1、添加仅采集影像，马达不运动的功能，可用于机械臂和影像采集测试；

2、使用 QSettings 记录 Action 的 isChecked 状态，并在打开软件时恢复；
使用QSettings保存选择的相机类型
2025-04-11 15:48:27 +08:00 · 2025-03-11 16:51:35 +08:00 · 2025-03-06 19:16:21 +08:00 · 2025-02-27 14:18:02 +08:00 · 2025-02-27 11:18:26 +08:00 · 2025-02-07 16:25:21 +08:00
30 changed files with 3176 additions and 2287 deletions
--- a/HPPA/FocusDialog.ui
+++ b/HPPA/FocusDialog.ui
@ -6,8 +6,8 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>1312</width>
-    <height>752</height>
+    <width>600</width>
+    <height>332</height>
   </rect>
  </property>
  <property name="windowTitle">
--- a/HPPA/HPPA.cpp
+++ b/HPPA/HPPA.cpp
--- a/HPPA/HPPA.h
+++ b/HPPA/HPPA.h
@ -26,9 +26,13 @@
 #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 "hppaConfigFile.h"
 #include "path_tc.h"
@ -160,12 +164,18 @@ 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 configfile;
+	Configfile mConfigfile;

 	ForLoopControl * m_ForLoopControl;
 	ImagerOperationBase* m_Imager;//
@ -205,10 +215,6 @@ 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>
-	void deleteMotor();
-	void newMotor();
 	
 	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);
@ -230,10 +236,13 @@ private:
 	void getRequest(QString str);

 	QActionGroup* mImagerGroup = nullptr;
-	QString imagerSelected;
 	void createActionGroups();
 	void selectingImager(QAction* selectedAction);

+	PathPlan* m_pathPlan;
+
+	FILE* m_hTimesFile;
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage();
 	void PlotSpectral(int state);
@ -248,7 +257,9 @@ 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);
@ -267,8 +278,12 @@ 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();
@ -303,17 +318,11 @@ 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();

+	void onMotorSwitch();
+
 	//
 	void onimagerSimulatorMove(int x, int y);
 	void OnSendLogToCallClass(QString str);
@ -324,26 +333,16 @@ public Q_SLOTS:

 	void onCopyFinished();

-	void onLampPowerOpen_btn();
-	void onLampPowerClose_btn();
-
-	void onMotorPowerOpen_btn();
-	void onMotorPowerClose_btn();
-
 	void requestFinished(QNetworkReply* reply);

-	void onObjectivTable1Up_btn();
-	void onObjectivTable1Down_btn();
-	void onObjectivTable1Stop_btn();
-	void onObjectivTable2Up_btn();
-	void onObjectivTable2Down_btn();
-	void onObjectivTable2Stop_btn();
-
 signals:
 	void StartFocusSignal();
 	void StartLoopSignal();
 	void StartRecordSignal();
 	void CopyFileThreadSignal(QString, QString);
+	void BroadcastXMotorPosSignal(long long, int);

+	void RecordWhiteSignal();
+	void RecordDarlSignal();
 };

--- a/HPPA/HPPA.ui
+++ b/HPPA/HPPA.ui
--- a/HPPA/HPPA.vcxproj
+++ b/HPPA/HPPA.vcxproj
@ -105,9 +105,12 @@
  </ItemDefinitionGroup>
  <ItemGroup>
    <ClCompile Include="aboutWindow.cpp" />
+    <ClCompile Include="adjustTable.cpp" />
    <ClCompile Include="hppaConfigFile.cpp" />
    <ClCompile Include="ImagerOperationBase.cpp" />
+    <ClCompile Include="PathPlan.cpp" />
    <ClCompile Include="path_tc.cpp" />
+    <ClCompile Include="PowerControl.cpp" />
    <ClCompile Include="QDoubleSlider.cpp" />
    <ClCompile Include="QMotorDoubleSlider.cpp" />
    <ClCompile Include="resononImager.cpp" />
@ -120,6 +123,7 @@
    <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" />
@ -133,6 +137,8 @@
    <ClCompile Include="imagerSimulatioin.cpp" />
    <ClCompile Include="ImageViewer.cpp" />
    <ClCompile Include="main.cpp" />
+    <QtUic Include="PathPlan.ui" />
+    <QtUic Include="PowerControl.ui" />
  </ItemGroup>
  <ItemGroup>
    <QtMoc Include="fileOperation.h" />
@ -144,6 +150,9 @@
    <QtMoc Include="image2display.h" />
  </ItemGroup>
  <ItemGroup>
+    <QtMoc Include="adjustTable.h" />
+    <QtMoc Include="PowerControl.h" />
+    <QtMoc Include="PathPlan.h" />
    <ClInclude Include="utility_tc.h" />
    <QtMoc Include="aboutWindow.h" />
    <ClInclude Include="hppaConfigFile.h" />
--- a/HPPA/HPPA.vcxproj.filters
+++ b/HPPA/HPPA.vcxproj.filters
@ -97,6 +97,15 @@
    <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>
  </ItemGroup>
  <ItemGroup>
    <QtMoc Include="fileOperation.h">
@ -135,6 +144,15 @@
    <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>
  </ItemGroup>
  <ItemGroup>
    <ClInclude Include="imageProcessor.h">
@ -169,6 +187,15 @@
    <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>
  </ItemGroup>
  <ItemGroup>
    <None Include="cpp.hint" />
--- a/HPPA/ImageViewer.cpp
+++ b/HPPA/ImageViewer.cpp
@ -37,6 +37,7 @@ ImageViewer::ImageViewer(QWidget* pParent) :QGraphicsView(pParent)

 	setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
 	setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+	setFrameShape(QFrame::NoFrame);
 }

 ImageViewer::~ImageViewer()
--- a/HPPA/ImagerOperationBase.cpp
+++ b/HPPA/ImagerOperationBase.cpp
@ -111,17 +111,59 @@ 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();
-	getFrame(dark);
+	
+	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><EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	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();
-	getFrame(white);
+
+	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>
@ -141,6 +183,8 @@ void ImagerOperationBase::record_white()
 	}

 	m_HasWhite = true;
+
+	emit RecordWhiteFinishSignal();
 }

 void ImagerOperationBase::start_record()
@ -160,21 +204,22 @@ void ImagerOperationBase::start_record()
 		exit(EXIT_FAILURE);
 	}

-	FileOperation* fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryFromString();
-	string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter);
-
-	FILE* m_fImage = fopen(imgPath.c_str(), "w+b");
+	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)
@ -215,6 +260,7 @@ void ImagerOperationBase::start_record()
 		}

 		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);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -254,6 +300,7 @@ void ImagerOperationBase::start_record()

 	//QThread::msleep(1001);
 	fclose(m_fImage);
+	fclose(hTimesFile);
 }

 void ImagerOperationBase::setFrameNumber(int FrameNumber)
@ -354,11 +401,7 @@ void ImagerOperationBase::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";
+	string hdrPath = removeFileExtension(m_FileName2Save2) + ".hdr";

 	std::ofstream outfile(hdrPath.c_str());
 	outfile << "ENVI\n";
--- a/HPPA/ImagerOperationBase.h
+++ b/HPPA/ImagerOperationBase.h
@ -7,6 +7,7 @@
 #include <string>
 #include <opencv2/core/core.hpp> 
 #include "ImagerOperationBase.h"
+#include "utility_tc.h"

 class ImagerOperationBase :public QObject
 {
@ -65,6 +66,7 @@ protected:

    //<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
@ -97,6 +99,9 @@ signals:
    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>
 };
--- a/HPPA/PathPlan.cpp
+++ b/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>"));
+
+}
--- a/HPPA/PathPlan.h
+++ b/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();
+};
--- a/HPPA/PathPlan.ui
+++ b/HPPA/PathPlan.ui
@ -0,0 +1,362 @@
+<?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>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_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>
+  <zorder>layoutWidget</zorder>
+  <zorder>layoutWidget_2</zorder>
+  <zorder>recordLine_tableWidget</zorder>
+  <zorder>layoutWidget_3</zorder>
+  <zorder>layoutWidget_4</zorder>
+  <zorder>label_7</zorder>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>
--- a/HPPA/PowerControl.cpp
+++ b/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();
+}
--- a/HPPA/PowerControl.h
+++ b/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);
+};
--- a/HPPA/PowerControl.ui
+++ b/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>
--- a/HPPA/QMotorDoubleSlider.cpp
+++ b/HPPA/QMotorDoubleSlider.cpp
@ -12,12 +12,30 @@ QMotorDoubleSlider::QMotorDoubleSlider(QWidget* pParent /*= NULL*/) :QSlider(pPa
 	m_Multiplier = 0;
 }

-void QMotorDoubleSlider::setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionMultiples)
+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 / (360 / stepAnglemar * subdivisionMultiples) * scaleFactor;
+	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>
--- a/HPPA/QMotorDoubleSlider.h
+++ b/HPPA/QMotorDoubleSlider.h
@ -12,7 +12,8 @@ class QMotorDoubleSlider : public QSlider

 public:
 	QMotorDoubleSlider(QWidget* pParent = NULL);
-	void setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionMultiples);
+	void setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionParam);
+	int getValidSubdivision(int subdivisionParam);

 	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

--- a/HPPA/ResononNirImager.cpp
+++ b/HPPA/ResononNirImager.cpp
@ -180,13 +180,92 @@ void ResononNirImager::focus()

 	imagerStopCollect();

-	//reConnectImage();
-	Sleep(20);
-	setFramerate(tmpFrmerate);//Ϊɶ<CEAA><C9B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʾͲ<CABE><CDB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	
-
 	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()
@ -206,15 +285,15 @@ void ResononNirImager::start_record()
 		exit(EXIT_FAILURE);
 	}

-	FileOperation* fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryFromString();
-	string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter);
-
-	FILE* m_fImage = fopen(imgPath.c_str(), "w+b");
+	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)
@ -222,6 +301,8 @@ void ResononNirImager::start_record()
 		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)
@ -262,6 +343,7 @@ void ResononNirImager::start_record()
 		}

 		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);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -277,6 +359,7 @@ void ResononNirImager::start_record()
 		if (m_iFrameCounter >= m_iFrameNumber)
 		{
 			break;
+			//qDebug() << "<22><><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>";
 		}

 	}
@ -301,6 +384,7 @@ void ResononNirImager::start_record()

 	//QThread::msleep(1001);
 	fclose(m_fImage);
+	fclose(hTimesFile);
 }

 void ResononNirImager::WriteHdr()
@ -308,11 +392,7 @@ void ResononNirImager::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";
+	string hdrPath = removeFileExtension(m_FileName2Save2) + ".hdr";

 	std::ofstream outfile(hdrPath.c_str());
 	outfile << "ENVI\n";
--- a/HPPA/ResononNirImager.h
+++ b/HPPA/ResononNirImager.h
@ -7,6 +7,7 @@
 #include "resonon_imager_allied.h"
 #include "image2display.h"
 #include "fileOperation.h"
+#include "utility_tc.h"

 class ResononNirImager :public ImagerOperationBase
 {
@ -43,6 +44,8 @@ private:
 public slots:
 	double auto_exposure();
 	void focus();
+	void record_dark();
+	void record_white();
 	void start_record();
 	
 signals:
--- a/HPPA/about.ui
+++ b/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：1.8</string>
+    <string>版本：1.8.7</string>
   </property>
  </widget>
  <widget class="QLabel" name="label_4">
--- a/HPPA/adjustTable.cpp
+++ b/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);
+}
--- a/HPPA/adjustTable.h
+++ b/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);
+};
--- a/HPPA/adjustTable.ui
+++ b/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>
--- a/HPPA/hppaConfigFile.cpp
+++ b/HPPA/hppaConfigFile.cpp
@ -303,12 +303,12 @@ 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;

--- a/HPPA/image2display.cpp
+++ b/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));

 	}
 }
--- a/HPPA/image2display.h
+++ b/HPPA/image2display.h
@ -11,6 +11,7 @@
 #include "QImage"

 #include "fileOperation.h"
+#include "imageProcessor.h"


 class CImage :public QObject
--- a/HPPA/imageProcessor.cpp
+++ b/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>
--- a/HPPA/utility_tc.cpp
+++ b/HPPA/utility_tc.cpp
@ -101,6 +101,17 @@ bool createDir(QString fullPath)
    }
 }

+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);
@ -121,3 +132,28 @@ QList<QString> getFileInfo(QString file)

    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();
+}
--- a/HPPA/utility_tc.h
+++ b/HPPA/utility_tc.h
@ -3,9 +3,11 @@

 #include <iostream>
 #include <ctime>
+#include <string>

 #include <QString>
 #include <QDebug>
+#include <chrono>

 QString getFileNameBaseOnTime();

@ -17,7 +19,10 @@ 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
--- a/readme.txt
+++ b/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
Author	SHA1	Message	Date
tangchao0503	f32ade7487	1、添加仅采集影像，马达不运动的功能，可用于机械臂和影像采集测试； 2、使用 QSettings 记录 Action 的 isChecked 状态，并在打开软件时恢复；	2025-04-11 15:48:27 +08:00
tangchao0503	89c701c5f2	使用QSettings保存选择的相机类型	2025-03-11 16:51:35 +08:00
tangchao0503	a7fd9e4fa9	添加3个升降桌	2025-03-06 19:16:21 +08:00
tangchao0503	5af6a039c2	x马达扫描速度接受小数	2025-02-27 14:18:02 +08:00
tangchao0503	b779118d72	1、记录x马达位置用于拼接影像； 2、修复了航线读写错误问题；	2025-02-27 11:18:26 +08:00
tangchao0503	380e8042d9	fix： 1、暗电流/白板都是550帧平均，采集白板时电机会运动； 2、文件名后加bil后缀； 3、航迹规划小数点从2位改为5位；	2025-02-07 16:25:21 +08:00
tangchao0503	0e46470402	加入 dockWidget	2025-01-05 18:34:23 +08:00
tangchao0503	cbc81cb75e	1、QMotorDoubleSlider 将细分参数和 Vince 统一，使用7代表128，并修改配置文件类的相关功能； 2、resonon nir 采集白板崩溃：重连相机解决； 3、去掉 imageViewer 的边缘黑框； 4、解决问题：当采集白板数据后，采集影像拉伸问题：硬编码的4096 → 自动计算最大值； 5、记录上次软件布局状态信息，再次打开时恢复； 6、轨迹规划界面文字居中； 7、将 groupbox 换成 dockwidget，然后再菜单栏添加 dock 的开关；	2024-12-25 17:21:53 +08:00