+	outfile << "lines = " << m_iFrameCounter << "\n";
+	outfile << "framerate = " << getFramerate() << "\n";
+	outfile << "shutter = " << getIntegrationTime() << "\n";
+	outfile << "gain = " << getGain() << "\n";
+	outfile << "wavelength = {";
+	outfile << std::setprecision(5);
+
+	int start = getStartBand();
+	int end = getEndBand();
+	for (int i = start; i < end - 1; i++)
+	{
+		outfile << getWavelengthAtBand(i) << ", ";
+	}
+	outfile << getWavelengthAtBand(end - 1) << "}\n";
+	outfile.close();
+}
+
+unsigned short ImagerOperationBase::GetMaxValue(unsigned short* dark, int number)
+{
+	unsigned short max = 0;
+	for (size_t i = 0; i < number; i++)
+	{
+		if (dark[i] > max)
+		{
+			max = dark[i];
+		}
+	}
+	//std::cout << "<22><>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>ֵΪ" << max << std::endl;
+	return max;
+}

HPPA/ImagerOperationBase.h

@@ -0,0 +1,107 @@
+#pragma once
+#include <QObject>
+#include <QString>
+
+#include "image2display.h"
+#include "fileOperation.h"
+#include <string>
+#include <opencv2/core/core.hpp> 
+#include "ImagerOperationBase.h"
+#include "utility_tc.h"
+
+class ImagerOperationBase :public QObject
+{
+    Q_OBJECT
+
+public:
+    ImagerOperationBase();
+    ~ImagerOperationBase();
+
+    virtual double getWavelengthAtBand(int band) = 0;
+    virtual int getBandCount() = 0;
+    virtual int getSampleCount() = 0;
+    virtual double getFramerate() = 0;
+    virtual double getIntegrationTime() = 0;
+    virtual double getGain() = 0;
+    virtual void setFramerate(const double frames_per_second) = 0;
+    virtual void setIntegrationTime(const double milliseconds) = 0;
+    virtual void setGain(const double gain) = 0;
+    virtual int getStartBand() = 0;
+    virtual int getEndBand() = 0;
+    virtual void connectImager(const char* camera_sn = NULL) = 0;
+    virtual void disconnectImager() = 0;
+    virtual void imagerStartCollect() = 0;
+    virtual void imagerStopCollect() = 0;
+    virtual unsigned short* getFrame(unsigned short* buffer) = 0;
+    virtual void setSpectraBin(int new_spectral_bin) = 0;
+
+
+    CImage* getRgbImage() const;
+    cv::Mat* getMatRgbImage() const;
+    cv::Mat* getMatFocusGrayImage() const;
+    QImage getQImageFocusGrayImage() const;
+
+    bool getRecordControlState() const;
+    void setRecordControlState(bool RecordControlState);
+
+    int getFrameCounter() const;
+    int getFocusFrameCounter() const;
+
+    unsigned short* buffer;//<2F>洢<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD><D0BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>д<EFBFBD>뵽Ӳ<EBB5BD><D3B2><EFBFBD><EFBFBD>
+    void set_buffer();
+    void setFileName2Save(string FileName);
+
+    void setFrameNumber(int FrameNumber);
+    void setFocusControlState(bool FocusControlState);
+    int GetFrameSize(int& iWidth, int& iHeight);
+    
+
+protected:
+    CImage* m_RgbImage;//<2F><>ʾ<EFBFBD><CABE>rgbͼ<62><CDBC>
+    bool m_bRecordControlState;//<2F>ɼ<EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>
+    int m_iFrameCounter;//<2F><>¼<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1>
+    int m_iFocusFrameCounter;//<2F><>¼<EFBFBD><C2BC><EFBFBD><EFBFBD>ʱ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1>
+    int m_FrameSize;//<2F><>ʾһ֡<D2BB><D6A1><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6>ٸ<EFBFBD><D9B8><EFBFBD>ֵ<EFBFBD><D6B5>m_FrameSize = m_imager.get_band_count()*m_imager.get_sample_count();
+    int m_iFrameNumber;//<2F><>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1>
+
+    //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڸ<EFBFBD><DAB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>
+    string m_FileName2Save;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>
+    string m_FileName2Save2;
+    int m_FileSavedCounter;//<2F><><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><CBBC><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD>
+
+    bool m_HasDark;//<2F><><EFBFBD>ɼ<EFBFBD><C9BC>˰<EFBFBD><CBB0><EFBFBD><EFBFBD><EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue
+    bool m_HasWhite;//<2F><><EFBFBD>ɼ<EFBFBD><C9BC>˰װ<CBB0>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue
+
+    unsigned short* dark;//<2F>洢<EFBFBD><E6B4A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    unsigned short* white;//<2F>洢<EFBFBD>װ<EFBFBD>
+
+    bool m_bFocusControlState;//<2F><><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+    
+
+    virtual void WriteHdr();
+    unsigned short GetMaxValue(unsigned short* dark, int number);
+    
+    
+
+private:
+
+public slots:
+    virtual void connect_imager(int frameNumber);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٻ<EFBFBD><D9BB><EFBFBD>
+    virtual double auto_exposure();
+    virtual void focus();
+    virtual void start_record();
+    virtual void record_dark();
+    virtual void record_white();
+signals:
+    void PlotSignal(int);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>źţ<C5BA>-1<><31><EFBFBD>˴βɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
+    void RecordFinishedSignal_WhenFrameNumberMeet();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>m_iFrameNumber<65><72><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>
+    void RecordFinishedSignal_WhenFrameNumberNotMeet();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>m_iFrameNumber<65><72>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD><EFBFBD>ɣ<EFBFBD><C9A3><EFBFBD>;ֹͣ<CDA3>ɼ<EFBFBD>
+    void SpectralSignal(int);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD><C6B9>ף<EFBFBD><D7A3><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD>
+
+    void RecordWhiteFinishSignal();
+    void RecordDarlFinishSignal();
+
+
+    void testImagerStatus();//<2F><>ʾ<EFBFBD><CABE><EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ӣ<EFBFBD><D3A3><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+};

HPPA/OneMotorControl.cpp

@@ -0,0 +1,133 @@
+#include "OneMotorControl.h"
+
+OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
+
+}
+
+OneMotorControl::~OneMotorControl()
+{
+    m_motorThread.quit();
+    m_motorThread.wait();
+}
+
+void OneMotorControl::onConnectMotor()
+{
+	try
+	{
+        FileOperation* fileOperation = new FileOperation();
+        string directory = fileOperation->getDirectoryOfExe();
+        QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile.cfg";
+
+        m_multiAxisController = new IrisMultiMotorController(configFilePath);
+	}
+	catch (std::exception const& e)
+	{
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+        msgBox.exec();
+	}
+    
+    m_multiAxisController->moveToThread(&m_motorThread);
+    m_motorThread.start();
+
+    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+
+    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+    connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
+    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+
+    connect(this, SIGNAL(recordHyperSpecImgOneMotorSignal(int, double, double)), m_multiAxisController, SLOT(recordHyperSpecImgOneMotor(int, double, double)));
+
+    connect(m_multiAxisController, SIGNAL(startRecordLineSignal(int)), this, SIGNAL(startRecordLineSignal(int)));
+
+    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+    emit testConnectivitySignal(0, 1000);
+}
+
+void OneMotorControl::display_x_loc(std::vector<double> loc)
+{
+    double tmp = round(loc[0] * 100) / 100;
+    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+}
+
+void OneMotorControl::display_motors_connectivity(std::vector<int> connectivity)
+{
+    //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
+    if (connectivity[0])
+    {
+        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+    }
+    else
+    {
+        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+    }
+}
+
+void OneMotorControl::zeroStart()
+{
+    zeroStartSignal(0);
+}
+
+void OneMotorControl::onx_rangeMeasurement()
+{
+    double s0 = ui.speed_lineEdit->text().toDouble();
+    emit rangeMeasurement(0, s0, 1000);
+}
+
+void OneMotorControl::onxMove2Loc()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+    double l = ui.move2loc_lineEdit->text().toDouble();
+
+    emit move2LocSignal(0, l, s, 1000);
+}
+
+void OneMotorControl::onxMotorRight()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, false, s, 1000);
+}
+
+void OneMotorControl::onxMotorLeft()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, true, s, 1000);
+}
+
+void OneMotorControl::onxMotorStop()
+{
+    emit stopSignal(0);
+}
+
+void OneMotorControl::moveMotorAndRecordHyperSpecImg(int updateIntervalMs)
+{
+    double runSpeed = ui.speed_lineEdit->text().toDouble();
+    double returnSpeed = ui.return_speed_lineEdit->text().toDouble();
+
+    emit recordHyperSpecImgOneMotorSignal(updateIntervalMs, runSpeed, returnSpeed);
+}
+
+void OneMotorControl::moveMotor2StartPosAndStopRecord()
+{
+    m_multiAxisController->cancelRecord();
+}

HPPA/OneMotorControl.h

@@ -0,0 +1,53 @@
+#pragma once
+#include <QThread>
+#include <QMessageBox>
+
+#include "ui_oneMotorControl.h"
+
+#include "IrisMultiMotorController.h"
+#include "fileOperation.h"
+
+class OneMotorControl : public QDialog
+{
+    Q_OBJECT
+
+public:
+    OneMotorControl(QWidget* parent = nullptr);
+    ~OneMotorControl();
+
+    void moveMotorAndRecordHyperSpecImg(int updateIntervalMs);
+    void moveMotor2StartPosAndStopRecord();
+
+
+public Q_SLOTS:
+    void onConnectMotor();
+
+    void display_x_loc(std::vector<double> loc);
+    void display_motors_connectivity(std::vector<int> connectivity);
+    void onxMove2Loc();
+    void zeroStart();
+    void onx_rangeMeasurement();
+
+    void onxMotorRight();
+    void onxMotorLeft();
+    void onxMotorStop();
+
+signals:
+    void moveSignal(int, bool, double, int);
+    void move2LocSignal(int, double, double, int);
+    void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
+    void stopSignal(int);
+
+    void rangeMeasurement(int, double, int);
+    void zeroStartSignal(int);
+    void testConnectivitySignal(int, int);
+
+    void recordHyperSpecImgOneMotorSignal(int updateIntervalMs, double runSpeed, double returnSpeed);
+
+    void startRecordLineSignal(int);
+private:
+    Ui::OneMotorControl_UI ui;
+
+    QThread m_motorThread;
+    IrisMultiMotorController* m_multiAxisController;
+};

HPPA/PathPlan.cpp

@@ -0,0 +1,308 @@
+#include "PathPlan.h"
+#include <iostream>
+#include <QMessageBox>
+#include <QFileDialog>
+#include <fileOperation.h>
+
+PathPlan::PathPlan(VinceControl* xMotor, VinceControl* yMotor, QMotorDoubleSlider* xSlider, QMotorDoubleSlider* ySlider, QWidget* parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	m_xMotor = xMotor;
+	m_yMotor = yMotor;
+
+	m_xSlider = xSlider;
+	m_ySlider = ySlider;
+
+	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
+	ui.recordLine_tableWidget->setStyleSheet("selection-background-color:rgb(255,209,128)");//<2F><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD><D0B8><EFBFBD>
+
+	ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//<2F><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>λ
+	//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//<2F><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>ģʽ<C4A3><CABD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//QHeaderView* headerView = ui.recordLine_tableWidget->verticalHeader();
+	//headerView->setHidden(true);//ȥ<><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD><C4AC><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>к<EFBFBD>
+
+
+	ui.recordLine_tableWidget->setColumnCount(2);
+	ui.recordLine_tableWidget->setHorizontalHeaderLabels(QStringList() << "yPosition" << "xMaxPosition");
+
+	connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
+	connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
+	connect(ui.generateRecordLine_btn, SIGNAL(clicked()), this, SLOT(onGenerateRecordLine_btn()));
+	connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
+	connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
+	connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
+}
+
+PathPlan::~PathPlan()
+{}
+
+void PathPlan::setMotor(VinceControl* xMotor, VinceControl* yMotor)
+{
+	m_xMotor = xMotor;
+	m_yMotor = yMotor;
+}
+
+QTableWidget* PathPlan::getRecordLineTableWidget()
+{
+	return ui.recordLine_tableWidget;
+}
+
+void PathPlan::onAddRecordLine_btn()
+{
+	//׼<><D7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	ByteBack MotorState = m_yMotor->GetState();
+	double currentPosOfYmotor = m_ySlider->getDistanceFromPulse(MotorState.Location);
+	double maxRangeOfXmotro = m_xSlider->maximum();
+
+	//<2F><>ȡѡ<C8A1><D1A1><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD>
+	int currentRow = ui.recordLine_tableWidget->currentRow();
+	std::cout << "currentRow<EFBFBD><EFBFBD>" << currentRow << std::endl;
+
+	QTableWidgetItem* Item1 = new QTableWidgetItem(QString::number(currentPosOfYmotor, 10, 2));
+	QTableWidgetItem* Item2 = new QTableWidgetItem(QString::number(maxRangeOfXmotro, 10, 2));
+	Item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	if (currentRow == -1)//<2F><>û<EFBFBD><C3BB>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>ʱ
+	{
+		int RowCount = ui.recordLine_tableWidget->rowCount();//Returns the number of rows. <20><>1<EFBFBD><31>ʼ<EFBFBD><CABC>
+		ui.recordLine_tableWidget->insertRow(RowCount);//<2F><><EFBFBD><EFBFBD>һ<EFBFBD>У<EFBFBD><D0A3>β<EFBFBD><CEB2>Ǵ<EFBFBD>0<EFBFBD><30>ʼ<EFBFBD><CABC>
+
+		ui.recordLine_tableWidget->setItem(RowCount, 0, Item1);
+		ui.recordLine_tableWidget->setItem(RowCount, 1, Item2);
+	}
+	else
+	{
+		ui.recordLine_tableWidget->insertRow(currentRow + 1);//<2F><><EFBFBD><EFBFBD>һ<EFBFBD>У<EFBFBD><D0A3>β<EFBFBD><CEB2>Ǵ<EFBFBD>0<EFBFBD><30>ʼ<EFBFBD><CABC>
+
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 0, Item1);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 1, Item2);
+	}
+}
+
+void PathPlan::onRemoveRecordLine_btn()
+{
+	int rowIndex = ui.recordLine_tableWidget->currentRow();
+	if (rowIndex != -1)
+		ui.recordLine_tableWidget->removeRow(rowIndex);
+}
+
+void PathPlan::onGenerateRecordLine_btn()
+{
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	double height = ui.height_lineEdit->text().toDouble();
+	double fov = ui.fov_lineEdit->text().toDouble();
+	double swath = (height * tan(fov / 2 * PI / 180)) * 2;//tan<61><6E><EFBFBD><EFBFBD><EFBFBD>ǻ<EFBFBD><C7BB><EFBFBD>
+	ui.swath_lineEdit->setText(QString::number(swath));
+
+
+	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ
+	double xMotorRange = m_xSlider->maximum();
+	double yMotorRange = m_ySlider->maximum();
+
+
+	//ȷ<><C8B7><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC>ߣ<EFBFBD><DFA3><EFBFBD>ʽ<EFBFBD><CABD>numberOfRecordLine_tmp * swath - repetitiveLength<74><68>numberOfRecordLine_tmp - 1<><31> = overallLength
+	double overallLength = yMotorRange + swath;
+	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble() / 100;
+	double repetitiveLength = repetitiveRate * swath;
+	double offset = ui.offset_lineEdit->text().toDouble();
+
+	double numberOfRecordLine_tmp = (overallLength - repetitiveLength - offset) / (swath - repetitiveLength);
+	double tmp = numberOfRecordLine_tmp - (int)numberOfRecordLine_tmp;
+	int numberOfRecordLine;
+	double threshold = ui.LastLineThreshold_lineEdit->text().toDouble();//<2F><>numberOfRecordLine_tmpΪС<CEAA><D0A1>ʱ<EFBFBD><CAB1><EFBFBD>ж<EFBFBD><D0B6>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>
+	if (tmp > threshold)
+	{
+		numberOfRecordLine = (int)numberOfRecordLine_tmp + 1;
+		//std::cout << "<22><><EFBFBD>ڣ<EFBFBD>" << threshold << std::endl;
+	}
+	else
+	{
+		numberOfRecordLine = (int)numberOfRecordLine_tmp;
+	}
+
+
+
+	//ȥ<><C8A5>tableWidget<65><74><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		ui.recordLine_tableWidget->removeRow(0);
+	}
+
+
+	//<2F><>tableWidget<65><74><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3>ɼ<EFBFBD><C9BC>ߣ<EFBFBD>
+	QTableWidgetItem* tmpItem;
+	for (size_t i = 0; i < numberOfRecordLine; i++)
+	{
+		//<2F><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
+		int RowCount = ui.recordLine_tableWidget->rowCount();
+		ui.recordLine_tableWidget->insertRow(RowCount);
+
+		//<2F><><EFBFBD><EFBFBD>yPosition
+		if (tmp > threshold && i == numberOfRecordLine - 1)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>е<EFBFBD>yPosition
+		{
+			tmpItem = new QTableWidgetItem(QString::number(yMotorRange, 10, 2));
+			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
+		}
+		else
+		{
+			double x = swath * i - i * repetitiveLength + offset;
+			tmpItem = new QTableWidgetItem(QString::number(x, 10, 2));
+			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
+		}
+
+		//<2F><><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>λ<EFBFBD><CEBB> <20><> ֵ<><D6B5><EFBFBD><EFBFBD>Ϊx<CEAA><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		tmpItem = new QTableWidgetItem(QString::number(xMotorRange, 10, 2));
+		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+		ui.recordLine_tableWidget->setItem(i, 1, tmpItem);
+
+	}
+
+}
+
+void PathPlan::onDeleteRecordLine_btn()
+{
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		ui.recordLine_tableWidget->removeRow(0);
+	}
+}
+
+void PathPlan::onSaveRecordLine2File_btn()
+{
+	//ȷ<><C8B7><EFBFBD>ɼ<EFBFBD><C9BC>ߴ<EFBFBD><DFB4><EFBFBD>
+	if (ui.recordLine_tableWidget->rowCount() <= 0)
+	{
+		QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ켣<EFBFBD><EFBFBD>"));
+		return;
+	}
+
+	double height = ui.height_lineEdit->text().toDouble();
+	double fov = ui.fov_lineEdit->text().toDouble();
+	double swath = ui.swath_lineEdit->text().toDouble();
+	double offset = ui.offset_lineEdit->text().toDouble();
+	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble();
+	double LastLineThreshold = ui.LastLineThreshold_lineEdit->text().toDouble();
+
+	FileOperation* fileOperation = new FileOperation();
+	string directory = fileOperation->getDirectoryOfExe();
+
+	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine File"),
+		QString::fromStdString(directory),
+		tr("RecordLineFile (*.RecordLine)"));
+
+	if (RecordLineFilePath.isEmpty())
+	{
+		return;
+	}
+
+	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
+
+	fwrite(&height, sizeof(double), 1, RecordLineFileHandle);
+	fwrite(&fov, sizeof(double), 1, RecordLineFileHandle);
+	fwrite(&swath, sizeof(double), 1, RecordLineFileHandle);
+	fwrite(&offset, sizeof(double), 1, RecordLineFileHandle);
+	fwrite(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
+	fwrite(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
+
+	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("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><EFBFBD><EFBFBD>"));
+}
+
+void PathPlan::onReadRecordLineFile_btn()
+{
+	//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+	FileOperation* fileOperation = new FileOperation();
+	string directory = fileOperation->getDirectoryOfExe();
+	//string RecordLineFilePath = directory + "\\test.RecordLine";
+
+	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine File"),
+		QString::fromStdString(directory),
+		tr("RecordLineFile (*.RecordLine)"));
+
+	if (RecordLineFilePath.isEmpty())
+	{
+		return;
+	}
+
+	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
+	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
+
+	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
+	fread(&height, sizeof(double), 1, RecordLineFileHandle);
+	fread(&fov, sizeof(double), 1, RecordLineFileHandle);
+	fread(&swath, sizeof(double), 1, RecordLineFileHandle);
+	fread(&offset, sizeof(double), 1, RecordLineFileHandle);
+	fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
+	fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
+	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;
+	}
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д
+	ui.height_lineEdit->setText(QString::number(height));
+	ui.fov_lineEdit->setText(QString::number(fov));
+	ui.swath_lineEdit->setText(QString::number(swath));
+	ui.offset_lineEdit->setText(QString::number(offset));
+	ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
+	ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));
+
+
+	//<2F><>tableWidget<65><74><EFBFBD>Ӳɼ<D3B2><C9BC><EFBFBD>
+	//<2F><>1<EFBFBD><31>ȥ<EFBFBD><C8A5>tableWidget<65><74><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		ui.recordLine_tableWidget->removeRow(0);
+	}
+	//<2F><>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3>ɼ<EFBFBD><C9BC>ߣ<EFBFBD>
+	int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
+	for (size_t i = 0; i < RecordLineCount; i++)
+	{
+		ui.recordLine_tableWidget->insertRow(0);
+
+	}
+	//<2F><>3<EFBFBD><33><EFBFBD><EFBFBD>tableWidget<65><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	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("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȡ<EFBFBD>ɹ<EFBFBD><EFBFBD><EFBFBD>"));
+
+}

HPPA/PathPlan.h

@@ -0,0 +1,37 @@
+#pragma once
+
+#include <QDialog>
+#include "ui_PathPlan.h"
+#include "vincecontrol.h"
+#include <QMotorDoubleSlider.h>
+
+#define PI 3.1415926
+
+class PathPlan : public QDialog
+{
+	Q_OBJECT
+
+public:
+	PathPlan(VinceControl* xMotor, VinceControl* yMotor, QMotorDoubleSlider* xSlider, QMotorDoubleSlider* ySlider, QWidget* parent = nullptr);
+	~PathPlan();
+
+	void setMotor(VinceControl* xMotor, VinceControl* yMotor);
+	QTableWidget* getRecordLineTableWidget();
+
+private:
+	Ui::PathPlanClass ui;
+
+	VinceControl* m_xMotor;
+	VinceControl* m_yMotor;
+	
+	QMotorDoubleSlider* m_xSlider;
+	QMotorDoubleSlider* m_ySlider;
+
+public Q_SLOTS:
+	void onAddRecordLine_btn();
+	void onRemoveRecordLine_btn();
+	void onGenerateRecordLine_btn();
+	void onDeleteRecordLine_btn();
+	void onSaveRecordLine2File_btn();
+	void onReadRecordLineFile_btn();
+};

HPPA/PathPlan.ui

@@ -0,0 +1,356 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PathPlanClass</class>
+ <widget class="QDialog" name="PathPlanClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>566</width>
+    <height>273</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>PathPlan</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="leftMargin">
+    <number>9</number>
+   </property>
+   <property name="topMargin">
+    <number>9</number>
+   </property>
+   <property name="rightMargin">
+    <number>9</number>
+   </property>
+   <property name="bottomMargin">
+    <number>9</number>
+   </property>
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_16">
+     <item>
+      <widget class="QLabel" name="label_4">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>108</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>高度</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="height_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>100</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="generateRecordLine_btn">
+       <property name="layoutDirection">
+        <enum>Qt::LeftToRight</enum>
+       </property>
+       <property name="text">
+        <string>生成轨迹</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveRecordLine2File_btn">
+       <property name="text">
+        <string>保存轨迹</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_17">
+     <item>
+      <widget class="QLabel" name="label_5">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>108</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>视场角</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="fov_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>17.6</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="deleteRecordLine_btn">
+       <property name="text">
+        <string>删除轨迹</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="readRecordLineFile_btn">
+       <property name="text">
+        <string>读取轨迹</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="2" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_18">
+     <item>
+      <widget class="QLabel" name="label_7">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>108</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>偏移</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="offset_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="baseSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="label_6">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>幅宽</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="swath_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>90</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="addRecordLine_btn">
+       <property name="text">
+        <string>添加</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="3" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_19">
+     <item>
+      <widget class="QLabel" name="label_12">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>108</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>重复率(%)</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="repetitiveRate_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="baseSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+       <property name="readOnly">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="label_13">
+       <property name="text">
+        <string>阈值</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="LastLineThreshold_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>90</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0.7</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+       <property name="readOnly">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="removeRecordLine_btn">
+       <property name="text">
+        <string>移除</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="4" column="0">
+    <widget class="QTableWidget" name="recordLine_tableWidget"/>
+   </item>
+  </layout>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/PowerControl.cpp

@@ -0,0 +1,55 @@
+#include "PowerControl.h"
+
+PowerControl::PowerControl(QWidget *parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	connect(ui.lamp_power_open_btn, SIGNAL(clicked()), this, SLOT(onLampPowerOpen_btn()));
+	connect(ui.lamp_power_close_btn, SIGNAL(clicked()), this, SLOT(onLampPowerClose_btn()));
+
+	connect(ui.motor_power_open_btn, SIGNAL(clicked()), this, SLOT(onMotorPowerOpen_btn()));
+	connect(ui.motor_power_close_btn, SIGNAL(clicked()), this, SLOT(onMotorPowerClose_btn()));
+}
+
+PowerControl::~PowerControl()
+{}
+
+void PowerControl::getRequest(QString str)
+{
+	QNetworkRequest request;
+	QNetworkAccessManager* naManager = new QNetworkAccessManager(this);
+	QMetaObject::Connection connRet = QObject::connect(naManager, SIGNAL(finished(QNetworkReply*)), this, SLOT(requestFinished(QNetworkReply*)));
+	Q_ASSERT(connRet);
+
+	request.setUrl(QUrl(str));
+	QNetworkReply* reply = naManager->get(request);
+}
+
+void PowerControl::onLampPowerOpen_btn()//onLampPowerOpen_btn
+{
+	QString xx = "http://192.168.1.3/setshutter?Portname=3&Value=1";
+	getRequest(xx);
+}
+
+void PowerControl::onLampPowerClose_btn()//onLampPowerClose_btn
+{
+	QString xx = "http://192.168.1.3/setshutter?Portname=3&Value=0";
+	getRequest(xx);
+}
+
+void PowerControl::onMotorPowerOpen_btn()
+{
+	QString xx = "http://192.168.1.3/setshutter?Portname=1&Value=1";
+	getRequest(xx);
+
+	emit powerOpened();
+}
+
+void PowerControl::onMotorPowerClose_btn()
+{
+	QString xx = "http://192.168.1.3/setshutter?Portname=1&Value=0";
+	getRequest(xx);
+
+	emit powerClosed();
+}

HPPA/PowerControl.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+
+#include "ui_PowerControl.h"
+
+class PowerControl : public QDialog
+{
+	Q_OBJECT
+
+public:
+	PowerControl(QWidget *parent = nullptr);
+	~PowerControl();
+
+public Q_SLOTS:
+	void onLampPowerOpen_btn();
+	void onLampPowerClose_btn();
+
+	void onMotorPowerOpen_btn();
+	void onMotorPowerClose_btn();
+
+signals:
+	void powerOpened();
+	void powerClosed();
+
+private:
+	Ui::PowerControlClass ui;
+
+	void getRequest(QString str);
+};

HPPA/PowerControl.ui

@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PowerControlClass</class>
+ <widget class="QDialog" name="PowerControlClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>294</width>
+    <height>119</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>PowerControl</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
+    <number>0</number>
+   </property>
+   <property name="spacing">
+    <number>0</number>
+   </property>
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_20">
+     <item>
+      <widget class="QLabel" name="label_17">
+       <property name="text">
+        <string>卤素灯</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="lamp_power_open_btn">
+       <property name="text">
+        <string>打开</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="lamp_power_close_btn">
+       <property name="text">
+        <string>关闭</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_19">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_21">
+     <item>
+      <widget class="QLabel" name="label_18">
+       <property name="text">
+        <string>马  达</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="motor_power_open_btn">
+       <property name="text">
+        <string>打开</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="motor_power_close_btn">
+       <property name="text">
+        <string>关闭</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_20">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+   <item row="2" column="0">
+    <spacer name="verticalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>42</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/QMotorDoubleSlider.cpp

@@ -9,24 +9,33 @@ QMotorDoubleSlider::QMotorDoubleSlider(QWidget* pParent /*= NULL*/) :QSlider(pPa
 	setOrientation(Qt::Horizontal);
 	setFocusPolicy(Qt::NoFocus);
 
-	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
-	string HPPACfgFile = getPathofEXE() + "\\HPPA.cfg";
-	Configfile configfile;
-	configfile.setConfigfilePath(HPPACfgFile);
-	if (!configfile.isConfigfileExist())
-		configfile.createConfigFile();
-	configfile.parseConfigfile();
-
-	float Lead_x;//<2F><><EFBFBD><EFBFBD>
-	float StepAnglemar_x;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	float ScaleFactor_x;//<2F><><EFBFBD><EFBFBD>еװ<D0B5>õ<EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	int SubdivisionMultiples_x;//ϸ<><CFB8><EFBFBD><EFBFBD>
-	configfile.getXMotorParm(StepAnglemar_x, Lead_x, SubdivisionMultiples_x, ScaleFactor_x);
+	m_Multiplier = 0;
+}
 
+void QMotorDoubleSlider::setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionParam)
+{
 	//<2F><><EFBFBD>ݹ<EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD>廻<EFBFBD><E5BBBB>Ϊ<EFBFBD><CEAA><EFBFBD>룺1<EBA3BA><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(m_Multiplier)=<3D><><EFBFBD><EFBFBD>/(360/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>)<29><><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7>https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
 	//m_Multiplier(0.00054496986),//<2F>Ϻ<EFBFBD>ũ<EFBFBD><C5A9>Ժ<EFBFBD><D4BA><EFBFBD>޸<EFBFBD>ǰ<EFBFBD><C7B0>0.00052734375/5=0.00010546875<EFBFBD><EFBFBD><EFBFBD>޸ĺ<EFBFBD>׼ȷֵΪ0.000544969862759644<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0.00054496986/5=0.000108993972<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>и<EFBFBD><EFBFBD><EFBFBD>еװ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD><EFBFBD>
 	//m_Multiplier(0.00054496986)//<2F>˰<EFBFBD><CBB0><EFBFBD>ũ<EFBFBD><C5A9><EFBFBD><EFBFBD>
-	m_Multiplier = Lead_x / (360 / StepAnglemar_x * SubdivisionMultiples_x) * ScaleFactor_x;
+	m_Multiplier = lead / (360 / stepAnglemar * getValidSubdivision(subdivisionParam)) * scaleFactor;
+}
+
+int QMotorDoubleSlider::getValidSubdivision(int subdivisionParam)
+{
+	if (subdivisionParam == 2)
+		return 4;
+	else if (subdivisionParam == 3)
+		return 8;
+	else if (subdivisionParam == 4)
+		return 16;
+	else if (subdivisionParam == 5)
+		return 32;
+	else if (subdivisionParam == 6)
+		return 64;
+	else if (subdivisionParam == 7)
+		return 128;
+	else if (subdivisionParam == 8)
+		return 256;
 }
 
 //<2F><><EFBFBD>ⷢ<EFBFBD><E2B7A2>

HPPA/QMotorDoubleSlider.h

@@ -12,8 +12,10 @@ class QMotorDoubleSlider : public QSlider
 
 public:
 	QMotorDoubleSlider(QWidget* pParent = NULL);
+	void setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionParam);
+	int getValidSubdivision(int subdivisionParam);
 
-	double	m_Multiplier;
+	double	m_Multiplier;//<2F><><EFBFBD>ݹ<EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD>廻<EFBFBD><E5BBBB>Ϊ<EFBFBD><CEAA><EFBFBD>룺1<EBA3BA><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(m_Multiplier)=<3D><><EFBFBD><EFBFBD>/(360/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>)<29><><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7>https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
 
 	void setRange(double Min, double Max);
 	void setMinimum(double Min);
@@ -25,17 +27,15 @@ public:
 	long getPositionPulse(double position);//<2F><><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE>뷵<EFBFBD><EBB7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
 	double getDistanceFromPulse(int pulse);
 
-	public slots:
+public slots:
 	void notifyValueChanged(int value);//<2F>ź<EFBFBD>valueChanged(int)<29><>wrap
 	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue<75><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>wrap
 
-	private slots:
-
-signals :
+signals:
 	void valueChanged(double Value);
 	void rangeChanged(double Min, double Max);
 
 private:
 	
 };
-#endif
+#endif

HPPA/QYMotorDoubleSlider.cpp

@@ -1,101 +0,0 @@
-#include "stdafx.h"
-#include "QYMotorDoubleSlider.h" 
-QYMotorDoubleSlider::QYMotorDoubleSlider(QWidget* pParent /*= NULL*/) :QSlider(pParent)
-{
-	connect(this, SIGNAL(valueChanged(int)), this, SLOT(notifyValueChanged(int)));
-
-	setSingleStep(1);
-
-	setOrientation(Qt::Horizontal);
-	setFocusPolicy(Qt::NoFocus);
-
-	//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
-	string HPPACfgFile = getPathofEXE() + "\\HPPA.cfg";
-	Configfile configfile;
-	configfile.setConfigfilePath(HPPACfgFile);
-	if (!configfile.isConfigfileExist())
-		configfile.createConfigFile();
-	configfile.parseConfigfile();
-
-	float StepAnglemar_y;
-	float Lead_y;
-	float ScaleFactor_y;//<2F><><EFBFBD><EFBFBD>еװ<D0B5>õ<EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	int SubdivisionMultiples_y;
-	configfile.getYMotorParm(StepAnglemar_y, Lead_y, SubdivisionMultiples_y, ScaleFactor_y);
-
-	//m_Multiplier(0.000108993972),//<2F>Ϻ<EFBFBD>ũ<EFBFBD><C5A9>Ժ<EFBFBD><D4BA><EFBFBD>޸<EFBFBD>ǰ<EFBFBD><C7B0>0.00052734375/5=0.00010546875<EFBFBD><EFBFBD><EFBFBD>޸ĺ<EFBFBD>׼ȷֵΪ0.000544969862759644<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0.00054496986/5=0.000108993972<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>и<EFBFBD><EFBFBD><EFBFBD>еװ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD><EFBFBD>
-	//m_Multiplier(0.000108993972)//<2F>˰<EFBFBD><CBB0><EFBFBD>ũ<EFBFBD><C5A9><EFBFBD><EFBFBD>
-	m_Multiplier = Lead_y / (360 / StepAnglemar_y * SubdivisionMultiples_y) * ScaleFactor_y;
-}
-
-//<2F><><EFBFBD>ⷢ<EFBFBD><E2B7A2>
-void QYMotorDoubleSlider::notifyValueChanged(int Value)
-{
-	emit valueChanged((double)Value * m_Multiplier);//////////
-}
-
-//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-void QYMotorDoubleSlider::setValue(double Value, bool BlockSignals)
-{
-	QSlider::blockSignals(BlockSignals);
-
-	QSlider::setValue(Value / m_Multiplier);////////////
-
-	if (!BlockSignals)
-		emit valueChanged(Value);
-
-	QSlider::blockSignals(false);
-}
-
-void QYMotorDoubleSlider::setRange(double Min, double Max)
-{
-	QSlider::setRange(Min / m_Multiplier, Max / m_Multiplier);//////
-
-	emit rangeChanged(Min, Max);
-}
-
-void QYMotorDoubleSlider::setMinimum(double Min)
-{
-	QSlider::setMinimum(Min / m_Multiplier);//////
-
-	emit rangeChanged(minimum(), maximum());
-}
-
-double QYMotorDoubleSlider::minimum() const
-{
-	return QSlider::minimum() * m_Multiplier;/////
-}
-
-void QYMotorDoubleSlider::setMaximum(double Max)
-{
-	QSlider::setMaximum(Max / m_Multiplier);//////
-
-	emit rangeChanged(minimum(), maximum());
-}
-
-double QYMotorDoubleSlider::maximum() const
-{
-	return QSlider::maximum() * m_Multiplier;///////
-}
-
-double QYMotorDoubleSlider::value() const
-{
-	int Value = QSlider::value();
-	return (double)Value * m_Multiplier;//////
-}
-
-double QYMotorDoubleSlider::OriginalValue() const
-{
-	int Value = QSlider::value();
-	return (double)Value;
-}
-
-long QYMotorDoubleSlider::getPositionPulse(double position)
-{
-	return position / m_Multiplier;
-}
-
-double QYMotorDoubleSlider::getDistanceFromPulse(int pulse)
-{
-	return pulse * m_Multiplier;
-}

HPPA/QYMotorDoubleSlider.h

@@ -1,41 +0,0 @@
-#ifndef Q_YMOTOR_DOUBLE_SLIDER_H
-#define Q_YMOTOR_DOUBLE_SLIDER_H
-#include <QtGui/QtGui>
-#include <QSlider>
-
-#include "hppaConfigFile.h"
-#include "path_tc.h"
-
-class QYMotorDoubleSlider : public QSlider//QYMotorDoubleSlider
-{
-	Q_OBJECT
-
-public:
-	QYMotorDoubleSlider(QWidget* pParent = NULL);
-
-	double	m_Multiplier;//<2F><><EFBFBD>ݹ<EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD>廻<EFBFBD><E5BBBB>Ϊ<EFBFBD><CEAA><EFBFBD>룺1<EBA3BA><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(m_Multiplier)=<3D><><EFBFBD><EFBFBD>/(360/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>)<29><><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7>https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
-
-	void setRange(double Min, double Max);
-	void setMinimum(double Min);
-	double minimum() const;
-	void setMaximum(double Max);
-	double maximum() const;
-	double value() const;
-	double OriginalValue() const;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫʵ<D2AA>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǿ<EFBFBD><C7BE><EFBFBD>
-	long getPositionPulse(double position);//<2F><><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE>뷵<EFBFBD><EBB7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
-	double getDistanceFromPulse(int pulse);
-
-	public slots:
-	void notifyValueChanged(int value);//<2F>ź<EFBFBD>valueChanged(int)<29><>wrap
-	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue<75><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>wrap
-
-	private slots:
-
-signals :
-	void valueChanged(double Value);
-	void rangeChanged(double Min, double Max);
-
-private:
-	
-};
-#endif

HPPA/ResononNirImager.cpp

@@ -0,0 +1,418 @@
+#include "stdafx.h"
+#include <iostream>
+#include <fstream>
+#include <iomanip>
+#include <exception>
+#include "ResononNirImager.h"
+
+ResononNirImager::ResononNirImager()
+{
+	
+}
+
+ResononNirImager::~ResononNirImager()
+{
+	if (buffer != nullptr)
+	{
+		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		free(buffer);
+		free(dark);
+		free(white);
+	}
+}
+
+void ResononNirImager::reConnectImage()
+{
+	disconnectImager();
+	connectImager();
+}
+
+double ResononNirImager::getFramerate()
+{
+	return m_ResononNirImager.get_framerate();
+}
+
+double ResononNirImager::getIntegrationTime()
+{
+	return m_ResononNirImager.get_integration_time();
+}
+
+double ResononNirImager::getGain()
+{
+	//return m_ResononNirImager.get_gain();
+	return 0.0;//nir<69><72>֧<EFBFBD><D6A7>gian
+}
+
+void ResononNirImager::setGain(const double gain)
+{
+	//m_ResononNirImager.set_gain(gain);//nir<69><72>֧<EFBFBD><D6A7>gian
+}
+
+void ResononNirImager::setFramerate(const double frames_per_second)
+{
+	m_ResononNirImager.set_framerate(frames_per_second);
+	m_RgbImage->m_iFramerate = frames_per_second;
+}
+
+void ResononNirImager::setIntegrationTime(const double milliseconds)
+{
+	m_ResononNirImager.set_integration_time(milliseconds);
+}
+
+int ResononNirImager::getStartBand()
+{
+	return m_ResononNirImager.get_start_band();
+}
+
+int ResononNirImager::getEndBand()
+{
+	return m_ResononNirImager.get_end_band();
+}
+
+void ResononNirImager::connectImager(const char* camera_sn)
+{
+	m_ResononNirImager.connect();
+}
+
+void ResononNirImager::disconnectImager()
+{
+	m_ResononNirImager.disconnect();
+}
+
+void ResononNirImager::imagerStartCollect()
+{
+	m_ResononNirImager.start();
+}
+
+void ResononNirImager::imagerStopCollect()
+{
+	m_ResononNirImager.stop();
+}
+
+unsigned short* ResononNirImager::getFrame(unsigned short* buffer)
+{
+	m_ResononNirImager.get_frame(buffer);
+
+	return buffer;
+}
+
+void ResononNirImager::setSpectraBin(int new_spectral_bin)
+{
+
+}
+
+double ResononNirImager::auto_exposure()
+{
+	//<2F><>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>Ϊ<EFBFBD>ڵ<EFBFBD>ǰ֡<C7B0><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	double x = 1 / getFramerate() * 1000;//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>
+	reConnectImage();
+	setIntegrationTime(x);
+
+	//<2F>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>ѭ<EFBFBD><D1AD>Ѱ<EFBFBD><D1B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>
+	imagerStartCollect();
+
+	while (true)
+	{
+		getFrame(buffer);
+		if (GetMaxValue(buffer, m_FrameSize) >= 4095)
+		{
+			setIntegrationTime(getIntegrationTime() * 0.8);
+			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
+		}
+		else
+		{
+			break;
+		}
+	}
+
+	reConnectImage();
+	//imagerStopCollect();
+
+	//std::cout << "<22>Զ<EFBFBD><D4B6>ع⣺" << getIntegrationTime() << std::endl;
+
+	return getIntegrationTime();
+}
+
+double ResononNirImager::getWavelengthAtBand(int band)
+{
+	return m_ResononNirImager.get_wavelength_at_band(band);
+}
+
+int ResononNirImager::getBandCount()
+{
+	return m_ResononNirImager.get_band_count();
+}
+
+int ResononNirImager::getSampleCount()
+{
+	return m_ResononNirImager.get_sample_count();
+}
+
+void ResononNirImager::focus()
+{
+	m_iFocusFrameCounter = 1;
+	//std::cout << "<22><><EFBFBD><EFBFBD>-----------" << std::endl;
+
+	double tmpFrmerate = getFramerate();
+	double tmpIntegrationTime = getIntegrationTime();
+
+
+	setFramerate(5);
+	auto_exposure();
+	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
+
+	reConnectImage();
+	imagerStartCollect();
+
+	//emit SpectralSignal(1);
+	m_bFocusControlState = true;
+	while (m_bFocusControlState)
+	{
+		getFrame(buffer);
+		//m_RgbImage->FillFocusGrayImage(buffer);
+		m_RgbImage->FillFocusGrayQImage(buffer);
+
+		emit SpectralSignal(1);
+
+		++m_iFocusFrameCounter;
+	}
+	emit SpectralSignal(0);
+
+	imagerStopCollect();
+
+	reConnectImage();
+	setIntegrationTime(tmpIntegrationTime);
+
+	setFramerate(tmpFrmerate);//<2F><><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFA3AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFA3AC><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+}
+
+void ResononNirImager::record_dark()
+{
+	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	reConnectImage();
+	imagerStartCollect();
+
+	unsigned int* dark_tmp = new unsigned int[m_FrameSize];
+	std::fill(dark_tmp, dark_tmp + m_FrameSize, 0);
+
+	int counter = 50;
+	for (size_t i = 0; i < counter; i++)
+	{
+		getFrame(dark);
+
+		for (size_t j = 0; j < m_FrameSize; j++)
+		{
+			dark_tmp[j] = dark[j] + dark_tmp[j];
+		}
+	}
+
+	for (size_t j = 0; j < m_FrameSize; j++)
+	{
+		dark[j] = (unsigned short)(dark_tmp[j] / counter);
+	}
+	delete[] dark_tmp;
+
+	imagerStopCollect();
+
+	m_HasDark = true;
+
+	emit RecordDarlFinishSignal();
+}
+
+void ResononNirImager::record_white()
+{
+	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	reConnectImage();
+	imagerStartCollect();
+	
+	unsigned int* white_tmp = new unsigned int[m_FrameSize];
+	std::fill(white_tmp, white_tmp + m_FrameSize, 0);
+
+	int counter = 50;
+	for (size_t i = 0; i < counter; i++)
+	{
+		getFrame(white);
+
+		for (size_t j = 0; j < m_FrameSize; j++)
+		{
+			white_tmp[j] = white[j] + white_tmp[j];
+		}
+	}
+
+	for (size_t j = 0; j < m_FrameSize; j++)
+	{
+		white[j] = (unsigned short)(white_tmp[j] / counter);
+	}
+	delete[] white_tmp;
+
+	imagerStopCollect();
+
+	//<2F>װ<EFBFBD><D7B0>۰<EFBFBD><DBB0><EFBFBD><EFBFBD><EFBFBD>
+	if (m_HasDark)
+	{
+		for (size_t i = 0; i < m_FrameSize; i++)
+		{
+			if (white[i] < dark[i])
+			{
+				white[i] = 0;
+			}
+			else
+			{
+				white[i] = white[i] - dark[i];
+			}
+		}
+	}
+
+	m_HasWhite = true;
+
+	emit RecordWhiteFinishSignal();
+}
+
+void ResononNirImager::start_record()
+{
+	using namespace std;
+
+	//std::cout << "------------------------------------------------------" << std::endl;
+
+	m_iFrameCounter = 0;
+	m_RgbImage->m_iFrameCounter = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<62><CDBC><EFBFBD>ĵ<EFBFBD>0<EFBFBD><30>
+	m_bRecordControlState = true;
+
+	//<2F>ж<EFBFBD><D0B6>ڴ<EFBFBD>buffer<65>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	if (buffer == 0)
+	{
+		std::cerr << "Error: memory could not be allocated for datacube";
+		exit(EXIT_FAILURE);
+	}
+
+	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
+	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
+
+	size_t x;
+	double pixelValueTmp;
+
+	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
+	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
+
+	reConnectImage();//nir<69>ڶ<EFBFBD><DAB6>βɼ<CEB2>ʱ<EFBFBD><CAB1>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imagerStartCollect()<29>ᱨ<EFBFBD><E1B1A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	imagerStartCollect();
+	while (m_bRecordControlState)
+	{
+		m_iFrameCounter++;
+
+		getFrame(buffer);
+		long long timeOs = getNanosecondsSinceMidnight();
+		//qDebug() << "time ns-------------------: " << timeOs;
+
+		//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
+		if (m_HasDark)
+		{
+			for (size_t i = 0; i < m_FrameSize; i++)
+			{
+				if (buffer[i] < dark[i])
+				{
+					buffer[i] = 0;
+				}
+				else
+				{
+					buffer[i] = buffer[i] - dark[i];
+				}
+
+			}
+		}
+
+
+		//ת<><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		if (m_HasWhite)
+		{
+			for (size_t i = 0; i < m_FrameSize; i++)
+			{
+				//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壩Ϊ0<CEAA><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				if (white[i] != 0)
+				{
+					pixelValueTmp = buffer[i];
+					buffer[i] = (pixelValueTmp / white[i]) * 10000;
+				}
+				else
+				{
+					buffer[i] = 0;
+				}
+
+
+			}
+		}
+
+		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
+		fprintf(hTimesFile, "%lld\n", timeOs);
+
+		//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
+
+		//std::cout << "<22><>" << m_iFrameCounter << "֡д<D6A1><D0B4>" << x << "<22><>unsigned short<72><74>" << std::endl;
+
+		//ÿ<><C3BF>1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><CEBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
+		if (m_iFrameCounter % (int)getFramerate() == 0)
+		{
+			emit PlotSignal(m_iFrameCounter);
+		}
+
+		if (m_iFrameCounter >= m_iFrameNumber)
+		{
+			break;
+			//qDebug() << "<22><><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>";
+		}
+
+	}
+	imagerStopCollect();
+
+	m_bRecordControlState = false;
+	WriteHdr();
+	m_FileSavedCounter++;
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//m_RgbImage
+	emit PlotSignal(-1);//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ
+
+	if (m_iFrameCounter >= m_iFrameNumber)
+	{
+		emit RecordFinishedSignal_WhenFrameNumberMeet();
+	}
+	else
+	{
+		emit RecordFinishedSignal_WhenFrameNumberNotMeet();
+	}
+
+	//QThread::msleep(1001);
+	fclose(m_fImage);
+	fclose(hTimesFile);
+}
+
+void ResononNirImager::WriteHdr()
+{
+	//write an ENVI compatible header file
+	using namespace std;
+
+	string hdrPath = removeFileExtension(m_FileName2Save2) + ".hdr";
+
+	std::ofstream outfile(hdrPath.c_str());
+	outfile << "ENVI\n";
+	outfile << "interleave = bil\n";
+	outfile << "data type = 12\n";
+	outfile << "bit depth = 12\n";
+	outfile << "samples = " << getSampleCount() << "\n";
+	outfile << "bands = " << getBandCount() << "\n";
+	outfile << "lines = " << m_iFrameCounter << "\n";
+	outfile << "framerate = " << getFramerate() << "\n";
+	outfile << "shutter = " << getIntegrationTime() << "\n";
+	outfile << "gain = " << getGain() << "\n";
+	outfile << "wavelength = {";
+	outfile << std::setprecision(5);
+
+	int num_bands = getBandCount();
+	for (int i = 0; i < num_bands - 1; i++)
+	{
+		outfile << getWavelengthAtBand(i) << ", ";
+	}
+	outfile << getWavelengthAtBand(num_bands - 1) << "}\n";
+	outfile.close();
+}

HPPA/ResononNirImager.h

@@ -0,0 +1,53 @@
+#pragma once
+
+#include <string>
+#include <opencv2/core/core.hpp> 
+
+#include "ImagerOperationBase.h"
+#include "resonon_imager_allied.h"
+#include "image2display.h"
+#include "fileOperation.h"
+#include "utility_tc.h"
+
+class ResononNirImager :public ImagerOperationBase
+{
+public:
+	ResononNirImager();
+	~ResononNirImager();
+
+	Resonon::PikaAllied m_ResononNirImager;//
+
+	double getWavelengthAtBand(int band);
+	int getBandCount();
+	int getSampleCount();
+	double getFramerate();
+	double getIntegrationTime();
+	double getGain();
+	void setFramerate(const double frames_per_second);
+	void setIntegrationTime(const double milliseconds);
+	void setGain(const double gain);
+	int getStartBand();
+	int getEndBand();
+	void connectImager(const char* camera_sn = NULL);
+	void disconnectImager();
+	void imagerStartCollect();
+	void imagerStopCollect();
+	unsigned short* getFrame(unsigned short* buffer);
+	void setSpectraBin(int new_spectral_bin);
+
+	void WriteHdr();
+
+protected:
+private:
+	void reConnectImage();
+
+public slots:
+	double auto_exposure();
+	void focus();
+	void record_dark();
+	void record_white();
+	void start_record();
+	
+signals:
+	
+};

HPPA/RobotArmControl.cpp

@@ -0,0 +1,639 @@
+#include "RobotArmControl.h"
+
+RobotArmControl::RobotArmControl(QWidget* parent): QDialog(parent)
+{
+	ui.setupUi(this);
+    robotController = new RobotController(this);    
+
+	connect(ui.get_task_list_btn, SIGNAL(clicked()), this, SLOT(getTaskList()));
+    connect(ui.get_pose_btn, SIGNAL(clicked()), this, SLOT(getPose()));
+	connect(ui.connect2arm_btn, SIGNAL(clicked()), this, SLOT(connectRobotArm()));
+
+	connect(ui.execute_task_btn, SIGNAL(clicked()), this, SLOT(executeTaskWithoutHyperImager()));
+	connect(ui.pause_task_btn, SIGNAL(clicked()), this, SLOT(pauseTask()));
+    connect(ui.continue_task_btn, SIGNAL(clicked()), this, SLOT(continueTask()));
+
+    robotMonitor = new EC8056;
+    connect(robotMonitor, &EC8056::dataReceived, this, &RobotArmControl::monitorRobotArm);
+    
+
+    m_pModel = new QStringListModel(ui.taskList_listView);
+
+    ui.taskList_listView->setModel(m_pModel);
+}
+
+RobotArmControl::~RobotArmControl()
+{
+
+}
+
+void RobotArmControl::monitorRobotArm(const ECData& data)
+{
+    double x = data.machinePose[0];
+    double y = data.machinePose[1];
+    double z = data.machinePose[2];
+
+    ui.pose_x_label->setText(QString::number(x));
+    ui.pose_y_label->setText(QString::number(y));
+    ui.pose_z_label->setText(QString::number(z));
+}
+
+void RobotArmControl::onCommandResponse(QString str, const QJsonObject& response)
+{
+    //qDebug() << "response:" << response;
+
+    QString re;
+    if (response.contains("result"))
+    {
+        re = response["result"].toVariant().toString();
+        ui.textEdit->append(str + " Result: " + re);
+    }
+    else if (response.contains("error"))
+    {
+        //auto delete11 = response["error"].toObject();
+        //qDebug() << "response[\"error\"]:" << delete11;
+
+        auto errorStr = response["error"].toObject()["message"].toString();
+    
+        ui.textEdit->append(str + " Error: " + errorStr);
+    }
+}
+
+void RobotArmControl::getTaskList()
+{
+    FileOperation* fileOperation = new FileOperation();
+    string directory = fileOperation->getDirectoryOfExe();
+
+    QString pythonScript = QString::fromStdString(directory) + "\\get_jbi_filename.py";
+
+    QProcess process;
+
+    process.start("python.exe", QStringList() << pythonScript);
+    process.waitForFinished();
+    QString output = process.readAllStandardOutput();
+
+    QStringList files;
+    //files.append("tc20250324down.jbi");
+    //files.append("tc20250324circle.jbi");
+    //files.append("tc20250324side.jbi");
+    QStringList lines = output.split('\n', QString::SkipEmptyParts);
+    for (const QString& line : lines)
+    {
+        files.append(line.trimmed());
+    }
+
+    ////<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>Ȼ<EFBFBD><C8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    //for (size_t i = 0; i < files.length(); i++)
+    //{
+    //    int row = m_pModel->rowCount();
+    //    m_pModel->insertRow(row);
+    //    QModelIndex index = m_pModel->index(row);
+    //    m_pModel->setData(index, files[i]);
+    //}
+
+    m_pModel->setStringList(files);
+}
+
+void RobotArmControl::getPose()
+{
+    QJsonObject response;
+    bool x = robotController->getRobotPose(response);
+    onCommandResponse("getPose", response);
+}
+
+void RobotArmControl::connectRobotArm()
+{
+    bool re = robotController->connectToRobot("192.168.1.100");
+    robotMonitor->connectToHost("192.168.1.100");
+}
+
+void RobotArmControl::executeTaskWithHyperImager()
+{
+    QModelIndex index = ui.taskList_listView->currentIndex();
+    if (-1 == index.row())
+    {
+        //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>û<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>ļ<EFBFBD>
+        ui.textEdit->append("Please select file on the left!");
+        return;
+    }
+    QString fileName = index.data(Qt::DisplayRole).toString();
+
+    QJsonObject response;
+    bool x;
+
+    x = robotController->checkJbiExist(fileName, response);
+    onCommandResponse("checkJbiExist", response);
+    if (!x)
+    {
+        return;
+    }
+
+    x = robotController->setServoStatus(1, response);
+    onCommandResponse("setServoStatus", response);
+    if (!x)
+    {
+        return;
+    }
+
+    x = robotController->runJbi(fileName, response, true);
+    onCommandResponse("runJbi", response);
+    if (!x)
+    {
+        return;
+    }
+}
+
+void RobotArmControl::executeTaskWithoutHyperImager()
+{
+    QModelIndex index = ui.taskList_listView->currentIndex();
+    if (-1 == index.row())
+    {
+        //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>û<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>ļ<EFBFBD>
+        ui.textEdit->append("Please select file on the left!");
+        return;
+    }
+    QString fileName = index.data(Qt::DisplayRole).toString();
+
+    QJsonObject response;
+    bool x;
+
+    x = robotController->checkJbiExist(fileName, response);
+    onCommandResponse("checkJbiExist", response);
+    if (!x)
+    {
+        return;
+    }
+
+    x = robotController->setServoStatus(1, response);
+    onCommandResponse("setServoStatus", response);
+    if (!x)
+    {
+        return;
+    }
+
+    x = robotController->runJbi(fileName, response, false);
+    onCommandResponse("runJbi", response);
+    if (!x)
+    {
+        return;
+    }
+}
+
+void RobotArmControl::pauseTask()
+{
+    QJsonObject response;
+    bool x;
+
+    x = robotController->pauseTask(response);
+    onCommandResponse("pauseTask", response);
+}
+
+void RobotArmControl::continueTask()
+{
+    QJsonObject response;
+    bool x;
+
+    x = robotController->continueTask(response);
+    onCommandResponse("continueTask", response);
+}
+
+
+
+
+
+
+RobotController::RobotController(QObject* parent) : QObject(parent), socket(new QTcpSocket(this))
+{
+    //connect(socket, &QTcpSocket::readyRead, this, &RobotController::onReadyRead);
+
+    m_timer = new QTimer(this);
+    connect(m_timer, SIGNAL(timeout()), this, SLOT(getPoint()));
+}
+
+RobotController::~RobotController()
+{
+    disconnectFromRobot();
+}
+
+bool RobotController::connectToRobot(const QString& ip, quint16 port)
+{
+    socket->setProxy(QNetworkProxy::NoProxy);
+
+    socket->connectToHost(ip, port);
+
+    if (!socket->waitForConnected(3000)) {
+        qDebug() << "Connection failed:" << socket->errorString();
+        return false;
+    }
+    qDebug() << "Connected successfully!";
+
+    return true;
+}
+
+void RobotController::disconnectFromRobot()
+{
+    if (socket->isOpen())
+    {
+        socket->close();
+    }
+}
+
+bool RobotController::processResponse(QJsonObject response, QString& result)
+{
+    //qDebug() << "response:" << response;
+
+    if (response.contains("result"))
+    {
+        result = response["result"].toVariant().toString();
+
+        //qDebug() << "result1:" << result;
+
+        return true;
+    }
+    else if (response.contains("error"))
+    {
+        result = response["error"].toObject()["message"].toString();
+        //qDebug() << "result2:" << result;
+
+        return false;
+    }
+}
+
+bool RobotController::processResponse_getJbiState(QJsonObject response, QString& result)
+{
+    //qDebug() << "response:" << response;
+
+    if (response.contains("result"))
+    {
+        QString resultStr = response["result"].toString();
+
+        QJsonDocument resultDoc = QJsonDocument::fromJson(resultStr.toUtf8());
+        QJsonObject resultObj = resultDoc.object();
+        //qDebug() << "resultObj:" << resultObj;
+
+        int runState = resultObj["runState"].toInt();
+        //qDebug() << "runState:" << runState;
+
+        result = QString::number(runState);
+        //qDebug() << "result:" << result;
+
+        return true;
+    }
+    else if (response.contains("error"))
+    {
+        result = response["error"].toObject()["message"].toString();
+
+        return false;
+    }
+}
+
+void RobotController::getPoint()
+{
+    QJsonObject response;
+    getJbiState(response);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
+    QString result;
+    bool x = processResponse_getJbiState(response, result);
+    //qDebug() << "getJbiState:" << result;
+
+    if (result.toInt() != 3)
+    {
+        m_timer->stop();
+
+        m_iCurrentJbiJobLine = 0;
+        m_iFileCounter = 0;
+
+        //<2F><><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
+        emit hsiRecordSignal(-1);
+
+        return;
+    }
+
+    QJsonObject response2;
+    getCurrentJobLine(response2);
+    QString result2;
+    bool x2 = processResponse(response2, result2);
+
+    int m_iCurrentJbiJobLine_tmp = result2.toInt();
+    
+
+    if (m_iCurrentJbiJobLine_tmp != m_iCurrentJbiJobLine)
+    {
+        m_iFileCounter++;
+
+        qDebug() << "Changed! CurrentJobLine:" << m_iCurrentJbiJobLine_tmp;
+        //<2F><><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
+        emit hsiRecordSignal(-1);
+
+        m_iCurrentJbiJobLine = m_iCurrentJbiJobLine_tmp;
+
+        //<2F><><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>
+        emit hsiRecordSignal(m_iFileCounter);
+    }
+}
+
+void RobotController::sendCommand(const QString& cmd, const QJsonValue& params, int id)
+{
+    QJsonObject request;
+    request["method"] = cmd;
+    request["params"] = params;
+    request["jsonrpc"] = "2.0";
+    request["id"] = id;
+
+    QJsonDocument doc(request);
+    QByteArray data = doc.toJson(QJsonDocument::Compact) + "\n";
+    //qDebug() << "send command:" << data.constData();
+
+    socket->write(data);
+    socket->waitForBytesWritten();
+}
+
+bool RobotController::onReadyRead(QJsonObject& re)
+{
+    QByteArray data = socket->readAll();
+    QJsonDocument doc = QJsonDocument::fromJson(data);
+    if (!doc.isNull() && doc.isObject())
+    {
+        re = doc.object();
+        //qDebug() << "Received all:" << re;
+
+        if (re.contains("result"))
+        {
+            //qDebug() << "Received result:" << re["result"].toVariant();
+            return true;
+        }
+        else if (re.contains("error"))
+        {
+            //qDebug() << "Received error:" << re["error"];
+            return false;
+        }
+
+        //emit commandResponse(true, doc.object());
+    }
+    else
+    {
+        //emit commandResponse(false, QJsonObject());
+
+        re = QJsonObject();
+        return false;
+    }
+}
+
+bool RobotController::getRobotPose(QJsonObject& re)
+{
+    sendCommand("getRobotPose");
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+bool RobotController::getRobotState(QJsonObject& re)
+{
+    sendCommand("getRobotState");
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+bool RobotController::getJbiState(QJsonObject& re)
+{
+    sendCommand("getJbiState");
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+bool RobotController::getCurrentJobLine(QJsonObject& re)
+{
+    sendCommand("getCurrentJobLine");
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+bool RobotController::getRobotMode(QJsonObject& re)
+{
+    sendCommand("getRobotMode");
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+bool RobotController::checkJbiExist(const QString& jbiFilename, QJsonObject& re)
+{
+    QJsonObject paramsRunJbi;
+    paramsRunJbi["filename"] = jbiFilename;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
+
+    sendCommand("checkJbiExist", paramsRunJbi);
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+bool RobotController::setServoStatus(int status, QJsonObject& re)
+{
+    QJsonObject params_set_servo_status;
+    params_set_servo_status["status"] = status;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
+
+    sendCommand("set_servo_status", params_set_servo_status);
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+bool RobotController::runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi)
+{
+    QJsonObject paramsRunJbi;
+    paramsRunJbi["filename"] = jbiFilename;//ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>ṹ
+
+    sendCommand("runJbi", paramsRunJbi);
+    socket->waitForReadyRead(m_iTimeout);
+
+    if (isRecordHsi)
+    {
+        m_timer->start(1000);
+    }
+
+    return onReadyRead(re);
+}
+
+bool RobotController::pauseTask(QJsonObject& re)
+{
+    sendCommand("pause");
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+bool RobotController::run(QJsonObject& re)
+{
+    sendCommand("run");
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+bool RobotController::continueTask(QJsonObject& re)
+{
+    sendCommand("run");
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+bool RobotController::setRobotPowerStatus(int status, QJsonObject& re)
+{
+    sendCommand("set_robot_power_status", QJsonArray{ status });
+    socket->waitForReadyRead(m_iTimeout);
+
+    return onReadyRead(re);
+}
+
+
+
+
+
+
+
+
+EC8056::EC8056(QObject* parent) : QObject(parent), socket(new QTcpSocket(this))
+{
+    connect(socket, &QTcpSocket::readyRead, this, &EC8056::onReadyRead);
+    /*connect(socket, QOverload<QAbstractSocket::SocketError>::of(&QTcpSocket::errorOccurred),
+        this, &EC8056::onSocketError);*/
+    //connect(socket, SIGNAL(error(QAbstractSocket::SocketError)),
+    //    this, SLOT(onSocketError(QAbstractSocket::SocketError)));
+}
+
+void EC8056::connectToHost(const QString& host, quint16 port)
+{
+    socket->setProxy(QNetworkProxy::NoProxy);
+
+    socket->connectToHost(QHostAddress(host), port);
+
+    if (!socket->waitForConnected(3000)) {
+        qDebug() << "Connection failed:" << socket->errorString();
+        return;
+    }
+    qDebug() << "Connected successfully!";
+}
+
+quint8 EC8056::readUInt8(const QByteArray& buf, int& offset)
+{
+    return static_cast<quint8>(buf[offset++]);
+}
+
+quint32 EC8056::readUInt32(const QByteArray& buf, int& offset)
+{
+    quint32 val;
+    memcpy(&val, buf.constData() + offset, sizeof(val));
+    offset += sizeof(val);
+    return qFromBigEndian(val);
+}
+
+qint32 EC8056::readInt32(const QByteArray& buf, int& offset)
+{
+    qint32 val;
+    memcpy(&val, buf.constData() + offset, sizeof(val));
+    offset += sizeof(val);
+    return qFromBigEndian(val);
+}
+
+quint64 EC8056::readUInt64(const QByteArray& buf, int& offset)
+{
+    quint64 val;
+    memcpy(&val, buf.constData() + offset, sizeof(val));
+    offset += sizeof(val);
+    return qFromBigEndian(val);
+}
+
+double EC8056::readDouble(const QByteArray& buf, int& offset)
+{
+    QByteArray b = buf.mid(offset, sizeof(double));
+    offset += sizeof(double);
+    if (QSysInfo::ByteOrder == QSysInfo::LittleEndian)
+        std::reverse(b.begin(), b.end());
+
+    double val;
+    memcpy(&val, b.constData(), sizeof(double));
+    return val;
+}
+
+void EC8056::onReadyRead()
+{
+    buffer.append(socket->readAll());
+
+    if (buffer.size() < 1024)
+        return;
+
+    int offset = 0;
+    ECData data;
+
+    data.msgSize = readUInt32(buffer, offset);
+    offset = 1020;
+    data.matchingWord = readUInt32(buffer, offset);
+
+    if ((data.msgSize == 1024)/* && (data.matchingWord == 3967833836)*/)
+    {
+        offset = 0;
+
+        data.msgSize = readUInt32(buffer, offset);
+        data.timeStamp = readUInt64(buffer, offset);
+        data.auto_cycle = readUInt8(buffer, offset);
+
+        for (int i = 0; i < 8; ++i) data.machinePos[i] = readDouble(buffer, offset);
+        for (int i = 0; i < 6; ++i) data.machinePose[i] = readDouble(buffer, offset);
+        for (int i = 0; i < 6; ++i) data.machineUserPose[i] = readDouble(buffer, offset);
+        for (int i = 0; i < 8; ++i) data.torque[i] = readDouble(buffer, offset);
+
+        data.robotState = readUInt32(buffer, offset);
+        data.servoReady = readUInt32(buffer, offset);
+        data.can_motor_run = readUInt32(buffer, offset);
+
+        for (int i = 0; i < 8; ++i) data.motor_speed[i] = readInt32(buffer, offset);
+
+        data.robotMode = readUInt32(buffer, offset);
+
+        for (int i = 0; i < 3; ++i) data.analog_ioInput[i] = readDouble(buffer, offset);
+        for (int i = 0; i < 5; ++i) data.analog_ioOutput[i] = readDouble(buffer, offset);
+
+        data.digital_ioInput = readUInt64(buffer, offset);
+        data.digital_ioOutput = readUInt64(buffer, offset);
+
+        data.collision = readUInt8(buffer, offset);
+
+        for (int i = 0; i < 6; ++i) data.machineFlangePose[i] = readDouble(buffer, offset);
+        for (int i = 0; i < 6; ++i) data.machineUserFlangePose[i] = readDouble(buffer, offset);
+
+        data.emergencyStopState = readUInt8(buffer, offset);
+        data.tcpSpeed = readDouble(buffer, offset);
+        for (int i = 0; i < 8; ++i) data.joIntSpeed[i] = readDouble(buffer, offset);
+        data.tcpAcc = readDouble(buffer, offset);
+        for (int i = 0; i < 8; ++i) data.joIntAcc[i] = readDouble(buffer, offset);
+        for (int i = 0; i < 6; ++i) data.joIntTemperature[i] = readDouble(buffer, offset);
+        for (int i = 0; i < 6; ++i) data.joIntTorque[i] = readDouble(buffer, offset);
+        for (int i = 0; i < 6; ++i) data.extJoIntTorques[i] = readDouble(buffer, offset);
+        for (int i = 0; i < 6; ++i) data.exTcpForceIntool[i] = readDouble(buffer, offset);
+
+        data.dragState = readUInt8(buffer, offset);
+        data.sensor_connected_state = readUInt8(buffer, offset);
+        data.reserved = readUInt8(buffer, offset);
+        data.matchingWord = readUInt32(buffer, offset);
+
+        /*if (data.msgSize != 1024 || data.matchingWord != 0xec8056ec) {
+            buffer.clear();
+            emit errorOccurred("Invalid packet received");
+            return;
+        }*/
+
+        emit dataReceived(data);
+    }
+
+    
+    buffer.clear();
+}
+
+void EC8056::onSocketError(QAbstractSocket::SocketError socketError)
+{
+    Q_UNUSED(socketError)
+        emit errorOccurred(socket->errorString());
+}

HPPA/RobotArmControl.h

@@ -0,0 +1,164 @@
+#pragma once
+#include <qdialog.h>
+#include <QTcpSocket>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QJsonArray>
+#include <QDebug>
+#include <QThread>
+#include <QNetworkProxy>
+#include <QtEndian>
+#include <QNetworkAccessManager>
+#include <QNetworkReply>
+#include <QAuthenticator>
+#include <QDebug>
+#include <QRegularExpression>
+#include <QProcess>
+#include <QStringListModel>
+#include <QTimer>
+
+#include "ui_RobotArmControl.h"
+#include "fileOperation.h"
+
+
+struct ECData
+{
+    quint32 msgSize;
+    quint64 timeStamp;
+    quint8 auto_cycle;
+    double machinePos[8];//<2F>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>
+    double machinePose[6];//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    double machineUserPose[6];//<2F>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
+    double torque[8];//<2F>ؽڶ<DAB6><EEB6A8><EFBFBD>ذٷֱ<D9B7>
+    quint32 robotState;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
+    quint32 servoReady;//<2F>ŷ<EFBFBD>ʹ<EFBFBD><CAB9>״̬
+    quint32 can_motor_run;//ͬ<><CDAC>״̬
+    qint32 motor_speed[8];//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
+    quint32 robotMode;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
+    double analog_ioInput[3];//ģ<><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    double analog_ioOutput[5];//ģ<><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    quint64 digital_ioInput;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<DDB5><C4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
+    quint64 digital_ioOutput;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<DDB5><C4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
+    quint8 collision;//<2F><>ײ<EFBFBD><D7B2><EFBFBD><EFBFBD>״̬
+    double machineFlangePose[6];//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<C2B5><C4B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
+    double machineUserFlangePose[6];//<2F>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<C2B5><C4B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
+    quint8 emergencyStopState;//<2F><>ǰ<EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ڼ<EFBFBD>ͣ״̬
+    double tcpSpeed;//tcp<63>˶<EFBFBD><CBB6>ٶ<EFBFBD>
+    double joIntSpeed[8];//<2F>ؽ<EFBFBD><D8BD>˶<EFBFBD><CBB6>¸<EFBFBD><C2B8>ؽ<EFBFBD><D8BD>˶<EFBFBD><CBB6>ٶ<EFBFBD>
+    double tcpAcc;//tcp<63><70><EFBFBD>ٶ<EFBFBD>
+    double joIntAcc[8];//<2F>ؽ<EFBFBD><D8BD>˶<EFBFBD><CBB6>¸<EFBFBD><C2B8>ؽڼ<D8BD><DABC>ٶ<EFBFBD>
+    double joIntTemperature[6];//<2F>¶<EFBFBD>
+    double joIntTorque[6];//<2F><><EFBFBD><EFBFBD>Ť<EFBFBD><C5A4>
+    double extJoIntTorques[6];//<2F>ⲿ<EFBFBD>ؽ<EFBFBD>Ť<EFBFBD><C5A4>ֵ
+    double exTcpForceIntool[6];//<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µ<EFBFBD><C2B5>ⲿĩ<E2B2BF><C4A9><EFBFBD><EFBFBD>/<2F><><EFBFBD>ع<EFBFBD><D8B9><EFBFBD>ֵ
+    quint8 dragState;//<2F>϶<EFBFBD>ʹ<EFBFBD><CAB9>״̬
+    quint8 sensor_connected_state;//<2F><><EFBFBD>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
+    quint8 reserved;
+    quint32 matchingWord;
+};
+
+class EC8056 : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit EC8056(QObject* parent = nullptr);
+    void connectToHost(const QString& host, quint16 port= 8056);
+
+signals:
+    void dataReceived(const ECData& data);
+    void errorOccurred(const QString& error);
+
+private slots:
+    void onReadyRead();
+    void onSocketError(QAbstractSocket::SocketError socketError);
+
+private:
+    QTcpSocket* socket;
+    QByteArray buffer;
+
+    double readDouble(const QByteArray& buf, int& offset);
+    quint64 readUInt64(const QByteArray& buf, int& offset);
+    quint32 readUInt32(const QByteArray& buf, int& offset);
+    qint32 readInt32(const QByteArray& buf, int& offset);
+    quint8 readUInt8(const QByteArray& buf, int& offset);
+};
+
+class RobotController : public QObject
+{
+    Q_OBJECT
+public:
+    explicit RobotController(QObject* parent = nullptr);
+    ~RobotController();
+
+    bool connectToRobot(const QString& ip, quint16 port = 8055);
+    void disconnectFromRobot();
+    void sendCommand(const QString& cmd, const QJsonValue& params = QJsonArray(), int id = 1);
+    bool processResponse(QJsonObject response, QString& re);
+    bool processResponse_getJbiState(QJsonObject response, QString& result);
+
+    bool getRobotPose(QJsonObject& re);
+    bool getRobotState(QJsonObject& re);//ֹͣ״̬ 0<><30><EFBFBD><EFBFBD>ͣ״̬ 1<><31><EFBFBD><EFBFBD>ͣ״̬ 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 3<><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 4<><34><EFBFBD><EFBFBD>ײ״̬ 5
+    bool getJbiState(QJsonObject& re);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
+    bool getCurrentJobLine(QJsonObject& re);
+    bool getRobotMode(QJsonObject& re);//ʾ<><CABE>ģʽ 0<><30><EFBFBD>Զ<EFBFBD>ģʽ 1<><31>Զ<EFBFBD><D4B6>ģʽ 2
+    bool checkJbiExist(const QString& jbiFilename, QJsonObject& re);
+    bool setServoStatus(int status, QJsonObject& re);
+    bool runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi);
+    bool pauseTask(QJsonObject& re);
+    bool run(QJsonObject& re);
+    bool continueTask(QJsonObject& re);
+    bool setRobotPowerStatus(int status, QJsonObject& re);
+
+    bool onReadyRead(QJsonObject& re);
+
+private:
+    QTcpSocket* socket;
+
+    QTimer* m_timer;
+    int m_iTimeout = 3000;
+    int m_iCurrentJbiJobLine = 0;
+    int m_iFileCounter = 0;
+
+signals:
+    void commandResponse(bool success, const QJsonObject& response);
+    void hsiRecordSignal(int);
+
+private slots:
+    void getPoint();
+};
+
+class RobotArmControl : public QDialog
+{
+	Q_OBJECT
+
+public:
+	RobotArmControl(QWidget* parent = nullptr);
+	~RobotArmControl();
+    RobotController* robotController;
+
+    void onCommandResponse(QString str, const QJsonObject& response);
+
+public Q_SLOTS:
+    
+    void getTaskList();
+    void getPose();
+
+    void connectRobotArm();
+    void executeTaskWithHyperImager();
+    void executeTaskWithoutHyperImager();
+    void pauseTask();
+    void continueTask();
+
+    void monitorRobotArm(const ECData& data);
+
+signals:
+	//void Opened();
+	//void Closed();
+
+private:
+	Ui::RobotArmControl_UI ui;
+
+    EC8056* robotMonitor;
+    QStringListModel* m_pModel;
+};

HPPA/RobotArmControl.ui

@@ -0,0 +1,138 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>RobotArmControl_UI</class>
+ <widget class="QDialog" name="RobotArmControl_UI">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>424</width>
+    <height>364</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_3">
+   <item row="2" column="1">
+    <widget class="QPushButton" name="pause_task_btn">
+     <property name="text">
+      <string>暂停任务</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1">
+    <widget class="QPushButton" name="connect2arm_btn">
+     <property name="text">
+      <string>连接机械臂</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1">
+    <widget class="QPushButton" name="execute_task_btn">
+     <property name="text">
+      <string>执行任务</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="1">
+    <widget class="QPushButton" name="get_pose_btn">
+     <property name="text">
+      <string>获取pose</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="1">
+    <widget class="QPushButton" name="continue_task_btn">
+     <property name="text">
+      <string>继续任务</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="1">
+    <widget class="QTextEdit" name="textEdit"/>
+   </item>
+   <item row="0" column="0" rowspan="6">
+    <widget class="QFrame" name="frame_2">
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>0</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="get_task_list_btn">
+        <property name="text">
+         <string>获取任务列表</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QListView" name="taskList_listView"/>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="6" column="0" colspan="2">
+    <widget class="QFrame" name="frame">
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="2">
+       <widget class="QLabel" name="pose_z_label">
+        <property name="text">
+         <string>z</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="pose_x_label">
+        <property name="text">
+         <string>x</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="pose_y_label">
+        <property name="text">
+         <string>y</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

HPPA/about.ui

@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>753</width>
-    <height>490</height>
+    <width>629</width>
+    <height>463</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -25,7 +25,7 @@
     <rect>
      <x>90</x>
      <y>250</y>
-     <width>578</width>
+     <width>434</width>
      <height>134</height>
     </rect>
    </property>
@@ -65,12 +65,12 @@
     <rect>
      <x>270</x>
      <y>150</y>
-     <width>108</width>
+     <width>141</width>
      <height>24</height>
     </rect>
    </property>
    <property name="text">
-    <string>版本：1.5</string>
+    <string>版本：1.9.0</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_4">

HPPA/adjustTable.cpp

@@ -0,0 +1,87 @@
+#include "adjustTable.h"
+
+adjustTable::adjustTable(QWidget *parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	connect(ui.objective_table1_up_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable1Up_btn()));
+	connect(ui.objective_table1_down_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable1Down_btn()));
+	connect(ui.objective_table1_stop_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable1Stop_btn()));
+
+	connect(ui.objective_table2_up_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Up_btn()));
+	connect(ui.objective_table2_down_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Down_btn()));
+	connect(ui.objective_table2_stop_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable2Stop_btn()));
+
+	connect(ui.objective_table252_up_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable252Up_btn()));
+	connect(ui.objective_table252_down_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable252Down_btn()));
+	connect(ui.objective_table252_stop_btn, SIGNAL(clicked()), this, SLOT(onObjectivTable252Stop_btn()));
+}
+
+adjustTable::~adjustTable()
+{}
+
+void adjustTable::getRequest(QString str)
+{
+	QNetworkRequest request;
+	QNetworkAccessManager* naManager = new QNetworkAccessManager(this);
+	QMetaObject::Connection connRet = QObject::connect(naManager, SIGNAL(finished(QNetworkReply*)), this, SLOT(requestFinished(QNetworkReply*)));
+	Q_ASSERT(connRet);
+
+	request.setUrl(QUrl(str));
+	QNetworkReply* reply = naManager->get(request);
+}
+
+void adjustTable::onObjectivTable1Up_btn()
+{
+	QString xx = "http://192.168.1.253/set_up";
+	getRequest(xx);
+}
+
+void adjustTable::onObjectivTable1Down_btn()
+{
+	QString xx = "http://192.168.1.253/set_down";
+	getRequest(xx);
+}
+
+void adjustTable::onObjectivTable1Stop_btn()
+{
+	QString xx = "http://192.168.1.253/stopnow";
+	getRequest(xx);
+}
+
+void adjustTable::onObjectivTable2Up_btn()
+{
+	QString xx = "http://192.168.1.254/set_up";
+	getRequest(xx);
+}
+
+void adjustTable::onObjectivTable2Down_btn()
+{
+	QString xx = "http://192.168.1.254/set_down";
+	getRequest(xx);
+}
+
+void adjustTable::onObjectivTable2Stop_btn()
+{
+	QString xx = "http://192.168.1.254/stopnow";
+	getRequest(xx);
+}
+
+void adjustTable::onObjectivTable252Up_btn()
+{
+	QString xx = "http://192.168.1.252/set_up";
+	getRequest(xx);
+}
+
+void adjustTable::onObjectivTable252Down_btn()
+{
+	QString xx = "http://192.168.1.252/set_down";
+	getRequest(xx);
+}
+
+void adjustTable::onObjectivTable252Stop_btn()
+{
+	QString xx = "http://192.168.1.252/stopnow";
+	getRequest(xx);
+}

HPPA/adjustTable.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+
+#include "ui_adjustTable.h"
+
+class adjustTable : public QDialog
+{
+	Q_OBJECT
+
+public:
+	adjustTable(QWidget *parent = nullptr);
+	~adjustTable();
+
+
+public Q_SLOTS:
+	void onObjectivTable1Up_btn();
+	void onObjectivTable1Down_btn();
+	void onObjectivTable1Stop_btn();
+	void onObjectivTable2Up_btn();
+	void onObjectivTable2Down_btn();
+	void onObjectivTable2Stop_btn();
+
+	void onObjectivTable252Up_btn();
+	void onObjectivTable252Down_btn();
+	void onObjectivTable252Stop_btn();
+
+private:
+	Ui::adjustTableClass ui;
+
+	void getRequest(QString str);
+};

HPPA/adjustTable.ui

@@ -0,0 +1,166 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>adjustTableClass</class>
+ <widget class="QDialog" name="adjustTableClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>687</width>
+    <height>389</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>adjustTable</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <widget class="QGroupBox" name="groupBox_8">
+     <property name="title">
+      <string>252号升降台</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_10">
+      <item row="0" column="0">
+       <widget class="QPushButton" name="objective_table252_up_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>上升</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QPushButton" name="objective_table252_down_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>下降</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QPushButton" name="objective_table252_stop_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>停止</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="0" column="1">
+    <widget class="QGroupBox" name="groupBox_7">
+     <property name="title">
+      <string>253号升降台</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_11">
+      <item row="0" column="0">
+       <widget class="QPushButton" name="objective_table1_up_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>上升</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QPushButton" name="objective_table1_down_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>下降</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QPushButton" name="objective_table1_stop_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>停止</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="0" column="2">
+    <widget class="QGroupBox" name="groupBox_6">
+     <property name="title">
+      <string>254号升降台</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_9">
+      <item row="0" column="0">
+       <widget class="QPushButton" name="objective_table2_up_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>上升</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QPushButton" name="objective_table2_down_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>下降</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QPushButton" name="objective_table2_stop_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>停止</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/fileOperation.h

@@ -17,7 +17,7 @@ public:
 	~FileOperation();
 
 	string getDirectoryOfExe();//getDirectoryOfExe
-	string getDirectoryFromString(string directory="C:/HPPA_image");
+	string getDirectoryFromString(string directory="C:\\HPPA_image");
 
 
 	

HPPA/focusWindow.cpp

@@ -1,7 +1,7 @@
 #include "stdafx.h"
 #include "focusWindow.h"
 
-focusWindow::focusWindow(QWidget *parent, ResononImager * imager)
+focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 {
 	ui.setupUi(this);
 
@@ -77,12 +77,12 @@ bool test(void *pCaller, int *x, int *y, void **pvdata)
 {
 	focusWindow *p = (focusWindow *)pCaller;
 
-	p->m_Imager->GetImageSize(*x, *y);
+	p->m_Imager->GetFrameSize(*x, *y);
 	USHORT *pusData = new USHORT[(*x)*(*y)];
 	
-	p->m_Imager->m_ResononImager.start();
-	p->m_Imager->m_ResononImager.get_frame(pusData);
-	p->m_Imager->m_ResononImager.stop();
+	p->m_Imager->imagerStartCollect();
+	p->m_Imager->getFrame(pusData);
+	p->m_Imager->imagerStopCollect();
 
 
 	BYTE *pbData = (BYTE*)pusData;

HPPA/focusWindow.h

@@ -25,6 +25,7 @@
 
 #include "hppaConfigFile.h"
 #include "path_tc.h"
+#include "ImagerOperationBase.h"
 
 class focusWindow:public QDialog
 {
@@ -32,10 +33,10 @@ class focusWindow:public QDialog
 
 public:
 	focusWindow(QWidget *parent = Q_NULLPTR);
-	focusWindow(QWidget *parent, ResononImager * imager);
+	focusWindow(QWidget *parent, ImagerOperationBase* imager);
 	~focusWindow();
 
-	ResononImager * m_Imager;
+	ImagerOperationBase* m_Imager;
 
 
 private:

HPPA/hppaConfigFile.cpp

@@ -155,7 +155,7 @@ bool Configfile::getAutoFocusRange(int& max, int& min)
     return true;
 }
 
-bool Configfile::getXMotorParm(float& StepAnglemar, float& Lead, int& SubdivisionMultiples, float& ScaleFactor)
+bool Configfile::getXMotorParm(float& StepAnglemar, float& Lead, int& SubdivisionMultiples, float& ScaleFactor, float& MaxRange)
 {
     const Setting& root = cfg.getRoot();
 
@@ -170,6 +170,7 @@ bool Configfile::getXMotorParm(float& StepAnglemar, float& Lead, int& Subdivisio
         if (!(x.lookupValue("StepAnglemar", StepAnglemar)
             && x.lookupValue("Lead", Lead) && x.lookupValue("SubdivisionMultiples", SubdivisionMultiples) 
             && x.lookupValue("ScaleFactor", ScaleFactor)
+            && x.lookupValue("MaxRange", MaxRange)
             ))
         {
             return false;
@@ -184,7 +185,7 @@ bool Configfile::getXMotorParm(float& StepAnglemar, float& Lead, int& Subdivisio
     return true;
 }
 
-bool Configfile::getYMotorParm(float& StepAnglemar, float& Lead, int& SubdivisionMultiples, float& ScaleFactor)
+bool Configfile::getYMotorParm(float& StepAnglemar, float& Lead, int& SubdivisionMultiples, float& ScaleFactor, float& MaxRange)
 {
     const Setting& root = cfg.getRoot();
 
@@ -199,6 +200,7 @@ bool Configfile::getYMotorParm(float& StepAnglemar, float& Lead, int& Subdivisio
         if (!(y.lookupValue("StepAnglemar", StepAnglemar)
             && y.lookupValue("Lead", Lead) && y.lookupValue("SubdivisionMultiples", SubdivisionMultiples)
             && y.lookupValue("ScaleFactor", ScaleFactor)
+            && y.lookupValue("MaxRange", MaxRange)
             ))
         {
             return false;
@@ -213,6 +215,43 @@ bool Configfile::getYMotorParm(float& StepAnglemar, float& Lead, int& Subdivisio
     return true;
 }
 
+bool Configfile::setMaxRange(float maxRange, QString x_y)
+{
+    const Setting& root = cfg.getRoot();
+    try
+    {
+        Setting& _maxRange = root["motionPlatform"][x_y.toStdString()]["MaxRange"];
+        _maxRange = maxRange;
+
+        writeConfig2File();
+
+        return true;
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        cerr << "No 'MaxRange' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool Configfile::writeConfig2File()
+{
+    try
+    {
+        QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
+        bool ret = createDir(fileInfo[0]);
+
+        cfg.writeFile(m_configfilePath.c_str());
+        //        cerr << "New configuration successfully written to: " << m_configfilePath.c_str() << endl;
+    }
+    catch (const FileIOException& fioex)
+    {
+        cerr << "I/O error while writing configuration file: " << m_configfilePath.c_str() << endl;
+        return false;
+    }
+    return true;
+}
+
 bool Configfile::getSN(string &SN)
 {
     try
@@ -264,12 +303,14 @@ bool Configfile::createConfigFile()
 
     Setting& x_StepAnglemar = x.add("StepAnglemar", Setting::TypeFloat) = 1.8;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
     Setting& x_Lead = x.add("Lead", Setting::TypeFloat) = 13.5;//<2F><><EFBFBD>̣<EFBFBD><CCA3><EFBFBD>λ<EFBFBD><CEBB>cm
-    Setting& x_SubdivisionMultiples = x.add("SubdivisionMultiples", Setting::TypeInt) = 128;//ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>
+    Setting& x_SubdivisionMultiples = x.add("SubdivisionMultiples", Setting::TypeInt) = 7;//ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>
     Setting& x_ScaleFactor = x.add("ScaleFactor", Setting::TypeFloat) = 1.0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    Setting& x_MaxRange = x.add("MaxRange", Setting::TypeFloat) = 120.0;
     Setting& y_StepAnglemar = y.add("StepAnglemar", Setting::TypeFloat) = 1.8;
     Setting& y_Lead = y.add("Lead", Setting::TypeFloat) = 13.5;
-    Setting& y_SubdivisionMultiples = y.add("SubdivisionMultiples", Setting::TypeInt) = 128;
+    Setting& y_SubdivisionMultiples = y.add("SubdivisionMultiples", Setting::TypeInt) = 7;
     Setting& y_ScaleFactor = y.add("ScaleFactor", Setting::TypeFloat) = 0.2;
+    Setting& y_MaxRange = y.add("MaxRange", Setting::TypeFloat) = 120.0;
 
     // Write out the new configuration.
     try
@@ -356,3 +397,529 @@ bool Configfile::updateConfigFile()
 
     return true;
 }
+
+
+
+
+CorningConfigfile::CorningConfigfile()
+{
+
+}
+
+void CorningConfigfile::setConfigfilePath(string configfilePath)
+{
+    m_configfilePath = configfilePath;
+}
+
+bool CorningConfigfile::isConfigfileExist()
+{
+    QFileInfo info(QString::fromStdString(m_configfilePath));
+
+    return info.exists();
+}
+
+bool CorningConfigfile::parseConfigfile()
+{
+    // Read the file. If there is an error, report it and exit.
+    try
+    {
+        cfg.readFile(m_configfilePath);
+
+        return true;
+    }
+    catch (const FileIOException& fioex)
+    {
+        std::cerr << "I/O error while reading file." << std::endl;
+        return false;
+    }
+    catch (const ParseException& pex)
+    {
+        std::cerr << "Parse error at " << pex.getFile() << ":" << pex.getLine()
+            << " - " << pex.getError() << std::endl;
+        return false;
+    }
+}
+
+bool CorningConfigfile::getSpectralBin(int& spectralBin)
+{
+    try
+    {
+        spectralBin = cfg.lookup("spectralBin");
+
+        return true;
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool CorningConfigfile::getspatialBin(int& spatialBin)
+{
+    try
+    {
+        spatialBin = cfg.lookup("spatialBin");
+
+        return true;
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        cerr << "No 'spatialBin' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool CorningConfigfile::getEffectiveWindow(int& width, int& offsetx, int& height, int& offsety)
+{
+    const Setting& root = cfg.getRoot();
+
+    try
+    {
+        int spatialBin;
+        int spectralBin;
+        getspatialBin(spatialBin);
+        getSpectralBin(spectralBin);
+
+        string spatialBinString;
+        if (spatialBin == 1)
+        {
+            spatialBinString = "bin1";
+        }
+        else
+        {
+            spatialBinString = "bin2";
+        }
+        const Setting& spatialArgument = root["effective_window"][spatialBinString]["spatial"];
+        if (!(spatialArgument.lookupValue("width", width)
+            && spatialArgument.lookupValue("offsetx", offsetx)))
+        {
+            return false;
+        }
+
+        string spectralBinString;
+        if (spectralBin == 1)
+        {
+            spectralBinString = "bin1";
+        }
+        else
+        {
+            spectralBinString = "bin2";
+        }
+        const Setting& spectralArgument = root["effective_window"][spectralBinString]["spectral"];
+        if (!(spectralArgument.lookupValue("height", height)
+            && spectralArgument.lookupValue("offsety", offsety)))
+        {
+            return false;
+        }
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        // Ignore.
+        return false;
+    }
+
+    return true;
+}
+
+bool CorningConfigfile::getEffectiveWindowRoi(int& width, int& offsetx)
+{
+    const Setting& root = cfg.getRoot();
+
+    try
+    {
+        const Setting& effective_window = root["effective_window_roi"];
+        int count = effective_window.getLength();
+
+        int spatialBin;
+        getspatialBin(spatialBin);
+
+        string spatialBinString;
+        if (spatialBin == 1)
+        {
+            spatialBinString = "spatialBin1";
+        }
+        else
+        {
+            spatialBinString = "spatialBin2";
+        }
+
+        const Setting& window = effective_window[spatialBinString];
+        string name = window.getName();
+
+        if (!(window.lookupValue("width", width)
+            && window.lookupValue("offsetx", offsetx)
+            ))
+        {
+            return false;
+        }
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        // Ignore.
+        return false;
+    }
+
+    return true;
+}
+
+bool CorningConfigfile::getPushFlowParam(int& flowSwitch, int& rgbHeight, int& framerateVideo)
+{
+    Setting& root = cfg.getRoot();
+
+    if (!root.exists("push_flow_param"))
+    {
+        // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EEB2BB><EFBFBD>ڣ<EFBFBD><DAA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+        Setting& push_flow_param = root.add("push_flow_param", Setting::TypeGroup);
+
+        push_flow_param.add("flow_switch", Setting::TypeInt) = 0;
+        push_flow_param.add("rgb_height", Setting::TypeInt) = 720;
+        push_flow_param.add("framerate_video", Setting::TypeInt) = 5;
+
+        // <20><><EFBFBD><EFBFBD><EFBFBD>޸ĺ<DEB8><C4BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5>ļ<EFBFBD>
+        try
+        {
+            QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
+            bool ret = createDir(fileInfo[0]);
+
+            cfg.writeFile(m_configfilePath.c_str());
+            std::cout << "Config item 'push_flow_param' added." << std::endl;
+
+            flowSwitch = 0;
+            rgbHeight = 720;
+            framerateVideo = 5;
+
+            return true;
+        }
+        catch (const libconfig::FileIOException& fioex)
+        {
+            std::cerr << "I/O error while writing file." << std::endl;
+            return false;
+        }
+    }
+    else
+    {
+        try
+        {
+            const Setting& push_flow_param = root["push_flow_param"];
+
+            if (!(push_flow_param.lookupValue("rgb_height", rgbHeight)
+                && push_flow_param.lookupValue("framerate_video", framerateVideo)
+                && push_flow_param.lookupValue("flow_switch", flowSwitch)
+                ))
+            {
+                return false;
+            }
+        }
+        catch (const SettingNotFoundException& nfex)
+        {
+            // Ignore.
+            return false;
+        }
+
+        return true;
+    }
+}
+
+bool CorningConfigfile::getWindowOffsety_HeightOfSpectral(int& offsety, int& height, string spectralBinString)
+{
+    const Setting& root = cfg.getRoot();
+
+    try
+    {
+        const Setting& spectralArgument = root["effective_window"][spectralBinString]["spectral"];
+        if (!(spectralArgument.lookupValue("height", height)
+            && spectralArgument.lookupValue("offsety", offsety)))
+        {
+            return false;
+        }
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        // Ignore.
+        return false;
+    }
+
+    return true;
+}
+
+bool CorningConfigfile::getGainOffset(float& gain, float& offset)
+{
+    const Setting& root = cfg.getRoot();
+
+    try
+    {
+        const Setting& gainOffset = root["gainOffset"];
+        int count = gainOffset.getLength();
+
+        int spectralBin;
+        getSpectralBin(spectralBin);
+
+        string spectralBinString;
+        if (spectralBin == 1)
+        {
+            spectralBinString = "spectralBin1";
+        }
+        else
+        {
+            spectralBinString = "spectralBin2";
+        }
+
+        const Setting& gainOffsetSetting = gainOffset[spectralBinString];
+        string name = gainOffsetSetting.getName();
+
+        if (!(gainOffsetSetting.lookupValue("gain", gain)
+            && gainOffsetSetting.lookupValue("offset", offset)))
+        {
+            return false;
+        }
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        // Ignore.
+        return false;
+    }
+
+    return true;
+}
+
+bool CorningConfigfile::getGainOffsetOfSpectralBin1(float& gain, float& offset)
+{
+    const Setting& root = cfg.getRoot();
+
+    try
+    {
+        const Setting& gainOffset = root["gainOffset"];
+        int count = gainOffset.getLength();
+
+        string spectralBinString = "spectralBin1";
+
+        const Setting& gainOffsetSetting = gainOffset[spectralBinString];
+        string name = gainOffsetSetting.getName();
+
+        if (!(gainOffsetSetting.lookupValue("gain", gain)
+            && gainOffsetSetting.lookupValue("offset", offset)))
+        {
+            return false;
+        }
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        // Ignore.
+        return false;
+    }
+
+    return true;
+}
+
+bool CorningConfigfile::getSN(QString& SN)
+{
+    try
+    {
+        std::string SN_tem = cfg.lookup("SN");
+        SN = QString::fromStdString(SN_tem);
+
+        return true;
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+}
+
+bool CorningConfigfile::getBufferPolicy(int& bufferPolicy)
+{
+    const Setting& root = cfg.getRoot();
+    const Setting& ximeadll = root["ximeadll"];
+
+    try
+    {
+        if (!(ximeadll.lookupValue("buffer_policy", bufferPolicy)
+            ))
+        {
+            return false;
+        }
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+
+    return true;
+}
+
+bool CorningConfigfile::getAcqBufferSize(int& acqBufferSize)
+{
+    const Setting& root = cfg.getRoot();
+    const Setting& ximeadll = root["ximeadll"];
+
+    try
+    {
+        if (!(ximeadll.lookupValue("acq_buffer_size", acqBufferSize)
+            ))
+        {
+            return false;
+        }
+    }
+    catch (const SettingNotFoundException& nfex)
+    {
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+
+    return true;
+}
+
+bool CorningConfigfile::createConfigFile()
+{
+    using namespace std;
+    using namespace libconfig;
+
+    Config cfg;
+
+    Setting& root = cfg.getRoot();
+
+    // Add some settings to the configuration.
+    Setting& SN = root.add("SN", Setting::TypeString) = "0098";
+    Setting& spatialBin = root.add("spatialBin", Setting::TypeInt) = 2;
+    Setting& SpectralBin = root.add("spectralBin", Setting::TypeInt) = 2;
+
+    Setting& effective_window = root.add("effective_window", Setting::TypeGroup);
+    Setting& effective_window_Bin1 = effective_window.add("bin1", Setting::TypeGroup);
+    Setting& effective_window_Bin1_spatial = effective_window_Bin1.add("spatial", Setting::TypeGroup);
+    Setting& effective_window_Bin1_Spectral = effective_window_Bin1.add("spectral", Setting::TypeGroup);
+    Setting& effective_window_Bin2 = effective_window.add("bin2", Setting::TypeGroup);
+    Setting& effective_window_Bin2_spatial = effective_window_Bin2.add("spatial", Setting::TypeGroup);
+    Setting& effective_window_Bin2_Spectral = effective_window_Bin2.add("spectral", Setting::TypeGroup);
+
+    effective_window_Bin1_spatial.add("width", Setting::TypeInt) = 1368;
+    effective_window_Bin1_spatial.add("offsetx", Setting::TypeInt) = 288;
+    effective_window_Bin1_Spectral.add("height", Setting::TypeInt) = 300;
+    effective_window_Bin1_Spectral.add("offsety", Setting::TypeInt) = 348;
+
+    effective_window_Bin2_spatial.add("width", Setting::TypeInt) = 688;
+    effective_window_Bin2_spatial.add("offsetx", Setting::TypeInt) = 144;
+    effective_window_Bin2_Spectral.add("height", Setting::TypeInt) = 150;
+    effective_window_Bin2_Spectral.add("offsety", Setting::TypeInt) = 174;
+
+    Setting& effective_window_roi = root.add("effective_window_roi", Setting::TypeGroup);
+    Setting& effective_window_roi_spatialBin1 = effective_window_roi.add("spatialBin1", Setting::TypeGroup);
+    Setting& effective_window_roi_spatialBin2 = effective_window_roi.add("spatialBin2", Setting::TypeGroup);
+
+    effective_window_roi_spatialBin1.add("width", Setting::TypeInt) = 1364;
+    effective_window_roi_spatialBin1.add("offsetx", Setting::TypeInt) = 14;
+    //    effective_window_roi_Bin1.add("height", Setting::TypeInt) = 300;
+    //    effective_window_roi_Bin1.add("offsety", Setting::TypeInt) = 348;
+
+    effective_window_roi_spatialBin2.add("width", Setting::TypeInt) = 682;
+    effective_window_roi_spatialBin2.add("offsetx", Setting::TypeInt) = 15;
+    //    effective_window_roi_Bin2.add("height", Setting::TypeInt) = 151;
+    //    effective_window_roi_Bin2.add("offsety", Setting::TypeInt) = 174;
+
+    Setting& gainOffset = root.add("gainOffset", Setting::TypeGroup);
+    Setting& gainOffsetSpectralBin1 = gainOffset.add("spectralBin1", Setting::TypeGroup);
+    Setting& gainOffsetSpectralBin2 = gainOffset.add("spectralBin2", Setting::TypeGroup);
+
+    gainOffsetSpectralBin1.add("gain", Setting::TypeFloat) = 2.00313433;
+    gainOffsetSpectralBin1.add("offset", Setting::TypeFloat) = -300.46283157590585;
+
+    gainOffsetSpectralBin2.add("gain", Setting::TypeFloat) = 4.00626868;
+    gainOffsetSpectralBin2.add("offset", Setting::TypeFloat) = -299.46126663407176;
+
+
+    Setting& ximeadll = root.add("ximeadll", Setting::TypeGroup);
+    ximeadll.add("buffer_policy", Setting::TypeInt) = 0;
+    ximeadll.add("acq_buffer_size", Setting::TypeInt) = 400;
+
+    Setting& push_flow_param = root.add("push_flow_param", Setting::TypeGroup);
+    push_flow_param.add("flow_switch", Setting::TypeInt) = 1;
+    push_flow_param.add("rgb_height", Setting::TypeInt) = 720;
+    push_flow_param.add("framerate_video", Setting::TypeInt) = 5;
+
+    // Write out the new configuration.
+    try
+    {
+        cfg.writeFile(m_configfilePath.c_str());
+        cerr << "New configuration successfully written to: " << m_configfilePath.c_str() << endl;
+
+    }
+    catch (const FileIOException& fioex)
+    {
+        cerr << "I/O error while writing configuration file: " << m_configfilePath.c_str() << endl;
+        return true;
+    }
+
+    return true;
+}
+
+bool CorningConfigfile::updateConfigFile()
+{
+    using namespace std;
+    using namespace libconfig;
+
+    static const char* output_file = "updated.cfg";
+
+    Config cfg;
+
+    cfg.setOptions(Config::OptionFsync
+        | Config::OptionSemicolonSeparators
+        | Config::OptionColonAssignmentForGroups
+        | Config::OptionOpenBraceOnSeparateLine);
+
+    // Read the file. If there is an error, report it and exit.
+    try
+    {
+        cfg.readFile("example.cfg");
+    }
+    catch (const FileIOException& fioex)
+    {
+        std::cerr << "I/O error while reading file." << std::endl;
+        return false;
+    }
+    catch (const ParseException& pex)
+    {
+        std::cerr << "Parse error at " << pex.getFile() << ":" << pex.getLine()
+            << " - " << pex.getError() << std::endl;
+        return false;
+    }
+
+    // Find the 'movies' setting. Add intermediate settings if they don't yet
+    // exist.
+    Setting& root = cfg.getRoot();
+
+    if (!root.exists("inventory"))
+        root.add("inventory", Setting::TypeGroup);
+
+    Setting& inventory = root["inventory"];
+
+    if (!inventory.exists("movies"))
+        inventory.add("movies", Setting::TypeList);
+
+    Setting& movies = inventory["movies"];
+
+    // Create the new movie entry.
+    Setting& movie = movies.add(Setting::TypeGroup);
+
+    movie.add("title", Setting::TypeString) = "Buckaroo Banzai";
+    movie.add("media", Setting::TypeString) = "DVD";
+    movie.add("price", Setting::TypeFloat) = 12.99;
+    movie.add("qty", Setting::TypeInt) = 20;
+
+    // Write out the updated configuration.
+    try
+    {
+        cfg.writeFile(output_file);
+        cerr << "Updated configuration successfully written to: " << output_file
+            << endl;
+
+    }
+    catch (const FileIOException& fioex)
+    {
+        cerr << "I/O error while writing file: " << output_file << endl;
+        return false;
+    }
+
+    return true;
+}

HPPA/hppaConfigFile.h

@@ -16,6 +16,8 @@
 #include <QCoreApplication>
 #include <QDir>
 
+#include "utility_tc.h"
+
 using namespace std;
 using namespace libconfig;
 
@@ -35,8 +37,40 @@ public:
     bool getFitParams(float& fa, float& fb);
     bool getAutoFocusRange(int& max, int& min);
 
-    bool getXMotorParm(float& StepAnglemar, float& Lead, int& SubdivisionMultiples, float& ScaleFactor);
-    bool getYMotorParm(float& StepAnglemar, float& Lead, int& SubdivisionMultiples, float& ScaleFactor);
+    bool getXMotorParm(float& StepAnglemar, float& Lead, int& SubdivisionMultiples, float& ScaleFactor, float& MaxRange);
+    bool getYMotorParm(float& StepAnglemar, float& Lead, int& SubdivisionMultiples, float& ScaleFactor, float& MaxRange);
+    bool setMaxRange(float maxRange, QString x_y);
+    bool writeConfig2File();
+
+    bool createConfigFile();
+    bool updateConfigFile();
+
+private:
+    string m_configfilePath;
+    Config cfg;
+};
+
+class CorningConfigfile
+{
+public:
+    CorningConfigfile();
+    void setConfigfilePath(string configfilePath);
+    bool isConfigfileExist();
+    bool parseConfigfile();
+
+    bool getSpectralBin(int& spectralBin);
+    bool getspatialBin(int& spatialBin);
+    bool getEffectiveWindow(int& width, int& offsetx, int& height, int& offsety);
+    bool getEffectiveWindowRoi(int& width, int& offsetx);
+    bool getWindowOffsety_HeightOfSpectral(int& offsety, int& height, string spectralBinString);//spectralBinString = "bin1"<22><><EFBFBD>ߡ<EFBFBD>bin2<6E><32>
+    bool getGainOffset(float& gain, float& offset);
+    bool getGainOffsetOfSpectralBin1(float& gain, float& offset);
+    bool getSN(QString& SN);
+
+    bool getBufferPolicy(int& bufferPolicy);
+    bool getAcqBufferSize(int& acqBufferSize);
+
+    bool getPushFlowParam(int& flowSwitch, int& rgbHeight, int& framerateVideo);
 
     bool createConfigFile();
     bool updateConfigFile();

HPPA/image2display.cpp

@@ -113,8 +113,9 @@ void CImage::FillRgbImage(unsigned short *datacube)
 
 		//m_QRgbImage->save(QString::fromStdString(rgbFilePathNoStrech), "PNG");
 
+		//ImageProcessor imageProcessor;
 		//cv::imwrite(rgbFilePathNoStrech, *m_matRgbImage);
-		//cv::imwrite(rgbFilePathStrech, CStretch(*m_matRgbImage, 0.01));
+		//cv::imwrite(rgbFilePathStrech, imageProcessor.CStretch(*m_matRgbImage, 0.02));
 
 	}
 }
@@ -171,7 +172,7 @@ void CImage::FillFocusGrayQImage(unsigned short * datacube)
 		}
 	}
 
-	m_qimageFocusGrayImage->save("D:/delete/2222222222/test.bmp");
+	//m_qimageFocusGrayImage->save("D:/delete/2222222222/test.bmp");
 
 
 

HPPA/image2display.h

@@ -11,6 +11,7 @@
 #include "QImage"
 
 #include "fileOperation.h"
+#include "imageProcessor.h"
 
 
 class CImage :public QObject

HPPA/imageProcessor.cpp

@@ -1,5 +1,6 @@
 #include "stdafx.h"
 #include "imageProcessor.h"
+#include <algorithm>
 
 ImageProcessor::ImageProcessor()
 {
@@ -14,8 +15,10 @@ std::vector<cv::Point2f> ImageProcessor::CHistogram(const cv::Mat img)
 	cv::Mat mimg = img.clone();
 	int rows = mimg.rows;
 	int cols = mimg.cols;
+	int maxValue = *std::max_element(mimg.begin<unsigned short>(), mimg.end<unsigned short>());
+	maxValue = 65535;
 	//ͳ<><CDB3>ÿ<EFBFBD><C3BF><EFBFBD>Ҷȳ<D2B6><C8B3>ֵĴ<D6B5><C4B4><EFBFBD>
-	std::vector<long int> hisnum(4096, 0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	std::vector<long int> hisnum(maxValue, 0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	for (int i(0); i < rows; ++i)
 	{
 		//std::cout << "i<><69>" << i << std::endl;
@@ -27,7 +30,7 @@ std::vector<cv::Point2f> ImageProcessor::CHistogram(const cv::Mat img)
 
 			//<2F>Է<EFBFBD><D4B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>Ǹ<EFBFBD><C7B8><EFBFBD><EFBFBD>ڿ۳<DABF><DBB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>п<EFBFBD><D0BF><EFBFBD>Ϊ<EFBFBD><CEAA>ֵ
 			//<2F><><EFBFBD><EFBFBD>mat<61><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪCV_16UC3<43><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD>ֵʱ<D6B5><CAB1><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>Ϊ65535
-			if (gv > 4096)
+			if (gv >= maxValue)
 			{
 				++hisnum[0];
 			}
@@ -35,8 +38,6 @@ std::vector<cv::Point2f> ImageProcessor::CHistogram(const cv::Mat img)
 			{
 				++hisnum[gv];
 			}
-
-			
 		}
 	}
 	//<2F><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>Ҷ<EFBFBD>Ƶ<EFBFBD><C6B5>

HPPA/imager_base.cpp

@@ -0,0 +1,165 @@
+#include "imager_base.h"
+Iris::ImagerBase::ImagerBase()
+{
+
+}
+
+Iris::ImagerBase::~ImagerBase()
+{
+
+}
+
+void Iris::ImagerBase::set_spectral_bin(int new_spectral_bin)
+{
+
+}
+
+int Iris::ImagerBase::get_spectral_bin()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_min_spectral_bin()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_max_spectral_bin()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_start_band()
+{
+    return 1;
+}
+
+void Iris::ImagerBase::set_start_band(int band)
+{
+
+}
+
+int Iris::ImagerBase::get_min_start_band()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_max_start_band()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_inc_start_band()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_end_band()
+{
+    return 1;
+}
+
+void Iris::ImagerBase::set_end_band(int band)
+{
+
+}
+
+int Iris::ImagerBase::get_min_end_band()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_max_end_band()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_inc_end_band()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_start_sample()
+{
+    return 1;
+}
+
+void Iris::ImagerBase::set_start_sample(int sample)
+{
+
+}
+
+int Iris::ImagerBase::get_min_start_sample()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_max_start_sample()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_inc_start_sample()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_end_sample()
+{
+    return 1;
+}
+
+void Iris::ImagerBase::set_end_sample(int sample)
+{
+
+}
+
+int Iris::ImagerBase::get_min_end_sample()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_max_end_sample()
+{
+    return 1;
+}
+
+int Iris::ImagerBase::get_inc_end_sample()
+{
+    return 1;
+}
+
+void Iris::ImagerBase::set_gain(const double gain)
+{
+
+}
+
+double Iris::ImagerBase::get_gain()
+{
+    return 1;
+}
+
+double Iris::ImagerBase::get_min_gain()
+{
+    return 1;
+}
+
+double Iris::ImagerBase::get_max_gain()
+{
+    return 1;
+}
+
+void Iris::ImagerBase::set_internal_trigger()
+{
+
+}
+
+void Iris::ImagerBase::set_external_trigger(unsigned int signal_line, bool rising_edge)
+{
+
+}
+
+bool Iris::ImagerBase::is_trigger_external()
+{
+    return true;
+}

HPPA/imager_base.h

@@ -0,0 +1,93 @@
+/*
+ * Iris API
+ *
+ * By using this API, the user agrees to the terms and conditions as stated in the
+ * document "Terms of Use", located on the Resonon website
+ * at: http://www.resonon.com/downloads/Resonon_API_Terms_of_Use.pdf.
+ *
+ */
+
+
+#ifndef __GUARD_Iris_IMAGER_BASE_H
+#define __GUARD_Iris_IMAGER_BASE_H
+
+#include <stdexcept>
+#include <cstdint>
+//#include "irisximeaimager_global.h"
+
+/**
+ * The Iris namespace contains all public classes.
+ */
+namespace Iris
+{
+	/**
+	 * An abstract base class which provides a common interface for all imagers.
+	 */
+    class ImagerBase
+	{
+		public:
+            ImagerBase();
+            virtual ~ImagerBase();
+
+
+			virtual void connect(const char * camera_sn=NULL)=0;
+			virtual void disconnect()=0;
+			virtual void start()=0;
+			virtual void stop()=0;
+			virtual void get_imager_type(char *buffer, int buffer_size)=0;
+			virtual void get_serial_number(char *buffer, int buffer_size)=0;
+			virtual void get_camera_serial_number(char *buffer, int buffer_size)=0;
+			virtual void generate_configuration_report(char *buffer, int buffer_size)=0;
+            virtual float get_coeff_a()=0;
+            virtual float get_coeff_b()=0;
+            virtual float get_coeff_c()=0;
+			virtual double get_wavelength_at_band(const int band)=0;
+			int get_nearest_band_to_wavelength(const double wavelength);
+			virtual int get_frame_buffer_size_in_bytes()=0;
+			virtual unsigned short* get_frame(unsigned short* buffer)=0;
+			virtual std::uint64_t get_last_timestamp()=0;
+			virtual std::uint64_t ticks_per_second()=0;
+            virtual void set_spectral_bin(int new_spectral_bin);
+            virtual int get_spectral_bin();
+            virtual int get_min_spectral_bin();
+            virtual int get_max_spectral_bin();
+			virtual int get_band_count()=0;
+            virtual int get_start_band();
+            virtual void set_start_band(int band);
+            virtual int get_min_start_band();
+            virtual int get_max_start_band();
+            virtual int get_inc_start_band();
+            virtual int get_end_band();
+            virtual void set_end_band(int band);
+            virtual int get_min_end_band();
+            virtual int get_max_end_band();
+            virtual int get_inc_end_band();
+			virtual int get_sample_count()=0;
+            virtual int get_start_sample();
+            virtual void set_start_sample(int sample);
+            virtual int get_min_start_sample();
+            virtual int get_max_start_sample();
+            virtual int get_inc_start_sample();
+            virtual int get_end_sample();
+            virtual void set_end_sample(int sample);
+            virtual int get_min_end_sample();
+            virtual int get_max_end_sample();
+            virtual int get_inc_end_sample();
+			virtual void set_framerate(const double frames_per_second)=0;
+			virtual double get_framerate()=0;
+			virtual double get_min_framerate()=0;
+			virtual double get_max_framerate()=0;
+			virtual double get_min_integration_time()=0;
+			virtual double get_max_integration_time()=0;
+			virtual void set_integration_time(const double milliseconds)=0;
+			virtual double get_integration_time()=0;
+            virtual void set_gain(const double gain);
+            virtual double get_gain();
+            virtual double get_min_gain();
+            virtual double get_max_gain();
+            virtual void set_internal_trigger();
+            virtual void set_external_trigger(unsigned int signal_line, bool rising_edge=true);
+            virtual bool is_trigger_external();
+	};
+} //end namespace Iris
+#endif  //end ifndef __GUARD_Iris_IMAGER_BASE_H

HPPA/irisximeaimager.cpp

@@ -0,0 +1,565 @@
+#include "irisximeaimager.h"
+using namespace Iris;
+
+void Iris::IrisXimeaImager::setGainOffset(float gain, float offset)
+{
+    m_fGain = gain;
+    m_fOffset = offset;
+}
+
+bool Iris::IrisXimeaImager::setSpectralBin(int spectralBin)
+{
+    CE(xiSetParamInt(m_xiH, XI_PRM_BINNING_SELECTOR, XI_BIN_SELECT_HOST_CPU));//用：XI_BIN_SELECT_HOST_CPU；默认为XI_BIN_SELECT_SENSOR(会报错)，不可用：XI_BIN_SELECT_DEVICE_FPGA
+    CE(xiSetParamInt(m_xiH, XI_PRM_BINNING_VERTICAL_MODE, XI_BIN_MODE_AVERAGE));
+    CE(xiSetParamInt(m_xiH, XI_PRM_BINNING_VERTICAL, spectralBin));
+    printf("Iris::IrisXimeaImager::setSpectralBin----2 设置bin模式为XI_PRM_BINNING_SELECTOR XI_BIN_MODE_AVERAGE ！\n");
+
+
+//    CE(xiSetParamInt(m_xiH, XI_PRM_DECIMATION_SELECTOR, XI_DEC_SELECT_SENSOR));
+//    CE(xiSetParamInt(m_xiH, XI_PRM_DECIMATION_VERTICAL, spectralBin));
+
+
+    m_iSpectralBin = spectralBin;
+
+    return true;
+}
+
+bool Iris::IrisXimeaImager::setSpatialBin(int spatialBin)
+{
+    CE(xiSetParamInt(m_xiH, XI_PRM_BINNING_SELECTOR, XI_BIN_SELECT_HOST_CPU));//用：XI_BIN_SELECT_HOST_CPU；默认为XI_BIN_SELECT_SENSOR(会报错)，不可用：XI_BIN_SELECT_DEVICE_FPGA
+    CE(xiSetParamInt(m_xiH, XI_PRM_BINNING_HORIZONTAL_MODE, XI_BIN_MODE_AVERAGE));
+    CE(xiSetParamInt(m_xiH, XI_PRM_BINNING_HORIZONTAL, spatialBin));
+    printf("Iris::IrisXimeaImager::setSpatialBin----2 设置bin模式为XI_PRM_BINNING_SELECTOR XI_BIN_MODE_AVERAGE ！\n");
+
+
+//    CE(xiSetParamInt(m_xiH, XI_PRM_DECIMATION_SELECTOR, XI_DEC_SELECT_SENSOR));
+//    CE(xiSetParamInt(m_xiH, XI_PRM_DECIMATION_HORIZONTAL, spatialBin));
+
+    m_iSpatialBin = spatialBin;
+
+    return true;
+}
+
+int Iris::IrisXimeaImager::getSpectralBin()
+{
+    int spectralBin = 0;
+    CE(xiGetParamInt(m_xiH, XI_PRM_BINNING_VERTICAL, &spectralBin));
+
+//    CE(xiGetParamInt(m_xiH, XI_PRM_DECIMATION_VERTICAL, &spectralBin));
+
+    return spectralBin;
+}
+
+int Iris::IrisXimeaImager::getSpatialBin()
+{
+    int spatialBin = 0;
+    CE(xiGetParamInt(m_xiH, XI_PRM_BINNING_HORIZONTAL, &spatialBin));
+
+//    CE(xiGetParamInt(m_xiH, XI_PRM_DECIMATION_HORIZONTAL, &spatialBin));
+
+    return spatialBin;
+}
+
+void Iris::IrisXimeaImager::setEffectiveWindow(int OffsetX, int width, int OffsetY, int height)
+{
+    CE(xiSetParamInt(m_xiH, XI_PRM_WIDTH, width));
+    CE(xiSetParamInt(m_xiH, XI_PRM_OFFSET_X, OffsetX));
+
+    CE(xiSetParamInt(m_xiH, XI_PRM_HEIGHT, height));
+    CE(xiSetParamInt(m_xiH, XI_PRM_OFFSET_Y, OffsetY));
+
+    m_iEffectiveWindow_OffsetX = OffsetX;
+    m_iEffectiveWindow_width = width;
+    m_iEffectiveWindow_OffsetY = OffsetY;
+    m_iEffectiveWindow_height = height;
+}
+
+void Iris::IrisXimeaImager::setEffectiveWindowRoi(int OffsetX, int width)
+{
+    m_iEffectiveWindowRoi_OffsetX = OffsetX;
+    m_iEffectiveWindowRoi_width = width;
+}
+
+int Iris::IrisXimeaImager::getBufferSizeOfOneFrame()
+{
+//    if(m_xiH==NULL)
+//        return 0;
+//
+//    start();
+//
+//    //清空image缓存
+//    memset(&m_image, 0, sizeof(m_image));
+//    m_image.size = sizeof(XI_IMG);
+//
+//    CE(xiGetImage(m_xiH, 5000, &m_image)); // getting next image from the camera opened
+//
+//    stop();
+//
+//    return static_cast<int>(m_image.bp_size);
+
+//    //比实际大小（m_iEffectiveWindow_height * m_iEffectiveWindow_width * 2）大，why？
+//    int value = 0;
+//    xiGetParamInt(m_xiH, XI_PRM_IMAGE_PAYLOAD_SIZE, &value);
+
+
+    return m_iEffectiveWindow_height * m_iEffectiveWindow_width * 2;
+}
+
+float Iris::IrisXimeaImager::getTemperature()
+{
+    float temperature = 0.0;
+    CE(xiGetParamFloat(m_xiH, XI_PRM_TEMP, &temperature));
+
+    return temperature;
+}
+
+void Iris::IrisXimeaImager::setBufferPolicy(int bufferPolicy)
+{
+    if (bufferPolicy==0)
+    {
+        xiSetParamInt(m_xiH, XI_PRM_BUFFER_POLICY, XI_BP_UNSAFE);
+        printf("Iris::IrisXimeaImager::connect---- XI_PRM_BUFFER_POLICY: XI_BP_UNSAFE\n");
+    }
+    else if (bufferPolicy==1)
+    {
+        xiSetParamInt(m_xiH, XI_PRM_BUFFER_POLICY, XI_BP_SAFE);
+        printf("Iris::IrisXimeaImager::connect---- XI_PRM_BUFFER_POLICY: XI_BP_SAFE\n");
+    }
+}
+
+void Iris::IrisXimeaImager::setAcqBufferSize(int acqBufferSize)
+{
+    XI_RETURN stat = XI_OK;
+
+    // set unit to 1 MiB
+    xiSetParamInt(m_xiH, XI_PRM_ACQ_BUFFER_SIZE_UNIT, 1024*1024);
+    int value = 0;
+    xiGetParamInt(m_xiH, XI_PRM_ACQ_BUFFER_SIZE, &value);
+    printf("Iris::IrisXimeaImager::connect---- XI_PRM_ACQ_BUFFER_SIZE: %d MiB.\n", value);
+
+    xiSetParamInt(m_xiH, XI_PRM_ACQ_BUFFER_SIZE, acqBufferSize);
+
+    xiGetParamInt(m_xiH, XI_PRM_ACQ_BUFFER_SIZE, &value);
+    printf("Iris::IrisXimeaImager::connect---- XI_PRM_ACQ_BUFFER_SIZE: %d MiB.\n", value);
+
+    // set maximum number of queue
+    int number_of_field_buffers = 0;
+    xiGetParamInt(m_xiH, XI_PRM_BUFFERS_QUEUE_SIZE XI_PRM_INFO_MAX, &number_of_field_buffers);
+    printf("Iris::IrisXimeaImager::connect---- XI_PRM_BUFFERS_QUEUE_SIZE XI_PRM_INFO_MAX: %d.\n", number_of_field_buffers);
+    HandleResult(stat,"xiGetParam (number_of_field_buffers maximum)");
+    xiSetParamInt(m_xiH, XI_PRM_BUFFERS_QUEUE_SIZE, number_of_field_buffers);
+    HandleResult(stat,"xiSetParam (number_of_field_buffers)");
+}
+
+Iris::IrisXimeaImager::IrisXimeaImager()
+{
+    m_xiH=NULL;
+
+    //std::cout<<"ximeaControlDll 版本："<< "21." <<std::endl;
+}
+
+Iris::IrisXimeaImager::~IrisXimeaImager()
+{
+
+}
+
+void Iris::IrisXimeaImager::connect(const char *camera_serial_number)
+{
+    printf("Iris::IrisXimeaImager::connect----1 打开相机(xiOpenDevice)\n");
+    CE(xiOpenDevice(0, &m_xiH));//没有插上ximea相机,这句代码都过不去
+
+    //add-----------------------------------------------------------------------------------------------------------------------
+    XI_RETURN stat = XI_OK;
+
+    int payload=0;
+    stat = xiGetParamInt(m_xiH, XI_PRM_IMAGE_PAYLOAD_SIZE, &payload);
+    HandleResult(stat,"xiGetParam (payload)");
+
+    int transport_buffer_size_default = 0;
+    int transport_buffer_size_increment = 0;
+    int transport_buffer_size_minimum = 0;
+// get default transport buffer size - that should be OK on all controllers
+    stat = xiGetParamInt(m_xiH, XI_PRM_ACQ_TRANSPORT_BUFFER_SIZE, &transport_buffer_size_default);
+    HandleResult(stat,"xiGetParamInt (transport buffer size)");
+    stat = xiGetParamInt(m_xiH, XI_PRM_ACQ_TRANSPORT_BUFFER_SIZE XI_PRM_INFO_INCREMENT, &transport_buffer_size_increment);
+    HandleResult(stat,"xiGetParamInt (transport buffer size increment)");
+    stat = xiGetParamInt(m_xiH, XI_PRM_ACQ_TRANSPORT_BUFFER_SIZE XI_PRM_INFO_MIN, &transport_buffer_size_minimum);
+    HandleResult(stat,"xiGetParamInt (transport buffer size minimum)");
+
+// check if payload size is less than default transport buffer size
+    if(payload < transport_buffer_size_default + transport_buffer_size_increment)
+    {
+        // use optimized transport buffer size, as nearest increment to payload
+        int transport_buffer_size = payload;
+        if (transport_buffer_size_increment)
+        {
+            // round up to nearest increment
+            int remainder = transport_buffer_size % transport_buffer_size_increment;
+            if (remainder)
+                transport_buffer_size += transport_buffer_size_increment - remainder;
+        }
+        // check the minimum
+        if (transport_buffer_size < transport_buffer_size_minimum)
+            transport_buffer_size = transport_buffer_size_minimum;
+        stat = xiSetParamInt(m_xiH, XI_PRM_ACQ_TRANSPORT_BUFFER_SIZE, transport_buffer_size);
+        HandleResult(stat,"xiSetParam (transport buffer size)");
+    }
+//add---------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+    // set unit to 1 MiB
+    xiSetParamInt(m_xiH, XI_PRM_ACQ_BUFFER_SIZE_UNIT, 1024*1024);
+    int value = 0;
+    xiGetParamInt(m_xiH, XI_PRM_ACQ_BUFFER_SIZE, &value);
+    printf("Iris::IrisXimeaImager::connect---- XI_PRM_ACQ_BUFFER_SIZE: %d MiB.\n", value);
+
+
+    int NUM_THREADS = 0;
+    xiGetParamInt(m_xiH, XI_PRM_PROC_NUM_THREADS, &NUM_THREADS);
+    printf("Iris::IrisXimeaImager::connect---- XI_PRM_PROC_NUM_THREADS默认值为%d\n", NUM_THREADS);
+    xiSetParamInt(m_xiH, XI_PRM_PROC_NUM_THREADS, 8);
+
+    //设置数据格式
+    printf("Iris::IrisXimeaImager::connect----2 设置数据格式(xiSetParamInt)\n");
+    CE(xiSetParamInt(m_xiH, XI_PRM_IMAGE_DATA_FORMAT, XI_RAW16));//Default value: XI_MONO8
+//    //设置packing, 使用xiGetImage接收影像时不执行unpacking
+//    CE(xiSetParamInt(m_xiH, XI_PRM_OUTPUT_DATA_BIT_DEPTH, 12));//set 12 bit transport data width
+//    CE(xiSetParamInt(m_xiH, XI_PRM_OUTPUT_DATA_PACKING, XI_ON));//enable packing
+//    //使用xiGetImage接收影像时不执行unpacking
+//    CE(xiSetParamInt(m_xiH, XI_PRM_IMAGE_DATA_FORMAT, XI_FRM_TRANSPORT_DATA));//in this case, the function xiGetImage just set pointer to transport-buffer without any processing
+
+    //判断数据格式设置是否成功
+    int dataFortmat;
+    CE(xiGetParamInt(m_xiH, XI_PRM_IMAGE_DATA_FORMAT, &dataFortmat));
+    if(dataFortmat==XI_RAW16)
+    {
+        printf("Iris::IrisXimeaImager::connect----当前数据格式设置成功, 设置为: XI_RAW16\n");
+    }
+    else if(dataFortmat==XI_FRM_TRANSPORT_DATA)
+    {
+        printf("Iris::IrisXimeaImager::connect----当前数据格式设置成功, 设置为: XI_FRM_TRANSPORT_DATA\n");
+    }
+    else
+    {
+        printf("Iris::IrisXimeaImager::connect----2 数据格式设置失败！\n");
+        printf("Iris::IrisXimeaImager::connect----当前数据格式为:%d\n",dataFortmat);
+    }
+    
+}
+
+void Iris::IrisXimeaImager::disconnect()
+{
+    printf("Closing camera...\n");
+    CE(xiCloseDevice(m_xiH));
+
+    m_xiH=NULL;
+}
+
+void Iris::IrisXimeaImager::start()
+{
+    CE(xiStartAcquisition(m_xiH));
+}
+
+void Iris::IrisXimeaImager::stop()
+{
+    //printf("Stopping acquisition...\n");
+    CE(xiStopAcquisition(m_xiH));
+}
+
+void Iris::IrisXimeaImager::get_imager_type(char *buffer, int buffer_size)
+{
+
+}
+
+void Iris::IrisXimeaImager::get_serial_number(char *buffer, int buffer_size)
+{
+
+}
+
+void Iris::IrisXimeaImager::get_camera_serial_number(char *buffer, int buffer_size)
+{
+
+}
+
+void Iris::IrisXimeaImager::generate_configuration_report(char *buffer, int buffer_size)
+{
+
+}
+
+float Iris::IrisXimeaImager::get_coeff_a()
+{
+    return 0;
+}
+
+float Iris::IrisXimeaImager::get_coeff_b()
+{
+    return 0;
+}
+
+float Iris::IrisXimeaImager::get_coeff_c()
+{
+    return 0;
+}
+
+double Iris::IrisXimeaImager::get_wavelength_at_band(const int band)
+{
+    //sn008
+    float a=1.999564;
+    float b=-279.893;
+    //
+    float wavelength=band*m_fGain + m_fOffset;
+    return wavelength;
+}
+
+int Iris::IrisXimeaImager::get_frame_buffer_size_in_bytes()
+{
+    return 0;
+}
+
+unsigned short *Iris::IrisXimeaImager::get_frame(unsigned short *buffer)
+{
+    //清空image缓存
+    memset(&m_image, 0, sizeof(m_image));
+    m_image.size = sizeof(XI_IMG);
+
+    CE(xiGetImage(m_xiH, 5000, &m_image)); // getting next image from the camera opened
+
+    //方法１:memcpy
+    memcpy(buffer,m_image.bp,m_image.bp_size);
+//    //方法2:此做法是错误的，虽然是指针，也是传值！
+//    buffer = (unsigned short *)m_image.bp;
+
+//    for(int i=0;i<m_iEffectiveWindow_height;i++)
+//    {
+//        memcpy(buffer+i*m_iEffectiveWindowRoi_width, (unsigned short *)m_image.bp + i*m_iEffectiveWindow_width + m_iEffectiveWindowRoi_OffsetX, m_iEffectiveWindowRoi_width*2);
+//    }
+
+    //强制将指针从高精度（uint64_t*）转换到低精度（unsigned short *），会有精度降低的问题???????????????????????????????????????????????????
+    return (unsigned short *)&m_timestampOfCamera;
+}
+
+uint64_t Iris::IrisXimeaImager::get_last_timestamp()
+{
+    return 0;
+}
+
+uint64_t Iris::IrisXimeaImager::ticks_per_second()
+{
+    return 0;
+}
+
+void Iris::IrisXimeaImager::set_spectral_bin(int new_spectral_bin)
+{
+}
+
+int Iris::IrisXimeaImager::get_spectral_bin()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_min_spectral_bin()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_max_spectral_bin()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_band_count()
+{
+    return m_iEffectiveWindow_height;
+}
+
+int Iris::IrisXimeaImager::get_start_band()
+{
+    int WindowStartLine;
+    CE(xiGetParamInt(m_xiH, XI_PRM_OFFSET_Y, &WindowStartLine));
+
+    return WindowStartLine;
+}
+
+void Iris::IrisXimeaImager::set_start_band(int band)
+{
+
+}
+
+int Iris::IrisXimeaImager::get_min_start_band()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_max_start_band()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_inc_start_band()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_end_band()
+{
+    int height;
+    CE(xiGetParamInt(m_xiH, XI_PRM_HEIGHT, &height));
+    return get_start_band()+height;
+}
+
+void Iris::IrisXimeaImager::set_end_band(int band)
+{
+
+}
+
+int Iris::IrisXimeaImager::get_min_end_band()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_max_end_band()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_inc_end_band()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_sample_count()
+{
+    return m_iEffectiveWindow_width;
+}
+
+int Iris::IrisXimeaImager::get_start_sample()
+{
+    return 0;
+}
+
+void Iris::IrisXimeaImager::set_start_sample(int sample)
+{
+
+}
+
+int Iris::IrisXimeaImager::get_min_start_sample()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_max_start_sample()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_inc_start_sample()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_end_sample()
+{
+    return 0;
+}
+
+void Iris::IrisXimeaImager::set_end_sample(int sample)
+{
+
+}
+
+int Iris::IrisXimeaImager::get_min_end_sample()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_max_end_sample()
+{
+    return 0;
+}
+
+int Iris::IrisXimeaImager::get_inc_end_sample()
+{
+    return 0;
+}
+
+void Iris::IrisXimeaImager::set_framerate(const double frames_per_second)
+{
+    CE(xiSetParamInt(m_xiH, XI_PRM_ACQ_TIMING_MODE, XI_ACQ_TIMING_MODE_FRAME_RATE_LIMIT));
+
+    CE(xiSetParamFloat(m_xiH, XI_PRM_FRAMERATE, frames_per_second));
+}
+
+double Iris::IrisXimeaImager::get_framerate()
+{
+    float framerate;
+    CE(xiGetParamFloat(m_xiH, XI_PRM_FRAMERATE, &framerate));
+    return framerate;
+}
+
+double Iris::IrisXimeaImager::get_min_framerate()
+{
+    return 0;
+}
+
+double Iris::IrisXimeaImager::get_max_framerate()
+{
+    return 0;
+}
+
+double Iris::IrisXimeaImager::get_min_integration_time()
+{
+    return 0;
+}
+
+double Iris::IrisXimeaImager::get_max_integration_time()
+{
+    return 0;
+}
+
+void Iris::IrisXimeaImager::set_integration_time(const double microsecond)
+{
+    CE(xiSetParamInt(m_xiH, XI_PRM_EXPOSURE, microsecond));//time_in_us(microseconds)
+}
+
+double Iris::IrisXimeaImager::get_integration_time()
+{
+    float exposureTime;
+    CE(xiGetParamFloat(m_xiH, XI_PRM_EXPOSURE, &exposureTime));//time_in_us(microseconds)
+    return exposureTime;
+}
+
+void Iris::IrisXimeaImager::set_gain(const double gain)
+{
+    CE(xiSetParamFloat(m_xiH, XI_PRM_GAIN, gain));//gain_in_db
+}
+
+double Iris::IrisXimeaImager::get_gain()
+{
+    float gain;
+    CE(xiGetParamFloat(m_xiH, XI_PRM_GAIN, &gain));
+    return gain;
+}
+
+double Iris::IrisXimeaImager::get_min_gain()
+{
+    return 0;
+}
+
+double Iris::IrisXimeaImager::get_max_gain()
+{
+    return 0;
+}
+
+void Iris::IrisXimeaImager::set_internal_trigger()
+{
+
+}
+
+void Iris::IrisXimeaImager::set_external_trigger(unsigned int signal_line, bool rising_edge)
+{
+
+}
+
+bool Iris::IrisXimeaImager::is_trigger_external()
+{
+    return 0;
+}

HPPA/irisximeaimager.h

@@ -0,0 +1,123 @@
+#ifndef IRISXIMEAIMAGER_H
+#define IRISXIMEAIMAGER_H
+
+#include <memory.h>
+#include <exception>
+#include <iostream>
+
+//#include "irisximeaimager_global.h"
+#include "imager_base.h"
+#ifdef WIN32
+#include <xiApi.h>       // Windows
+#else
+#include <m3api/xiApi.h> // Linux, OSX
+#endif
+
+#define CE(func) {XI_RETURN stat = (func); if (XI_OK!=stat) {printf("Error:%d returned from function:"#func"\n",stat);throw stat;}}
+#define HandleResult(res,place) if (res!=XI_OK) {printf("Error after %s (%d)\n",place,res);}
+
+namespace Iris
+{
+    class IrisXimeaImager:public ImagerBase
+    {
+    public:
+        HANDLE m_xiH;
+        void setGainOffset(float gain, float offset);
+        bool setSpectralBin(int spectralBin);
+        bool setSpatialBin(int spatialBin);
+        int getSpectralBin();
+        int getSpatialBin();
+        void setEffectiveWindow(int OffsetX, int width, int OffsetY, int height);
+        void setEffectiveWindowRoi(int OffsetX, int width);
+        int getBufferSizeOfOneFrame();
+        float getTemperature();
+
+        XI_IMG m_image; // image buffer
+
+        void setBufferPolicy(int bufferPolicy);//0:XI_BP_UNSAFE; 1:XI_BP_SAFE;
+        void setAcqBufferSize(int acqBufferSize);//单位MiB
+
+    public:
+        //继承基类的
+        IrisXimeaImager();//11111111111111111111
+        virtual ~IrisXimeaImager();
+
+        void connect(const char * camera_serial_number=NULL);//111111111111111111111111111111111
+        void disconnect();//111111111111111111111111111111
+        void start();//111111111111111111111
+        void stop();//1111111111111111111111
+        void get_imager_type(char *buffer, int buffer_size);
+        void get_serial_number(char *buffer, int buffer_size);
+        void get_camera_serial_number(char *buffer, int buffer_size);
+        void generate_configuration_report(char *buffer, int buffer_size);
+        float get_coeff_a();
+        float get_coeff_b();
+        float get_coeff_c();
+        double get_wavelength_at_band(const int band);//11111111111111111111
+        int get_frame_buffer_size_in_bytes();
+        unsigned short* get_frame(unsigned short* buffer);//11111111111111111111111
+        std::uint64_t get_last_timestamp();
+        std::uint64_t ticks_per_second();
+        void set_spectral_bin(int new_spectral_bin);//11111111111111111111111111111111
+        int get_spectral_bin();
+        int get_min_spectral_bin();
+        int get_max_spectral_bin();
+        int get_band_count();//11111111111111111111
+        int get_start_band();//对应上一版本api的函数:get_window_start_band
+        void set_start_band(int band);
+        int get_min_start_band();
+        int get_max_start_band();
+        int get_inc_start_band();
+        int get_end_band();//对应上一版本api的函数:get_window_end_band
+        void set_end_band(int band);
+        int get_min_end_band();
+        int get_max_end_band();
+        int get_inc_end_band();
+        int get_sample_count();//11111111111111111
+        int get_start_sample();
+        void set_start_sample(int sample);
+        int get_min_start_sample();
+        int get_max_start_sample();
+        int get_inc_start_sample();
+        int get_end_sample();
+        void set_end_sample(int sample);
+        int get_min_end_sample();
+        int get_max_end_sample();
+        int get_inc_end_sample();
+        void set_framerate(const double frames_per_second);//11111111111111111111111111111111
+        double get_framerate();//1111111111111111111111
+        double get_min_framerate();
+        double get_max_framerate();
+        double get_min_integration_time();
+        double get_max_integration_time();
+        void set_integration_time(const double microsecond);//111111111111111111111
+        double get_integration_time();//1111111111111111111111111111111
+        void set_gain(const double gain);//111111111111
+        double get_gain();//111111111111
+        double get_min_gain();
+        double get_max_gain();
+        void set_internal_trigger();
+        void set_external_trigger(unsigned int signal_line, bool rising_edge=true);
+        bool is_trigger_external();
+    protected:
+    private:
+        uint64_t m_timestampOfCamera;
+
+        int m_iSpectralBin;
+        int m_iSpatialBin;
+
+        int m_iEffectiveWindow_OffsetX;
+        int m_iEffectiveWindow_width;
+        int m_iEffectiveWindow_OffsetY;
+        int m_iEffectiveWindow_height;
+
+        int m_iEffectiveWindowRoi_OffsetX;
+        int m_iEffectiveWindowRoi_width;
+
+        float m_fGain;
+        float m_fOffset;
+
+    };
+}
+
+#endif // IRISXIMEAIMAGER_H

HPPA/oneMotorControl.ui

@@ -0,0 +1,285 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>OneMotorControl_UI</class>
+ <widget class="QDialog" name="OneMotorControl_UI">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>544</width>
+    <height>346</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>一轴马达控制</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>实时位置</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_6">
+         <property name="text">
+          <string>运行速度</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_7">
+         <property name="text">
+          <string>返回速度</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_4">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QLineEdit" name="realTimeLoc_lineEdit">
+         <property name="text">
+          <string>0</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="speed_lineEdit">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color: rgb(255, 255, 255);</string>
+         </property>
+         <property name="text">
+          <string>0.1</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="return_speed_lineEdit">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color: rgb(255, 255, 255);</string>
+         </property>
+         <property name="text">
+          <string>2</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="move2loc_lineEdit">
+         <property name="text">
+          <string>0</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <widget class="QPushButton" name="connect_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>连接</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="zero_start_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>归零</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="rangeMeasurement_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>量程测量</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="move2loc_pushButton">
+         <property name="text">
+          <string>移动至</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+   <item row="0" column="1">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>161</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <widget class="QPushButton" name="left_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>←0</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="right_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>→</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="2" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <item>
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QLabel" name="motor_state_label">
+       <property name="text">
+        <string>马达状态</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="3" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>191</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

HPPA/resononImager.cpp

@@ -1,30 +1,11 @@
-#include "stdafx.h"
-#include <iostream>
-#include <fstream>
-#include <iomanip>
-#include <exception>
 #include "resononImager.h"
 
-ResononImager::ResononImager()
+ResononPicaLImager::ResononPicaLImager()
 {
-	m_iFrameCounter = 1;
-	m_bRecordControlState = true;
 
-	m_FileName2Save = "tmp_image";
-	m_FileSavedCounter = 1;
-
-	m_RgbImage = new CImage();
-
-	buffer = nullptr;
-	dark = nullptr;
-	white = nullptr;
-
-	m_HasDark = false;
-	m_HasWhite = false;
-	m_bFocusControlState = false;
 }
 
-ResononImager::~ResononImager()
+ResononPicaLImager::~ResononPicaLImager()
 {
 	if (buffer != nullptr)
 	{
@@ -35,425 +16,90 @@ ResononImager::~ResononImager()
 	}
 }
 
-CImage * ResononImager::getRgbImage() const
+double ResononPicaLImager::getFramerate()
 {
-	return m_RgbImage;
+	return m_ResononPicaLImager.get_framerate();
 }
 
-cv::Mat * ResononImager::getMatRgbImage() const
+double ResononPicaLImager::getIntegrationTime()
 {
-	return m_RgbImage->m_matRgbImage;
+	return m_ResononPicaLImager.get_integration_time();
 }
 
-cv::Mat * ResononImager::getMatFocusGrayImage() const
+double ResononPicaLImager::getGain()
 {
-	return m_RgbImage->m_matFocusGrayImage;
+	return m_ResononPicaLImager.get_gain();
 }
 
-QImage ResononImager::getQImageFocusGrayImage() const
+void ResononPicaLImager::setGain(const double gain)
 {
-	return *m_RgbImage->m_qimageFocusGrayImage;
+	m_ResononPicaLImager.set_gain(gain);
 }
 
-bool ResononImager::getRecordControlState() const
+void ResononPicaLImager::setFramerate(const double frames_per_second)
 {
-	return m_bRecordControlState;
-}
-
-void ResononImager::setRecordControlState(bool RecordControlState)
-{
-	m_bRecordControlState = RecordControlState;
-}
-
-int ResononImager::getFrameCounter() const
-{
-	return m_iFrameCounter;
-}
-
-int ResononImager::getFocusFrameCounter() const
-{
-	return m_iFocusFrameCounter;
-}
-
-void ResononImager::WriteHdr()
-{
-	//write an ENVI compatible header file
-	using namespace std;
-
-
-	FileOperation * fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryFromString();
-
-	string hdrPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".hdr";
-
-	std::ofstream outfile(hdrPath.c_str());
-	outfile << "ENVI\n";
-	outfile << "interleave = bil\n";
-	outfile << "data type = 12\n";
-	outfile << "bit depth = 12\n";
-	outfile << "samples = " << m_ResononImager.get_sample_count() << "\n";
-	outfile << "bands = " << m_ResononImager.get_band_count() << "\n";
-	outfile << "lines = " << m_iFrameCounter << "\n";
-	outfile << "framerate = " << m_ResononImager.get_framerate() << "\n";
-	outfile << "shutter = " << m_ResononImager.get_integration_time() << "\n";
-	outfile << "gain = " << m_ResononImager.get_gain() << "\n";
-	outfile << "wavelength = {";
-	outfile << std::setprecision(5);
-
-	int start = m_ResononImager.get_start_band();
-	int end = m_ResononImager.get_end_band();
-	for (int i = start; i < end - 1; i++)
-	{
-		outfile << m_ResononImager.get_wavelength_at_band(i) << ", ";
-	}
-	outfile << m_ResononImager.get_wavelength_at_band(end - 1) << "}\n";
-	outfile.close();
-}
-
-unsigned short ResononImager::GetMaxValue(unsigned short * dark, int number)
-{
-	unsigned short max = 0;
-	for (size_t i = 0; i < number; i++)
-	{
-		if (dark[i]>max)
-		{
-			max = dark[i];
-		}
-	}
-	//std::cout << "<22><>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>ֵΪ" << max << std::endl;
-	return max;
-}
-
-void ResononImager::connect_imager(int frameNumber)
-{
-	m_ResononImager.connect();
-	set_framerate(30.0);
-	set_integration_time(1);
-	set_gain(0);
-
-	m_ResononImager.set_spectral_bin(2);
-	//m_ResononImager.set_spatial_bin(2);
-
-	set_buffer();
-	m_RgbImage->SetRgbImageWidthAndHeight(getBandCount(), getSampleCount(), frameNumber);
-	m_iFrameNumber = frameNumber;
-
-	emit testImagerStatus();
-
-	//std::cout << "------------------------------------------------------" << std::endl;
-}
-
-void ResononImager::start_record()
-{
-	using namespace std;
-
-	//std::cout << "------------------------------------------------------" << std::endl;
-
-	m_iFrameCounter = 0;
-	m_RgbImage->m_iFrameCounter = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<62><CDBC><EFBFBD>ĵ<EFBFBD>0<EFBFBD><30>
-	m_bRecordControlState = true;
-
-	//<2F>ж<EFBFBD><D0B6>ڴ<EFBFBD>buffer<65>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	if (buffer == 0)
-	{
-		std::cerr << "Error: memory could not be allocated for datacube";
-		exit(EXIT_FAILURE);
-	}
-
-	FileOperation * fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryFromString();
-	string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter);
-
-	m_fImage = fopen(imgPath.c_str(), "w+b");
-
-	
-	size_t x;
-	double pixelValueTmp;
-	
-	m_ResononImager.start();
-	while (m_bRecordControlState)
-	{
-		m_iFrameCounter++;
-
-		m_ResononImager.get_frame(buffer);
-
-		//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
-		if (m_HasDark)
-		{
-			for (size_t i = 0; i < m_FrameSize; i++)
-			{
-				if (buffer[i] < dark[i])
-				{
-					buffer[i] = 0;
-				}
-				else
-				{
-					buffer[i] = buffer[i] - dark[i];
-				}
-				
-			}
-		}
-
-
-		//ת<><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-		if (m_HasWhite)
-		{
-			for (size_t i = 0; i < m_FrameSize; i++)
-			{
-				//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壩Ϊ0<CEAA><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-				if (white[i] != 0)
-				{
-					pixelValueTmp = buffer[i];
-					buffer[i] = (pixelValueTmp / white[i]) * 10000;
-				}
-				else
-				{
-					buffer[i] = 0;
-				}
-				
-				
-			}
-		}
-
-		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
-
-		//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
-		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
-
-		//std::cout << "<22><>" << m_iFrameCounter << "֡д<D6A1><D0B4>" << x << "<22><>unsigned short<72><74>" << std::endl;
-
-		//ÿ<><C3BF>1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><CEBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
-		if (m_iFrameCounter % (int)m_ResononImager.get_framerate() == 0)
-		{
-			emit PlotSignal();
-		}
-
-		if (m_iFrameCounter >= m_iFrameNumber)
-		{
-			break;
-		}
-		
-	}
-	m_ResononImager.stop();
-
-	m_bRecordControlState = false;
-	WriteHdr();
-	m_FileSavedCounter++;
-
-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	//m_RgbImage
-	emit PlotSignal();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ
-
-	if (m_iFrameCounter >= m_iFrameNumber)
-	{
-		emit RecordFinishedSignal_WhenFrameNumberMeet();
-	}
-	else
-	{
-		emit RecordFinishedSignal_WhenFrameNumberNotMeet();
-	}
-
-	//QThread::msleep(1001);
-	fclose(m_fImage);
-}
-
-void ResononImager::record_dark()
-{
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
-	m_ResononImager.start();
-	m_ResononImager.get_frame(dark);
-	m_ResononImager.stop();
-
-	m_HasDark = true;
-}
-
-void ResononImager::record_white()
-{
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
-	m_ResononImager.start();
-	m_ResononImager.get_frame(white);
-	m_ResononImager.stop();
-
-	//<2F>װ<EFBFBD><D7B0>۰<EFBFBD><DBB0><EFBFBD><EFBFBD><EFBFBD>
-	if (m_HasDark)
-	{
-		for (size_t i = 0; i < m_FrameSize; i++)
-		{
-			if (white[i] < dark[i])
-			{
-				white[i] = 0;
-			}
-			else
-			{
-				white[i] = white[i] - dark[i];
-			}
-		}
-	}
-
-	m_HasWhite = true;
-}
-
-double ResononImager::get_framerate()
-{
-	return m_ResononImager.get_framerate();
-}
-
-double ResononImager::get_integration_time()
-{
-	return m_ResononImager.get_integration_time();
-}
-
-double ResononImager::get_gain()
-{
-	return m_ResononImager.get_gain();
-}
-
-void ResononImager::set_framerate(const double frames_per_second)
-{
-	
-	m_ResononImager.set_framerate(frames_per_second);
+	m_ResononPicaLImager.set_framerate(frames_per_second);
 	m_RgbImage->m_iFramerate = frames_per_second;
 }
 
-void ResononImager::set_integration_time(const double milliseconds)
+void ResononPicaLImager::setIntegrationTime(const double milliseconds)
 {
-	m_ResononImager.set_integration_time(milliseconds);
+	m_ResononPicaLImager.set_integration_time(milliseconds);
 }
 
-void ResononImager::set_gain(const double gain)
+int ResononPicaLImager::getStartBand()
 {
-	m_ResononImager.set_gain(gain);
+	return m_ResononPicaLImager.get_start_band();
 }
 
-void ResononImager::set_buffer()
+int ResononPicaLImager::getEndBand()
 {
-	//<2F><><EFBFBD><EFBFBD>
-	if (buffer != nullptr)
-	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
-		free(buffer);
-	}
-
-	m_FrameSize = m_ResononImager.get_band_count()*m_ResononImager.get_sample_count();
-	//std::cout << "m_FrameSize<7A><65>СΪ" << m_FrameSize << std::endl;
-
-	buffer = new unsigned short[m_FrameSize];
-	dark = new unsigned short[m_FrameSize];
-	white = new unsigned short[m_FrameSize];
-
-	std::cout << "buffer<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << buffer << std::endl;
-	std::cout << "dark<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << dark << std::endl;
-	std::cout << "white<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << white << std::endl;
+	return m_ResononPicaLImager.get_end_band();
 }
 
-void ResononImager::setFrameNumber(int FrameNumber)
+void ResononPicaLImager::connectImager(const char* camera_sn)
 {
-	m_iFrameNumber = FrameNumber;
-	m_RgbImage->SetRgbImageWidthAndHeight(getBandCount(), getSampleCount(), FrameNumber);
+	m_ResononPicaLImager.connect();
 }
 
-double ResononImager::auto_exposure()
+void ResononPicaLImager::disconnectImager()
 {
-	//<2F><>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>Ϊ<EFBFBD>ڵ<EFBFBD>ǰ֡<C7B0><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	double x = 1 / m_ResononImager.get_framerate()*1000;//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>
-	m_ResononImager.set_integration_time(x);
-
-	//<2F>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>ѭ<EFBFBD><D1AD>Ѱ<EFBFBD><D1B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>
-	m_ResononImager.start();
-
-	while (true)
-	{
-		m_ResononImager.get_frame(buffer);
-		if (GetMaxValue(buffer, m_FrameSize) >= 4095)
-		{
-			set_integration_time(get_integration_time()*0.8);
-			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
-		}
-		else
-		{
-			break;
-		}
-	}
-
-	m_ResononImager.stop();
-
-	//std::cout << "<22>Զ<EFBFBD><D4B6>ع⣺" << get_integration_time() << std::endl;
-
-	return get_integration_time();
+	m_ResononPicaLImager.disconnect();
 }
 
-void ResononImager::setFocusControlState(bool FocusControlState)
+void ResononPicaLImager::imagerStartCollect()
 {
-	m_bFocusControlState = FocusControlState;
+	m_ResononPicaLImager.start();
 }
 
-void ResononImager::setFileName2Save(string FileName)
+void ResononPicaLImager::imagerStopCollect()
 {
-	m_FileName2Save = FileName;
-	m_FileSavedCounter = 1;
+	m_ResononPicaLImager.stop();
 }
 
-double ResononImager::getWavelengthAtBand(int band)
+unsigned short* ResononPicaLImager::getFrame(unsigned short* buffer)
 {
-	return m_ResononImager.get_wavelength_at_band(band);
+	m_ResononPicaLImager.get_frame(buffer);
+
+	return buffer;
 }
 
-int ResononImager::getBandCount()
+void ResononPicaLImager::setSpectraBin(int new_spectral_bin)
 {
-	return m_ResononImager.get_band_count();
+
 }
 
-int ResononImager::getSampleCount()
+double ResononPicaLImager::getWavelengthAtBand(int band)
 {
-	return m_ResononImager.get_sample_count();
+	return m_ResononPicaLImager.get_wavelength_at_band(band);
 }
 
-int ResononImager::GetImageSize(int &iWidth, int &iHeight)
+int ResononPicaLImager::getBandCount()
 {
-	/*using namespace GENAPI_NAMESPACE;
-	using namespace std;
-	INodeMap& nodemap = m_phCamera->GetNodeMap();
-
-	iWidth = (int)CIntegerPtr(nodemap.GetNode("Width"))->GetValue();
-	iHeight = (int)CIntegerPtr(nodemap.GetNode("Height"))->GetValue();*/
-
-	iWidth = getSampleCount();
-	iHeight = getBandCount();
-
-	return 0;
+	return m_ResononPicaLImager.get_band_count();
 }
 
-void ResononImager::focus()
+int ResononPicaLImager::getSampleCount()
 {
-	m_iFocusFrameCounter = 1;
-	//std::cout << "<22><><EFBFBD><EFBFBD>-----------" << std::endl;
-
-	double tmpFrmerate = m_ResononImager.get_framerate();
-	double tmpIntegrationTime = m_ResononImager.get_integration_time();
-
-
-	m_ResononImager.set_framerate(5);
-	auto_exposure();
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << m_ResononImager.get_integration_time() << std::endl;
-
-	m_ResononImager.start();
-
-	//emit SpectralSignal(1);
-	m_bFocusControlState = true;
-	while (m_bFocusControlState)
-	{
-		m_ResononImager.get_frame(buffer);
-		//m_RgbImage->FillFocusGrayImage(buffer);
-		m_RgbImage->FillFocusGrayQImage(buffer);
-
-		emit SpectralSignal(1);
-
-		++m_iFocusFrameCounter;
-	}
-	emit SpectralSignal(0);
-	
-	m_ResononImager.stop();
-
-	m_ResononImager.set_framerate(tmpFrmerate);
-	m_ResononImager.set_integration_time(tmpIntegrationTime);
+	return m_ResononPicaLImager.get_sample_count();
 }

HPPA/resononImager.h

@@ -4,94 +4,45 @@
 #include <string>
 #include <opencv2/core/core.hpp> 
 
+#include "ImagerOperationBase.h"
 #include "resonon_imager_basler.h"
 #include "image2display.h"
 #include "fileOperation.h"
 
-class ResononImager:public QObject
+class ResononPicaLImager:public ImagerOperationBase
 {
 	Q_OBJECT
 
 public:
-	ResononImager();
-	~ResononImager();
+	ResononPicaLImager();
+	~ResononPicaLImager();
 
-	Resonon::PikaBasler m_ResononImager;//
-
-	CImage* getRgbImage() const;
-	cv::Mat * getMatRgbImage() const;
-	cv::Mat * getMatFocusGrayImage() const;
-	QImage getQImageFocusGrayImage() const;
-	
-	bool getRecordControlState() const;
-	void setRecordControlState(bool RecordControlState);
-
-	int getFrameCounter() const;
-	int getFocusFrameCounter() const;
-
-	unsigned short * buffer;//<2F>洢<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD><D0BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>д<EFBFBD>뵽Ӳ<EBB5BD><D3B2><EFBFBD><EFBFBD>
-	
-	void set_buffer();
-	void setFrameNumber(int FrameNumber);
-	double auto_exposure();
-	
-	
-	void setFocusControlState(bool FocusControlState);
-
-	void setFileName2Save(string FileName);
+	Resonon::PikaBasler m_ResononPicaLImager;//
 
 	double getWavelengthAtBand(int band);
 	int getBandCount();
 	int getSampleCount();
-
-	int GetImageSize(int &iWidth, int &iHeight);
+	double getFramerate();
+	double getIntegrationTime();
+	double getGain();
+	void setFramerate(const double frames_per_second);
+	void setIntegrationTime(const double milliseconds);
+	void setGain(const double gain);
+	int getStartBand();
+	int getEndBand();
+	void connectImager(const char* camera_sn = NULL);
+	void disconnectImager();
+	void imagerStartCollect();
+	void imagerStopCollect();
+	unsigned short* getFrame(unsigned short* buffer);
+	void setSpectraBin(int new_spectral_bin);
 	
 protected:
 private:
-	CImage* m_RgbImage;//<2F><>ʾ<EFBFBD><CABE>rgbͼ<62><CDBC>
-	int m_iFrameNumber;//<2F><>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1>
-	int m_iFrameCounter;//<2F><>¼<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1>
-	int m_iFocusFrameCounter;//<2F><>¼<EFBFBD><C2BC><EFBFBD><EFBFBD>ʱ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1>
-	bool m_bRecordControlState;//<2F>ɼ<EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>
-	bool m_bFocusControlState;//<2F><><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڸ<EFBFBD><DAB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>
-	string m_FileName2Save;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>
-	int m_FileSavedCounter;//<2F><><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><CBBC><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD>
-
-	unsigned short * dark;//<2F>洢<EFBFBD><E6B4A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	unsigned short * white;//<2F>洢<EFBFBD>װ<EFBFBD>
-
-	FILE *m_fImage;//<2F><><EFBFBD><EFBFBD>д<EFBFBD><D0B4>Ӳ<EFBFBD>̵<EFBFBD><CCB5>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>
-	int m_FrameSize;//<2F><>ʾһ֡<D2BB><D6A1><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6>ٸ<EFBFBD><D9B8><EFBFBD>ֵ<EFBFBD><D6B5>m_FrameSize = m_imager.get_band_count()*m_imager.get_sample_count();
-	bool m_HasDark;//<2F><><EFBFBD>ɼ<EFBFBD><C9BC>˰<EFBFBD><CBB0><EFBFBD><EFBFBD><EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue
-	bool m_HasWhite;//<2F><><EFBFBD>ɼ<EFBFBD><C9BC>˰װ<CBB0>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue
-
-	void WriteHdr();
-	unsigned short GetMaxValue(unsigned short * dark, int number);
 	
 public slots:
-	void connect_imager(int frameNumber);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٻ<EFBFBD><D9BB><EFBFBD>
-	void start_record();
-	void record_dark();
-	void record_white();
-	void focus();
-
-	double get_framerate();
-	double get_integration_time();
-	double get_gain();
-
-	void set_framerate(const double frames_per_second);
-	void set_integration_time(const double milliseconds);
-	void set_gain(const double gain);
 
 signals:
-	void PlotSignal();//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ź<EFBFBD>
-	void RecordFinishedSignal_WhenFrameNumberMeet();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>m_iFrameNumber<65><72><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>
-	void RecordFinishedSignal_WhenFrameNumberNotMeet();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>m_iFrameNumber<65><72>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD><EFBFBD>ɣ<EFBFBD><C9A3><EFBFBD>;ֹͣ<CDA3>ɼ<EFBFBD>
-	void SpectralSignal(int);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD><C6B9>ף<EFBFBD><D7A3><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD>
 
-
-	void testImagerStatus();//<2F><>ʾ<EFBFBD><CABE><EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ӣ<EFBFBD><D3A3><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 };
 #endif

HPPA/utility_tc.cpp

@@ -0,0 +1,159 @@
+#include "utility_tc.h"
+#include <QDir>
+
+QString formatTimeStr(char * format)
+{
+    //获取系统时间
+    time_t timer;//time_t就是long int 类型
+    struct tm *tblock;
+    timer = time(NULL);//返回秒数(精度为秒)，从1970-1-1,00:00:00 可以当成整型输出或用于其它函数
+    tblock = localtime(&timer);
+    //printf("Local time is: %s\n", asctime(tblock));
+
+    //格式化时间为需要的格式
+    char timeStr_tmp[256] = { 0 };
+    strftime(timeStr_tmp, sizeof(timeStr_tmp), format, tblock);//
+
+    QString timeStr2(timeStr_tmp);
+//    qDebug() << "time is:" << timeStr2;
+
+    return timeStr2;
+}
+
+QString getFileNameBaseOnTime()
+{
+    using namespace std;
+
+    //获取系统时间
+    time_t timer;//time_t就是long int 类型
+    struct tm *tblock;
+    timer = time(NULL);//返回秒数(精度为秒)，从1970-1-1,00:00:00 可以当成整型输出或用于其它函数
+    tblock = localtime(&timer);
+    //printf("Local time is: %s\n", asctime(tblock));
+
+    //格式化时间为需要的格式
+    char fileNameTmp[256] = { 0 };
+    char dirNameTmp[256] = { 0 };
+    strftime(fileNameTmp, sizeof(fileNameTmp), "%Y%m%d_%H%M%S", tblock);
+    strftime(dirNameTmp, sizeof(dirNameTmp), "%Y%m%d", tblock);
+    QString fileName(fileNameTmp);
+    QString dirName(dirNameTmp);
+
+//    QString fileName=QString::number(tblock->tm_year+1900)+QString::number(tblock->tm_mon+1)+QString::number(tblock->tm_mday)+"_"+QString::number(tblock->tm_hour)+QString::number(tblock->tm_min);//
+
+    //设置文件绝对路径
+    QDir path("/media/nvme");
+    if(!path.exists(dirName))
+    {
+        path.mkdir(dirName);
+    }
+    path.cd(dirName);
+    QString absoluteFilePath=path.path()+"/"+fileName;
+//    printf("absoluteFilePath is: %s\n", absoluteFilePath.c_str());
+//    qDebug() << "absoluteFilePath is:" << absoluteFilePath;
+
+    return absoluteFilePath;
+}
+
+void bubbleSort(unsigned short * a, int n)
+{
+//    //排序实现１
+//    for(int i=0;i<numberOfPixel;i++)
+//        for(int j=1;j<numberOfPixel-i;j++)
+//            if(a[j-1]>a[j])
+//                swap(a+j-1,a+j);
+
+    //排序实现2
+    int j,k,flag;
+
+    flag = n;
+    while(flag>0)
+    {
+        k=flag;
+        flag=0;
+        for(j=1;j<k;j++)
+            if(a[j-1]>a[j])
+            {
+                swap(a+j-1,a+j);
+                flag=j;
+            }
+    }
+}
+
+void swap(unsigned short * a, unsigned short * b)
+{
+    int tmp;
+
+    tmp=*a;
+    *a=*b;
+    *b=tmp;
+}
+
+
+bool createDir(QString fullPath)
+{
+    QDir dir(fullPath);
+    if (dir.exists()) {
+        return true;
+    } else {
+        bool ok = dir.mkpath(fullPath);//创建多级目录
+        return ok;
+    }
+}
+
+std::string removeFileExtension(std::string filename)
+{
+    size_t lastDot = filename.find_last_of(".");
+    if (lastDot == std::string::npos) {
+        // 如果没有找到后缀，返回原字符串
+        return filename;
+    }
+    return filename.substr(0, lastDot);
+
+}
+
+QList<QString> getFileInfo(QString file)
+{
+    QFileInfo fileInfo = QFileInfo(file);
+
+    QString fileName, fileSuffix, filePath;
+    filePath = fileInfo.absolutePath();//绝对路径
+    fileName = fileInfo.fileName();//文件名
+    fileSuffix = fileInfo.suffix();//文件后缀
+
+//    qDebug() << fileName <<endl
+//             << fileSuffix<< endl
+//             << filePath<< endl;
+
+    QList<QString> result;
+    result.append(filePath);
+    result.append(fileName);
+    result.append(fileSuffix);
+
+    return result;
+}
+
+long long getNanosecondsSinceMidnight()
+{
+    // 获取当前系统时间
+    auto now = std::chrono::system_clock::now();
+
+    // 转换为 time_t（秒级别的时间戳）
+    std::time_t t = std::chrono::system_clock::to_time_t(now);
+    std::tm local_tm = *std::localtime(&t); // 获取本地时间结构
+
+    // 将时间结构调整到当天 00:00:00
+    local_tm.tm_hour = 0;
+    local_tm.tm_min = 0;
+    local_tm.tm_sec = 0;
+    local_tm.tm_isdst = -1;  // 让 mktime 自动判断夏令时
+
+    // 获取当天 00:00:00 的时间点
+    auto midnight = std::chrono::system_clock::from_time_t(std::mktime(&local_tm));
+
+    // 计算从当天 00:00:00 到现在的时间差
+    auto nanoseconds_since_midnight = std::chrono::duration_cast<std::chrono::nanoseconds>(now - midnight);
+
+    // 返回纳秒数
+    return nanoseconds_since_midnight.count();
+}

HPPA/utility_tc.h

@@ -0,0 +1,28 @@
+#ifndef UTILITY_TC_H
+#define UTILITY_TC_H
+
+#include <iostream>
+#include <ctime>
+#include <string>
+
+#include <QString>
+#include <QDebug>
+#include <chrono>
+
+QString getFileNameBaseOnTime();
+
+QString formatTimeStr(char * format);
+
+//https://blog.csdn.net/MoreWindows/article/details/6657829
+void bubbleSort(unsigned short * a, int n);
+
+void swap(unsigned short * a, unsigned short * b);
+
+bool createDir(QString fullPath);
+std::string removeFileExtension(std::string filename);
+
+QList<QString> getFileInfo(QString file);
+
+long long getNanosecondsSinceMidnight();
+
+#endif // UTILITY_TC_H

readme.txt

@@ -0,0 +1,28 @@
+1、HPPA拼接
+每条航线的开始帧的位置不一样，无法直接将相邻航线拼接一起，否则航向有错位。
+1.1 步骤
+（1）采集每帧的同时，获取线性平台的位置，并写入文件；
+（2）根据位置信息匹配帧号，然后进行拼接；
+1.2 存在的问题及解决办法
+（1）马达库不知道是否能够支持20hz及以上的访问频率；
+或者按照一定频率采集线性平台位置，通过时间进行插值获取每帧位置；
+（2）列之间的重叠
+通过一个可调参数进行旁向拼接设置；
+1.3 拼接后裁剪
+
+1.4 根据每个像素的xy坐标进行拼接：放弃
+
+2、bug修复
+（1）反射率图像条纹：白板和暗电流都采集30帧进行平均；
+（2）轨迹2位小数
+（3）速度输入接受小数
+
+3、hppa升降桌无线控制模块
+如果没有配置过，那么默认ip为http://192.168.1.254，且默认wifi以iris1开头，默认wifi密码为123456789。
+配置网页为http://192.168.1.254/wificonfig.html，配置密码是licahk*******
+
+如果已经配置为252，那么可用下面网址控制
+http://192.168.1.252/stopnow
+http://192.168.1.252/set_up
+http://192.168.1.252/set_down
+http://192.168.1.252/wificonfig.html