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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；
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2025-07-17 18:30:30 +08:00 · 2025-05-15 16:40:42 +08:00 · 2025-05-09 17:27:04 +08:00 · 2025-05-07 10:05:16 +08:00 · 2025-04-16 16:25:51 +08:00 · 2025-04-14 10:02:37 +08:00
36 changed files with 4003 additions and 232 deletions
--- a/HPPA.sln
+++ b/HPPA.sln
@ -10,6 +10,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HPPA", "HPPA\HPPA.vcxproj",
 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
@ -34,6 +36,14 @@ Global
 		{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
--- a/HPPA/Corning410Imager.cpp
+++ b/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();
+}
--- a/HPPA/Corning410Imager.h
+++ b/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:
+};
--- a/HPPA/FocusDialog.ui
+++ b/HPPA/FocusDialog.ui
@ -11,7 +11,7 @@
   </rect>
  </property>
  <property name="windowTitle">
-   <string>Dialog</string>
+   <string>调焦</string>
  </property>
  <property name="windowIcon">
   <iconset resource="HPPA.qrc">
--- a/HPPA/HPPA.cpp
+++ b/HPPA/HPPA.cpp
@ -13,15 +13,11 @@ HPPA::HPPA(QWidget *parent)
 {
 	ui.setupUi(this);

-	QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
-	QFile file(strPath);
-	if (file.open(QIODevice::ReadOnly)) {
-		QByteArray ba;
-		QDataStream in(&file);
-		in >> ba;
-		file.close();
-		this->restoreState(ba);
-	}
+	QCoreApplication::setOrganizationName("IRIS");
+	QCoreApplication::setOrganizationDomain("iris.com");
+	QCoreApplication::setApplicationName("HPPA");
+
+	

 	//<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 HPPACfgFile = getPathofEXE() + "\\HPPA.cfg";
@ -94,23 +90,8 @@ HPPA::HPPA(QWidget *parent)
 	ptoolbar->addAction(pAction);*/


-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>
-	QWidget* widget = new QWidget();
-	QGridLayout* grid = new QGridLayout(widget);
 	

-	m_chartView = new QChartView(ui.mDockWidgetSpectralViewer);
-	m_chartView->setRenderHint(QPainter::Antialiasing);
-
-	grid->addWidget(m_chartView);
-	//grid->setMargin(0);
-	grid->setContentsMargins(0, 0, 0, 0);
-	//grid->SetMaximumSize(0);
-	ui.mDockWidgetSpectralViewer->setWidget(widget);
-
-	//QLineSeries *series = new QLineSeries();
-	//QChart *chart = new QChart();
-

 	//<2F><><EFBFBD><EFBFBD><EFBFBD>ǲ<EFBFBD><C7B2><EFBFBD>
 	m_Imager = nullptr;
@ -178,7 +159,8 @@ HPPA::HPPA(QWidget *parent)
 	connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));

 	//<2F>ٶ<EFBFBD>
-	QRegExp rx("\\d{0,3}[1-9]$");
+	//QRegExp rx("\\d{0,3}.[1-9]$");
+	QRegExp rx("^\\d+(\\.\\d+)?$");
 	ui.xmotor_speed_lineEdit->setValidator(new QRegExpValidator(rx));

 	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
@ -258,11 +240,30 @@ HPPA::HPPA(QWidget *parent)
 	connect(this->ui.action_about, SIGNAL(triggered()), this, SLOT(onAbout()));

 	initPanelToolbar();
+	connect(this->ui.mActionOneMotorScenario, SIGNAL(triggered()), this, SLOT(createOneMotorScenario()));
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+	QWidget* widget = new QWidget();
+	QGridLayout* grid = new QGridLayout(widget);
+
+	m_chartView = new QChartView(ui.mDockWidgetSpectralViewer);
+	m_chartView->setRenderHint(QPainter::Antialiasing);
+
+	grid->addWidget(m_chartView);
+	//grid->setMargin(0);
+	grid->setContentsMargins(0, 0, 0, 0);
+	//grid->SetMaximumSize(0);
+	ui.mDockWidgetSpectralViewer->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea);
+	ui.mDockWidgetSpectralViewer->setWidget(widget);
+	//QLineSeries *series = new QLineSeries();
+	//QChart *chart = new QChart();
+	mPanelMenu->addAction(ui.mDockWidgetSpectralViewer->toggleViewAction());

 	//<2F>켣<EFBFBD>滮
 	m_pathPlan = new PathPlan(m_xMotor, m_yMotor, ui.xmotor_location_slider, ui.ymotor_location_slider);
 	QDockWidget* dock_pathPlan = new QDockWidget(QString::fromLocal8Bit("<EFBFBD>켣<EFBFBD>滮"), this);
-	dock_pathPlan->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
+	dock_pathPlan->setObjectName("mDockPathPlan");
+	dock_pathPlan->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea);
 	dock_pathPlan->setWidget(m_pathPlan);
 	tabifyDockWidget(ui.mDockWidgetLinearStage, dock_pathPlan);
 	mPanelMenu->addAction(dock_pathPlan->toggleViewAction());
@ -271,6 +272,7 @@ HPPA::HPPA(QWidget *parent)
 	adjustTable* adt = new adjustTable();

 	QDockWidget* dock_adt = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
+	dock_adt->setObjectName("mDockAdjustTable");
 	dock_adt->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
 	dock_adt->setWidget(adt);
 	tabifyDockWidget(dock_pathPlan, dock_adt);
@ -280,6 +282,7 @@ HPPA::HPPA(QWidget *parent)
 	PowerControl* pc = new PowerControl();

 	QDockWidget* dock_pc = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
+	dock_pc->setObjectName("mDockPowerControl");
 	dock_pc->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
 	dock_pc->setWidget(pc);
 	tabifyDockWidget(dock_adt, dock_pc);
@ -287,8 +290,85 @@ HPPA::HPPA(QWidget *parent)
 	connect(pc, &PowerControl::powerOpened, this, &HPPA::newMotor);
 	connect(pc, &PowerControl::powerClosed, this, &HPPA::deleteMotor);

+	//<2F><>е<EFBFBD>ۿ<EFBFBD><DBBF><EFBFBD>
+	rac = new RobotArmControl();
+	connect(rac->robotController, SIGNAL(hsiRecordSignal(int)), this, SLOT(recordFromRobotArm(int)));
+	QDockWidget* dock_rac = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD>е<EFBFBD>ۿ<EFBFBD><EFBFBD><EFBFBD>"), this);
+	dock_rac->setObjectName("mDockRobotArmControl");
+	dock_rac->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
+	dock_rac->setWidget(rac);
+	tabifyDockWidget(dock_adt, dock_rac);
+	mPanelMenu->addAction(dock_rac->toggleViewAction());
+
+	//һ<><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	omc = new OneMotorControl();
+	connect(omc, SIGNAL(startRecordLineSignal(int)), this, SLOT(recordHyperSpecImg(int)));
+
+	dock_omc = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
+	dock_omc->setObjectName("mDockOneMotorControl");
+	dock_omc->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
+	dock_omc->setWidget(omc);
+	tabifyDockWidget(dock_rac, dock_omc);
+	mPanelMenu->addAction(dock_omc->toggleViewAction());
+
 	createActionGroups();
 	connect(mImagerGroup, &QActionGroup::triggered, this, &HPPA::selectingImager);
+
+	createMoveplatformActionGroup();
+	connect(moveplatformActionGroup, &QActionGroup::triggered, this, &HPPA::selectingMoveplatform);
+
+	QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
+	QFile file(strPath);
+	if (file.open(QIODevice::ReadOnly))
+	{
+		QByteArray ba;
+		QDataStream in(&file);
+		in >> ba;
+		file.close();
+		this->restoreState(ba);
+	}
+}
+
+void HPPA::recordHyperSpecImg(int status)
+{
+	if (status == 1)
+	{
+		emit StartRecordSignal();//<2F><><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>ź<EFBFBD>
+	}
+	else if (status == 0)
+	{
+		m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
+	}
+}
+
+
+void HPPA::recordFromRobotArm(int fileCounter)
+{
+	//qDebug() << "recordFromRobotArm" << fileCounter;
+
+	if (fileCounter == -1)
+	{
+		m_Imager->setRecordControlState(false);
+
+		ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
+		ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+		//qDebug() << "recordFromRobotArm: 1111111111111111111111";
+
+		return;
+	}
+
+	if (fileCounter - 1 == 0)
+	{
+		ui.ImageViewerTabWidget->clear();
+	}
+
+	onCreateTab(fileCounter-1);
+	m_numberOfRecording = fileCounter - 1;
+	emit StartRecordSignal();
+
+	ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>"));
+	ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
+	//qDebug() << "recordFromRobotArm: 2222222222222222222222";
 }

 void HPPA::createActionGroups()
@ -300,13 +380,74 @@ void HPPA::createActionGroups()
 	mImagerGroup->addAction(ui.mActionCorning_410);
 	mImagerGroup->addAction(ui.mActionPica_NIR);

-	ui.mActionPica_NIR->setChecked(true);
-	imagerSelected = ui.mActionPica_NIR->objectName();
+
+	// <20><>ȡ<EFBFBD>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
+	QSettings settings;
+	QString lastSelectedAction = settings.value("LastSelectedImagerAction").toString();
+
+	// <20>ָ<EFBFBD><D6B8>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
+	if (lastSelectedAction == "mActionPica_L")
+	{
+		ui.mActionPica_L->setChecked(true);
+	}
+	else if (lastSelectedAction == "mActionPica_NIR")
+	{
+		ui.mActionPica_NIR->setChecked(true);
+	}
+	else if (lastSelectedAction == "mActionPika_XC2")
+	{
+		ui.mActionPika_XC2->setChecked(true);
+	}
+	else if (lastSelectedAction == "mActionCorning_410")
+	{
+		ui.mActionCorning_410->setChecked(true);
+	}
+
 }

 void HPPA::selectingImager(QAction* selectedAction)
 {
-	imagerSelected = selectedAction->objectName();
+	QSettings settings;
+	settings.setValue("LastSelectedImagerAction", selectedAction->objectName());
+	settings.sync();
+}
+
+void HPPA::createMoveplatformActionGroup()
+{
+	moveplatformActionGroup = new QActionGroup(this);
+	moveplatformActionGroup->addAction(ui.mAction_is_no_motor);
+	moveplatformActionGroup->addAction(ui.mAction_2AxisMotor);
+	moveplatformActionGroup->addAction(ui.mAction_RobotArm);
+	moveplatformActionGroup->addAction(ui.mAction_1AxisMotor);
+
+	// <20><>ȡ<EFBFBD>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
+	QSettings settings;
+	QString lastSelectedAction = settings.value("LastSelectedMoveplatform").toString();
+
+	// <20>ָ<EFBFBD><D6B8>ϴ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD>
+	if (lastSelectedAction == "mAction_is_no_motor")
+	{
+		ui.mAction_is_no_motor->setChecked(true);
+	}
+	else if (lastSelectedAction == "mAction_2AxisMotor")
+	{
+		ui.mAction_2AxisMotor->setChecked(true);
+	}
+	else if (lastSelectedAction == "mAction_RobotArm")
+	{
+		ui.mAction_RobotArm->setChecked(true);
+	}
+	else if (lastSelectedAction == "mAction_1AxisMotor")
+	{
+		ui.mAction_1AxisMotor->setChecked(true);
+	}
+}
+
+void HPPA::selectingMoveplatform(QAction* selectedAction)
+{
+	QSettings settings;
+	settings.setValue("LastSelectedMoveplatform", selectedAction->objectName());
+	settings.sync();
 }

 HPPA::~HPPA()
@ -361,6 +502,41 @@ void HPPA::initPanelToolbar()
 	mToolbarMenu->addAction(ui.mainToolBar->toggleViewAction());
 }

+void HPPA::createOneMotorScenario()
+{
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DockWidget
+	//this->removeDockWidget(ui.mDockWidgetSpectrometer);
+	QList<QDockWidget*> dockWidgets = this->findChildren<QDockWidget*>();
+	for (QDockWidget* dock : dockWidgets)
+	{
+		dock->hide();
+	}
+
+	ui.mDockWidgetSpectralViewer->show();
+	ui.mDockWidgetSpectrometer->show();
+	dock_omc->show();
+
+	//tabifyDockWidget(ui.mDockWidgetSpectrometer, dock_omc);
+
+	//addDockWidget(Qt::RightDockWidgetArea, ui.mDockWidgetSpectralViewer);
+	//addDockWidget(Qt::RightDockWidgetArea, ui.mDockWidgetSpectrometer);
+	//splitDockWidget(ui.mDockWidgetSpectralViewer, ui.mDockWidgetSpectrometer, Qt::Vertical);
+
+	//QDockWidget* dockTop = new QDockWidget(QString::fromLocal8Bit("1"), this);
+	//QDockWidget* dockBottom = new QDockWidget(QString::fromLocal8Bit("2"), this);
+	//QDockWidget* dockBottom3 = new QDockWidget(QString::fromLocal8Bit("3"), this);
+
+	//// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͻ<EFBFBD> dock
+	//addDockWidget(Qt::RightDockWidgetArea, dockTop);
+
+	//// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD> dock<63><6B><EFBFBD><EFBFBD>ʼҲ<CABC><D2B2><EFBFBD>Ҳ<EFBFBD>
+	//addDockWidget(Qt::RightDockWidgetArea, dockBottom);
+	//addDockWidget(Qt::RightDockWidgetArea, dockBottom3);
+
+	// <20><><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD> dock <20>ָ<D6B8><EEB5BD><EFBFBD><EFBFBD> dock <20><><EFBFBD>·<EFBFBD>
+	//splitDockWidget(dockTop, dockBottom, Qt::Horizontal);
+}
+
 void HPPA::CalculateIntegratioinTimeRange()
 {
 	double range = 1 / m_Imager->getFramerate() * 1000;//<2F><><EFBFBD><EFBFBD>
@ -372,63 +548,28 @@ void HPPA::CalculateIntegratioinTimeRange()

 void HPPA::onStartRecordStep1()
 {
-	////<2F><><EFBFBD>Դ<EFBFBD><D4B4>룬<EFBFBD><EBA3AC><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	//m_RecordState += 1;
-
-	//if (m_RecordState % 2 == 1)
-	//{
-	//	onCreateTab(1);
-	//	m_numberOfRecording = 0;
-	//	m_Imager->setFileName2Save(m_FilenameLineEdit->text().toStdString());
-	//	emit StartRecordSignal();//<2F><><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>ź<EFBFBD>
-	//}
-	//else
-	//{
-	//	m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
-
-	//	ui.action_start_recording->setText(QString::fromLocal8Bit("<22>ɼ<EFBFBD>"));
-	//	ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
-	//}
-
-
-	//ȷ<><C8B7>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> С<><D0A1> x<><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
-	int validLineCount = 0;
-	for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
+	QAction* checked = moveplatformActionGroup->checkedAction();
+	if (!checked)
 	{
-		//xx = xx + ui.xmotor_location_slider->value() < m_pathPlan->getRecordLineTableWidget()->item(i, 1)->text().toDouble();
-
-		if (ui.xmotor_location_slider->value() < m_pathPlan->getRecordLineTableWidget()->item(i, 1)->text().toDouble())
-		{
-			validLineCount++;
-		}
-
-	}
-
-	if (validLineCount < m_pathPlan->getRecordLineTableWidget()->rowCount())
-	{
-		QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>켣x<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+		QMessageBox msgBox;
+		msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD>ɨ<EFBFBD><EFBFBD>ƽ̨<EFBFBD><EFBFBD>"));
+		msgBox.exec();
 		return;
 	}

-	//ȷ<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD>ߴ<EFBFBD><EFBFBD><EFBFBD>
-	if (m_pathPlan->getRecordLineTableWidget()->rowCount() <= 0)
-	{
-		QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ켣<EFBFBD><EFBFBD>"));
-		return;
-	}
+	//<EFBFBD>ж<EFBFBD><EFBFBD>Ƿ񸲸Ǵ<EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD>ļ<EFBFBD>
+	FileOperation* fileOperation = new FileOperation();
+	string directory = fileOperation->getDirectoryFromString();
+	//string imgPath = directory + "\\tmp_image";
+	string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString();

-
-	//<2F><>ʼ<EFBFBD>ɼ<EFBFBD>
 	m_RecordState += 1;
-
 	if (m_RecordState % 2 == 1)
 	{
-		//<2F>ж<EFBFBD><D0B6>Ƿ񸲸Ǵ<F1B8B2B8><C7B4>ڵ<EFBFBD><DAB5>ļ<EFBFBD>
-		FileOperation * fileOperation = new FileOperation();
-		string directory = fileOperation->getDirectoryFromString();
-		//string imgPath = directory + "\\tmp_image";
-		string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(1);
-		int x = _access(imgPath.c_str(), 0);
+		m_RecordState -= 1;
+
+		string tmp = imgPath + "_" + std::to_string(1) + ".bil";
+		int x = _access(tmp.c_str(), 0);
 		if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD>
 		{
 			enum QMessageBox::StandardButton response = QMessageBox::question(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><EFBFBD>Ƿ񸲸ǣ<EFBFBD>"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);;
@ -439,45 +580,155 @@ void HPPA::onStartRecordStep1()
 			else
 			{
 				//std::cout << "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
-				m_RecordState -= 1;//<2F><><EFBFBD><EFBFBD><EFBFBD>ǵĻ<C7B5><C4BB><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
 				return;
 			}
 		}
-
-
-		//
-		operateWidget = QObject::sender()->objectName();
-
-		//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-		m_Imager->setFileName2Save(m_FilenameLineEdit->text().toStdString());
-
-		//ɾ<><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab
-		ui.ImageViewerTabWidget->clear();
-
-		//<2F><>ʼѭ<CABC><D1AD>
-		m_ForLoopControl->setLoopCount(m_pathPlan->getRecordLineTableWidget()->rowCount());//Ϊѭ<CEAA><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-		emit StartLoopSignal();
-
-		//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ɫ
-		for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
-		{
-			for (size_t j = 0; j < m_pathPlan->getRecordLineTableWidget()->columnCount(); j++)
-			{
-				m_pathPlan->getRecordLineTableWidget()->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
-			}
-		}
-
-		ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
-		ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
 	}
 	else
 	{
-		m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
+		m_RecordState -= 1;
+	}

-		m_ForLoopControl->m_boolQuitLoop = true;//ѭ<><D1AD>ֹͣ
+	QString checkedName = checked->objectName();
+	if (checkedName == "mAction_is_no_motor")
+	{
+		m_RecordState += 1;

-		ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
-		ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+		if (m_RecordState % 2 == 1)
+		{
+			ui.ImageViewerTabWidget->clear();
+
+			onCreateTab(0);
+			m_numberOfRecording = 0;
+
+			m_Imager->setFileName2Save(imgPath);
+			m_Imager->setFrameNumber(this->frame_number->text().toInt());
+			emit StartRecordSignal();//<2F><><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>ź<EFBFBD>
+
+			ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
+			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
+		}
+		else
+		{
+			m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
+			m_RecordState -= 1;
+
+			ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
+			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+		}
+		return;
+	}
+	else if (checkedName == "mAction_1AxisMotor")
+	{
+		m_RecordState += 1;
+
+		if (m_RecordState % 2 == 1)
+		{
+			ui.ImageViewerTabWidget->clear();
+
+			onCreateTab(0);
+			m_numberOfRecording = 0;
+
+			ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
+			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
+
+			//Ӧ<><D3A6><EFBFBD>ȿ<EFBFBD><C8BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ǲɼ<C7B2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC>źţ<C5BA>
+			m_Imager->setFileName2Save(imgPath);
+			m_Imager->setFrameNumber(this->frame_number->text().toInt());
+			omc->moveMotorAndRecordHyperSpecImg(500);
+		}
+		else
+		{
+			omc->moveMotor2StartPosAndStopRecord();
+			m_RecordState -= 1;
+
+			ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
+			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+		}
+		return;
+	}
+	else if (checkedName == "mAction_2AxisMotor")
+	{
+		//ȷ<><C8B7>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> С<><D0A1> x<><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
+		int validLineCount = 0;
+		for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
+		{
+			//xx = xx + ui.xmotor_location_slider->value() < m_pathPlan->getRecordLineTableWidget()->item(i, 1)->text().toDouble();
+
+			if (ui.xmotor_location_slider->value() < m_pathPlan->getRecordLineTableWidget()->item(i, 1)->text().toDouble())
+			{
+				validLineCount++;
+			}
+
+		}
+
+		if (validLineCount < m_pathPlan->getRecordLineTableWidget()->rowCount())
+		{
+			QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD>켣x<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+			return;
+		}
+
+		//ȷ<><C8B7><EFBFBD>ɼ<EFBFBD><C9BC>ߴ<EFBFBD><DFB4><EFBFBD>
+		if (m_pathPlan->getRecordLineTableWidget()->rowCount() <= 0)
+		{
+			QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ켣<EFBFBD><EFBFBD>"));
+			return;
+		}
+
+		//<2F><>ʼ<EFBFBD>ɼ<EFBFBD>
+		m_RecordState += 1;
+
+		if (m_RecordState % 2 == 1)
+		{
+			//
+			operateWidget = QObject::sender()->objectName();
+
+			//ɾ<><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab
+			ui.ImageViewerTabWidget->clear();
+
+			//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼x<C2BC><78><EFBFBD><EFBFBD>λ<EFBFBD>õ<EFBFBD><C3B5>ļ<EFBFBD>
+			string x_location = removeFileExtension(imgPath) + "x_location.pos";
+			m_hTimesFile = fopen(x_location.c_str(), "w+");
+
+			m_Imager->setFileName2Save(imgPath);
+
+			//<2F><>ʼѭ<CABC><D1AD>
+			m_ForLoopControl->setLoopCount(m_pathPlan->getRecordLineTableWidget()->rowCount());//Ϊѭ<CEAA><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+			emit StartLoopSignal();
+
+
+			//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ɫ
+			for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
+			{
+				for (size_t j = 0; j < m_pathPlan->getRecordLineTableWidget()->columnCount(); j++)
+				{
+					m_pathPlan->getRecordLineTableWidget()->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
+				}
+			}
+
+			ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD>ɼ<EFBFBD>"));
+			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
+		}
+		else
+		{
+			m_Imager->setRecordControlState(false);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
+
+			m_ForLoopControl->m_boolQuitLoop = true;//ѭ<><D1AD>ֹͣ
+
+			ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
+			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+		}
+
+		return;
+	}
+	else if (checkedName == "mAction_RobotArm")
+	{
+		//<2F><><EFBFBD>ж<EFBFBD><D0B6>Ƿ<EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD>к<EFBFBD><D0BA><EFBFBD>RobotArmControl::executeTask<73><6B><EFBFBD>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾbug
+		m_Imager->setFileName2Save(imgPath);
+		m_Imager->setFrameNumber(this->frame_number->text().toInt());
+		rac->executeTaskWithHyperImager();
+
+		return;
 	}
 }

@ -510,7 +761,7 @@ void HPPA::onStartRecordStep2(int lineNumber)
 	else if (lineNumber == -1)
 	{
 		std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>" << std::endl;
-		m_RecordState++;
+		m_RecordState += 1;

 		ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
 		ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
@ -521,6 +772,8 @@ void HPPA::onStartRecordStep2(int lineNumber)
 		m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor);
 		m_yMotor->MoveToLocation(ymotorPositionOfLine1);
 		m_timerYmotorLocationFeedBackAfterRecord->start(500);
+
+		fclose(m_hTimesFile);
 	}
 	else if (lineNumber == -2)
 	{
@ -529,6 +782,7 @@ void HPPA::onStartRecordStep2(int lineNumber)
 		//ֹͣy<D6B9><79><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
 		m_yMotor->StopMotormove();

+		fclose(m_hTimesFile);
 	}
 }

@ -665,7 +919,7 @@ void HPPA::onLeftMouseButtonPressed(int x, int y)

 		FileOperation * fileOperation = new FileOperation();
 		string directory = fileOperation->getDirectoryFromString();
-		string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(m_TabWidgetCurrentIndex + 1);
+		string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(m_TabWidgetCurrentIndex + 1) + ".bil";

 		ImageReaderWriter *ImageReader = new ImageReaderWriter(imgPath.c_str());

@ -682,15 +936,43 @@ void HPPA::onLeftMouseButtonPressed(int x, int y)
 		QLineSeries *series = new QLineSeries();
 		//series->clear();//////////////////////////////

-		for (size_t i = 0; i < m_Imager->getBandCount(); i++)
+		QString imagerSelected = mImagerGroup->checkedAction()->objectName();
+		if (imagerSelected == "mActionPica_L" || imagerSelected == "mActionCorning_410" || imagerSelected == "mActionPika_XC2")
 		{
-			//malloc<6F><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>÷<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-			series->append(m_Imager->getWavelengthAtBand(i), data[i]);
+			int start = m_Imager->getStartBand();
+			for (size_t i = 0; i < m_Imager->getBandCount() - 1; i++)
+			{
+				//malloc<6F><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>÷<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				series->append(m_Imager->getWavelengthAtBand(i + start), data[i]);

-			////malloc<6F><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>÷<EFBFBD>2<EFBFBD><32>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD>ȡ
-			//series->append(m_Imager->getWavelengthAtBand(i), *data);
-			//data++;
+				////malloc<6F><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>÷<EFBFBD>2<EFBFBD><32>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD>ȡ
+				//series->append(m_Imager->getWavelengthAtBand(i), *data);
+				//data++;
+			}
 		}
+		else if (imagerSelected == "mActionPica_NIR")
+		{
+			int start = 0;
+			for (size_t i = 0; i < m_Imager->getBandCount() - 1; i++)
+			{
+				//malloc<6F><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>÷<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				series->append(m_Imager->getWavelengthAtBand(i + start), data[i]);
+
+				////malloc<6F><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>÷<EFBFBD>2<EFBFBD><32>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD>ȡ
+				//series->append(m_Imager->getWavelengthAtBand(i), *data);
+				//data++;
+			}
+		}
+		else
+		{
+			QMessageBox msgBox;
+			msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+			msgBox.exec();
+
+			return;
+		}
+
+		

 		QChart *chart = new QChart();
 		chart->legend()->hide();
@ -720,7 +1002,7 @@ void HPPA::timerEvent(QTimerEvent *event)
 	{
 		if (m_xMotor == nullptr || m_yMotor == nullptr)
 		{
-			qDebug() << "Motor pointer is null!!!!!";
+			//qDebug() << "Motor pointer is null!!!!!";

 			xmotor_state_label1->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
 			SetXMotorWidgetEnable(false);
@ -738,7 +1020,7 @@ void HPPA::timerEvent(QTimerEvent *event)
 		}
 		ByteBack xMotorState = m_xMotor->GetState();//ִ<><D6B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

-		std::cout << "------------------------------------------x<><78><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>" << xMotorState.Speed << std::endl;
+		//std::cout << "------------------------------------------x<><78><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>" << xMotorState.Speed << std::endl;

 		if (xMotorState.Speed == -1000000)
 		{
@ -1258,6 +1540,10 @@ void HPPA::ontimerMoveXmotor()
 	}

 	ByteBack MotorState = m_xMotor->GetState();
+	//<2F><>ȡϵͳʱ<CDB3><CAB1><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	long long timeOs = getNanosecondsSinceMidnight();
+	BroadcastXMotorPosSignal(timeOs, MotorState.Location);
+	fprintf(m_hTimesFile, "%lld,%d\n", timeOs, MotorState.Location);

 	//<2F><>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>÷<EFBFBD><C3B7><EFBFBD><EFBFBD><EFBFBD>slider<65><72>
 	if (MotorState.Speed != 0)
@ -1271,8 +1557,7 @@ void HPPA::ontimerMoveXmotor()
 	}

 	//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD>ﷵ<EFBFBD>س<EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>ǰ<EFBFBD><C7B0>¼<EFBFBD><C2BC>λ<EFBFBD>ã<EFBFBD>m_lXmotorLocationOfStartRecord<72><64>
-	if (MotorState.Speed == 0 && MotorState.Location != m_lXmotorLocationOfStartRecord //x<><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD>
-		|| !m_Imager->getRecordControlState())//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϻص<CFBB><D8B5><EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD>
+	if (MotorState.Speed == 0 && MotorState.Location != m_lXmotorLocationOfStartRecord)//x<><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD>
 	{
 		//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
 		m_Imager->setRecordControlState(false);
@ -1280,7 +1565,21 @@ void HPPA::ontimerMoveXmotor()
 		//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
 		m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
 		m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
+
+		//qDebug() << "x<><78><EFBFBD><EFBFBD>λ<EFBFBD>û<EFBFBD>ԭ<EFBFBD><D4AD>x<EFBFBD><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC>꣬<EFBFBD><EAA3AC><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>";
+		qDebug() << "11111111111111111111111111111111111111111111111111";
 	}
+	if (!m_Imager->getRecordControlState())//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϻص<CFBB><D8B5><EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD>
+	{
+		//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
+		m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
+		m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
+
+		//qDebug() << "x<><78><EFBFBD><EFBFBD>λ<EFBFBD>û<EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD><CBB6><EFBFBD>";
+		qDebug() << "222222222222222222222222222222222222222222222222222222";
+	}
+
+

 	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ɼ<EFBFBD><C9BC>ߵĲɼ<C4B2><C9BC><EFBFBD><EFBFBD><EFBFBD>
 	if (MotorState.Speed == 0 && MotorState.Location == m_lXmotorLocationOfStartRecord//<2F><>x<EFBFBD><78><EFBFBD>ﷵ<EFBFBD>س<EFBFBD>ʼλ<CABC><CEBB>
@ -1466,6 +1765,7 @@ void HPPA::newMotor()
 	m_yMotor = new VinceControl(NETTCP, 6001);//ԭ<><D4AD><EFBFBD><EFBFBD>6001<30><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>6003

 	m_pathPlan->setMotor(m_xMotor, m_yMotor);
+	QString imagerSelected = mImagerGroup->checkedAction()->objectName();
 	if (imagerSelected == "mActionPica_NIR")
 	{
 		connect(m_xMotor, SIGNAL(newTCPConnection(VinceControl*)), this, SLOT(setMotorParamMicroscope(VinceControl*)));
@ -1601,6 +1901,7 @@ void HPPA::onconnect()
 		m_RecordThread = new QThread();

 		//<2F><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CDB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>mImagerGroup
+		QString imagerSelected = mImagerGroup->checkedAction()->objectName();
 		if (imagerSelected == "mActionPica_L")
 		{
 			m_Imager = new ResononPicaLImager();
@ -1611,11 +1912,11 @@ void HPPA::onconnect()
 		}
 		else if (imagerSelected == "mActionPika_XC2")
 		{
-			
+			m_Imager = new ResononPicaLImager();
 		}
 		else if (imagerSelected == "mActionCorning_410")
 		{
-
+			m_Imager = new Corning410Imager();
 		}
 		else
 		{
@ -1631,7 +1932,7 @@ void HPPA::onconnect()

 		m_Imager->connect_imager(frame_number->text().toInt());
 		m_Imager->setFileName2Save(m_FilenameLineEdit->text().toStdString());
-		connect(m_Imager, SIGNAL(PlotSignal()), this, SLOT(onPlotHyperspectralImageRgbImage()));
+		connect(m_Imager, SIGNAL(PlotSignal(int)), this, SLOT(onPlotHyperspectralImageRgbImage(int)));
 		connect(m_Imager, SIGNAL(RecordFinishedSignal_WhenFrameNumberMeet()), this, SLOT(onRecordFinishedSignal_WhenFrameNumberMeet()));
 		connect(m_Imager, SIGNAL(RecordFinishedSignal_WhenFrameNumberNotMeet()), this, SLOT(onRecordFinishedSignal_WhenFrameNumberNotMeet()));
 		connect(m_Imager, SIGNAL(SpectralSignal(int)), this, SLOT(PlotSpectral(int)));
@ -1791,15 +2092,42 @@ void HPPA::onAbout()
 void HPPA::onDark()
 {
 	QMessageBox msgBox;
-	msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>Ǹ<EFBFBD><EFBFBD>ϣ<EFBFBD>"));
+	msgBox.setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>Ǹ<EFBFBD><EFBFBD>ϣ<EFBFBD>"));
 	msgBox.exec();

+	bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
+	if (isMotorEnable)
+	{
+		//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
+		if (!isMotorConnected(m_xMotor))
+		{
+			m_xMotor->EnableMotro();
+			m_lXmotorLocationOfStartRecord = m_xMotor->GetLocationNow();
+			m_xMotor->SettingSpeed(ui.xmotor_speed_slider->OriginalValue());
+			//m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
+
+			m_xMotor->MoveMotar(true);
+		}
+	}
+
 	emit RecordDarlSignal();
 }

 void HPPA::recordDarkFinish()
 {
 	ui.mainToolBar->widgetForAction(ui.action_dark)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+
+	bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
+	if (isMotorEnable)
+	{
+		//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
+		if (!isMotorConnected(m_xMotor))
+		{
+			//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
+			m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
+			m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
+		}
+	}
 }

 void HPPA::onReference()
@ -1808,15 +2136,19 @@ void HPPA::onReference()
 	msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD>"));
 	msgBox.exec();

-	//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
-	if (!isMotorConnected(m_xMotor))
+	bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
+	if (isMotorEnable)
 	{
-		m_xMotor->EnableMotro();
-		m_lXmotorLocationOfStartRecord = m_xMotor->GetLocationNow();
-		m_xMotor->SettingSpeed(ui.xmotor_speed_slider->OriginalValue());
-		//m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
+		//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
+		if (!isMotorConnected(m_xMotor))
+		{
+			m_xMotor->EnableMotro();
+			m_lXmotorLocationOfStartRecord = m_xMotor->GetLocationNow();
+			m_xMotor->SettingSpeed(ui.xmotor_speed_slider->OriginalValue());
+			//m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);

-		m_xMotor->MoveMotar(true);
+			m_xMotor->MoveMotar(true);
+		}
 	}
 	
 	emit RecordWhiteSignal();	
@ -1826,17 +2158,30 @@ void HPPA::recordWhiteFinish()
 {
 	ui.mainToolBar->widgetForAction(ui.action_reference)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");

-	//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
-	if (!isMotorConnected(m_xMotor))
+	bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
+	if (isMotorEnable)
 	{
-		//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<EFBFBD>ǰ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-		m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-		m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
+		//<EFBFBD>ƶ<EFBFBD>x<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		if (!isMotorConnected(m_xMotor))
+		{
+			//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
+			m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
+			m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
+		}
 	}
 }

-void HPPA::onPlotHyperspectralImageRgbImage()
+void HPPA::onPlotHyperspectralImageRgbImage(int number)
 {
+	//ʹ<>û<EFBFBD>е<EFBFBD>۲ɼ<DBB2>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD>ֿ<EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ᵼ<EFBFBD><E1B5BC><EFBFBD>ϴβɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źŵ<C5BA><C5B5>ô˲ۺ<CBB2><DBBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	QAction* checked = moveplatformActionGroup->checkedAction();
+	QString checkedName = checked->objectName();
+	if (number == -1 && checkedName == "mAction_RobotArm")
+	{
+		return;
+	}
+
+	//return;
 	//<2F><>ȡ<EFBFBD><C8A1>ͼ<EFBFBD>ؼ<EFBFBD>
 	QWidget* currentWidget = ui.ImageViewerTabWidget->widget(m_numberOfRecording);
 	QList<ImageViewer *> currentImageViewer = currentWidget->findChildren<ImageViewer *>();
@ -1853,10 +2198,12 @@ void HPPA::onPlotHyperspectralImageRgbImage()

 	//20241225
 	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgb
-	FileOperation* fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryOfExe();
-	string rgbFilePathNoStrech = directory + "\\tmp_image_no_strech2.png";//<2F><><EFBFBD><EFBFBD>ͼƬ
-	cv::imwrite(rgbFilePathNoStrech, rgbImageStretched);
+	//FileOperation* fileOperation = new FileOperation();
+	//string directory = fileOperation->getDirectoryOfExe();
+	//string rgbFilePathNoStrech = directory + "\\tmp_image_no_strech.png";//δ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼƬ
+	//string rgbFilePathStrech = directory + "\\tmp_image_strech.png";//<2F><><EFBFBD><EFBFBD>ͼƬ
+	//cv::imwrite(rgbFilePathNoStrech, rgbImage);
+	//cv::imwrite(rgbFilePathStrech, rgbImageStretched);

 	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ʾ<EFBFBD><CABE>ͼ<EFBFBD><CDBC>--qt<71>汾
 	//QRect CuttedRect = m_Imager->getRgbImage()->m_QRgbImage->rect();//<2F>Ȼ<EFBFBD>ȡimage<67><65><EFBFBD><EFBFBD>rect
@ -1877,7 +2224,7 @@ void HPPA::PlotSpectral(int state)

 		ImageProcessor imageProcessor;
 		//cv::Mat grayImage(*m_Imager->getRgbImage()->m_matFocusGrayImage, cv::Range::all(), cv::Range::all());//2022.3.18<EFBFBD>ع<EFBFBD><EFBFBD><EFBFBD>
-		cv::Mat grayImage(*m_Imager->getMatFocusGrayImage(), cv::Range::all(), cv::Range::all());
+		//cv::Mat grayImage(*m_Imager->getMatFocusGrayImage(), cv::Range::all(), cv::Range::all());
 		//currentImageViewer[0]->SetImage(&QPixmap::fromImage(imageProcessor.Mat2QImage(grayImage)));//<2F><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>

 		currentImageViewer[0]->SetImage(&QPixmap::fromImage(m_Imager->getQImageFocusGrayImage()));//<2F><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>
@ -1890,7 +2237,8 @@ void HPPA::PlotSpectral(int state)
 		{
 			//malloc<6F><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>÷<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 			//series->append(i, m_Imager->buffer[i + 5 * 900]);
-			series->append(i, m_Imager->buffer[900 * 150 + i]);
+			//series->append(i, m_Imager->buffer[900 * 150 + i]);
+			series->append(i, m_Imager->buffer[1368 * 150 + i]);
 		}

 		QChart *chart = new QChart();
@ -1949,12 +2297,49 @@ void HPPA::PlotSpectral(int state)

 void HPPA::onRecordFinishedSignal_WhenFrameNumberMeet()
 {
+	QAction* checked = moveplatformActionGroup->checkedAction();
+	QString checkedName = checked->objectName();
+	if (checkedName == "mAction_2AxisMotor")//<2F><><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC>ߣ<EFBFBD><DFA3>м<EFBFBD><D0BC><EFBFBD>ĳ<EFBFBD><C4B3><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ󲻴<C9BA><F3B2BBB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	{
+		return;
+	}
+
 	std::cout << "ֹͣ<EFBFBD>ɼ<EFBFBD>ԭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˡ<EFBFBD>" << std::endl;
+
+	ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
+	ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+
+	m_RecordState++;//<2F><><EFBFBD>Զ<EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
+
+	if (checkedName == "mAction_1AxisMotor")
+	{
+		omc->moveMotor2StartPosAndStopRecord();
+	}
+	
 }

 void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet()
 {
+	QAction* checked = moveplatformActionGroup->checkedAction();
+	QString checkedName = checked->objectName();
+
+	if (checkedName == "mAction_RobotArm")//<2F><>е<EFBFBD>ۻ<EFBFBD><DBBB><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD>ֿ<EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ui.action_start_recording<6E><67>ʾ<EFBFBD>쳣
+	{
+		return;
+	}
+
+	if (checkedName == "mAction_2AxisMotor")//<2F><><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC>ߣ<EFBFBD><DFA3>м<EFBFBD><D0BC><EFBFBD>ĳ<EFBFBD><C4B3><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ󲻴<C9BA><F3B2BBB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	{
+		return;
+	}
+	
+
 	std::cout << "ֹͣ<EFBFBD>ɼ<EFBFBD>ԭ<EFBFBD>򣺣<EFBFBD>1<EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>û<EFBFBD>вɼ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ﵽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+
+	ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD>"));
+	ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+
+	m_RecordState++;
 }

 ForLoopControl::ForLoopControl()
--- a/HPPA/HPPA.h
+++ b/HPPA/HPPA.h
@ -33,11 +33,14 @@
 #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

@ -236,14 +239,23 @@ private:
 	void getRequest(QString str);

 	QActionGroup* mImagerGroup = nullptr;
-	QString imagerSelected;
 	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();
@ -332,11 +344,16 @@ public Q_SLOTS:

 	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();
--- a/HPPA/HPPA.ui
+++ b/HPPA/HPPA.ui
@ -6,8 +6,8 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>1078</width>
-    <height>623</height>
+    <width>1194</width>
+    <height>834</height>
   </rect>
  </property>
  <property name="windowTitle">
@ -46,7 +46,7 @@
       </sizepolicy>
      </property>
      <property name="currentIndex">
-       <number>1</number>
+       <number>0</number>
      </property>
      <widget class="QWidget" name="tab_4">
       <attribute name="title">
@ -84,7 +84,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-     <width>1078</width>
+     <width>1194</width>
     <height>30</height>
    </rect>
   </property>
@ -162,8 +162,19 @@ color:white;
     <string>窗口</string>
    </property>
   </widget>
+   <widget class="QMenu" name="menu_2">
+    <property name="title">
+     <string>扫描平台</string>
+    </property>
+    <addaction name="mAction_is_no_motor"/>
+    <addaction name="mAction_1AxisMotor"/>
+    <addaction name="mAction_2AxisMotor"/>
+    <addaction name="separator"/>
+    <addaction name="mAction_RobotArm"/>
+   </widget>
   <addaction name="file"/>
   <addaction name="menuspectrometer"/>
+   <addaction name="menu_2"/>
   <addaction name="mWindowsMenu"/>
   <addaction name="menuhelp"/>
  </widget>
@ -433,19 +444,19 @@ QDockWidget::title {
   <widget class="QWidget" name="dockWidgetContents_4">
    <layout class="QGridLayout" name="gridLayout_13">
     <property name="leftMargin">
-      <number>0</number>
+      <number>9</number>
     </property>
     <property name="topMargin">
-      <number>0</number>
+      <number>9</number>
     </property>
     <property name="rightMargin">
-      <number>0</number>
+      <number>9</number>
     </property>
     <property name="bottomMargin">
-      <number>0</number>
+      <number>9</number>
     </property>
     <property name="spacing">
-      <number>0</number>
+      <number>6</number>
     </property>
     <item row="1" column="0">
      <layout class="QHBoxLayout" name="horizontalLayout_11">
@ -697,19 +708,19 @@ QDockWidget::title {
   <widget class="QWidget" name="dockWidgetContents_5">
    <layout class="QGridLayout" name="gridLayout_14">
     <property name="leftMargin">
-      <number>0</number>
+      <number>9</number>
     </property>
     <property name="topMargin">
-      <number>0</number>
+      <number>9</number>
     </property>
     <property name="rightMargin">
-      <number>0</number>
+      <number>9</number>
     </property>
     <property name="bottomMargin">
-      <number>0</number>
+      <number>9</number>
     </property>
     <property name="spacing">
-      <number>0</number>
+      <number>6</number>
     </property>
     <item row="0" column="0">
      <widget class="QGroupBox" name="groupBox_2">
@ -1535,6 +1546,55 @@ QDockWidget::title {
    <string>工具栏</string>
   </property>
  </action>
+  <action name="action_2">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>马达</string>
+   </property>
+  </action>
+  <action name="mAction_is_no_motor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>无</string>
+   </property>
+  </action>
+  <action name="mAction_2AxisMotor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>2 轴线性马达</string>
+   </property>
+  </action>
+  <action name="mAction_RobotArm">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>机械臂</string>
+   </property>
+  </action>
+  <action name="mAction_1AxisMotor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>1 轴线性马达</string>
+   </property>
+  </action>
 </widget>
 <layoutdefault spacing="6" margin="11"/>
 <customwidgets>
--- a/HPPA/HPPA.vcxproj
+++ b/HPPA/HPPA.vcxproj
@ -55,16 +55,16 @@
  </ImportGroup>
  <PropertyGroup Label="UserMacros" />
  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
-    <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;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;$(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\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;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;$(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;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.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>
@ -73,7 +73,7 @@
  </ItemDefinitionGroup>
  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
    <Link>
-      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.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>
@ -86,7 +86,7 @@
      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
    </ClCompile>
    <Link>
-      <SubSystem>Windows</SubSystem>
+      <SubSystem>Console</SubSystem>
      <GenerateDebugInformation>true</GenerateDebugInformation>
    </Link>
  </ItemDefinitionGroup>
@ -106,8 +106,12 @@
  <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" />
@ -116,6 +120,7 @@
    <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>
@ -137,8 +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" />
@ -153,6 +160,11 @@
    <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" />
--- a/HPPA/HPPA.vcxproj.filters
+++ b/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">
@ -106,6 +112,21 @@
    <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">
@ -153,6 +174,15 @@
    <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">
@ -179,6 +209,12 @@
    <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">
@ -196,6 +232,12 @@
    <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" />
--- a/HPPA/ImagerOperationBase.cpp
+++ b/HPPA/ImagerOperationBase.cpp
@ -54,9 +54,9 @@ double ImagerOperationBase::auto_exposure()
 	while (true)
 	{
 		getFrame(buffer);
-		if (GetMaxValue(buffer, m_FrameSize) >= 4095)
+		if (GetMaxValue(buffer, m_FrameSize) >= 4094)
 		{
-			setIntegrationTime(getIntegrationTime() * 0.8);
+			setIntegrationTime(getIntegrationTime() * 0.95);
 			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
 		}
 		else
@ -204,21 +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)
@ -259,6 +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);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -268,7 +270,7 @@ void ImagerOperationBase::start_record()
 		//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();
+			emit PlotSignal(m_iFrameCounter);
 		}

 		if (m_iFrameCounter >= m_iFrameNumber)
@ -285,7 +287,7 @@ void ImagerOperationBase::start_record()

 	//<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
+	emit PlotSignal(-1);//<2F><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>Է<EFBFBD><EFBFBD>ɼ<EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>ȫ<EFBFBD><EFBFBD>2<EFBFBD><EFBFBD>ʹ<EFBFBD>û<EFBFBD>е<EFBFBD>۲ɼ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>俪ʼ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᵼ<EFBFBD><EFBFBD><EFBFBD>ϴβɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD>źŵ<EFBFBD><EFBFBD>õĲۺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˼<EFBFBD><EFBFBD>ݣ<EFBFBD>ע<EFBFBD>͵<EFBFBD>

 	if (m_iFrameCounter >= m_iFrameNumber)
 	{
@ -298,6 +300,7 @@ void ImagerOperationBase::start_record()

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

 void ImagerOperationBase::setFrameNumber(int FrameNumber)
@ -398,11 +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
@ -92,7 +94,7 @@ public slots:
    virtual void record_dark();
    virtual void record_white();
 signals:
-    void PlotSignal();//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ź<EFBFBD>
+    void PlotSignal(int);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>źţ<EFBFBD>-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>
--- a/HPPA/OneMotorControl.cpp
+++ b/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();
+}
--- a/HPPA/OneMotorControl.h
+++ b/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;
+};
--- a/HPPA/PathPlan.cpp
+++ b/HPPA/PathPlan.cpp
@ -247,7 +247,7 @@ void PathPlan::onReadRecordLineFile_btn()
 		return;
 	}

-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "r");
+	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
 	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;

 	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
--- a/HPPA/PathPlan.ui
+++ b/HPPA/PathPlan.ui
@ -15,19 +15,19 @@
  </property>
  <layout class="QGridLayout" name="gridLayout">
   <property name="leftMargin">
-    <number>0</number>
+    <number>9</number>
   </property>
   <property name="topMargin">
-    <number>0</number>
+    <number>9</number>
   </property>
   <property name="rightMargin">
-    <number>0</number>
+    <number>9</number>
   </property>
   <property name="bottomMargin">
-    <number>0</number>
+    <number>9</number>
   </property>
   <property name="spacing">
-    <number>0</number>
+    <number>6</number>
   </property>
   <item row="0" column="0">
    <layout class="QHBoxLayout" name="horizontalLayout_16">
@ -349,12 +349,6 @@
    <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/>
--- a/HPPA/ResononNirImager.cpp
+++ b/HPPA/ResononNirImager.cpp
@ -285,15 +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)+".bil";
-
-	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)
@ -301,6 +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)
@ -341,6 +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);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -350,12 +353,13 @@ void ResononNirImager::start_record()
 		//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();
+			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>";
 		}

 	}
@ -367,7 +371,7 @@ void ResononNirImager::start_record()

 	//<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
+	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)
 	{
@ -380,6 +384,7 @@ void ResononNirImager::start_record()

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

 void ResononNirImager::WriteHdr()
@ -387,11 +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
 {
--- a/HPPA/RobotArmControl.cpp
+++ b/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());
+}
--- a/HPPA/RobotArmControl.h
+++ b/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;
+};
--- a/HPPA/RobotArmControl.ui
+++ b/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>
--- a/HPPA/about.ui
+++ b/HPPA/about.ui
@ -9,7 +9,7 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>756</width>
+    <width>629</width>
    <height>463</height>
   </rect>
  </property>
@ -25,7 +25,7 @@
    <rect>
     <x>90</x>
     <y>250</y>
-     <width>578</width>
+     <width>434</width>
     <height>134</height>
    </rect>
   </property>
@ -70,7 +70,7 @@
    </rect>
   </property>
   <property name="text">
-    <string>版本：1.8.2</string>
+    <string>版本：1.9.0</string>
   </property>
  </widget>
  <widget class="QLabel" name="label_4">
--- a/HPPA/adjustTable.cpp
+++ b/HPPA/adjustTable.cpp
@ -12,6 +12,10 @@ adjustTable::adjustTable(QWidget *parent)
 	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()
@ -63,3 +67,21 @@ 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
@ -24,6 +24,10 @@ public Q_SLOTS:
 	void onObjectivTable2Down_btn();
 	void onObjectivTable2Stop_btn();

+	void onObjectivTable252Up_btn();
+	void onObjectivTable252Down_btn();
+	void onObjectivTable252Stop_btn();
+
 private:
 	Ui::adjustTableClass ui;

--- a/HPPA/adjustTable.ui
+++ b/HPPA/adjustTable.ui
@ -6,33 +6,66 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>348</width>
-    <height>194</height>
+    <width>687</width>
+    <height>389</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>adjustTable</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">
+    <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>1号升降台</string>
+      <string>253号升降台</string>
     </property>
     <layout class="QGridLayout" name="gridLayout_11">
      <item row="0" column="0">
@ -77,10 +110,10 @@
     </layout>
    </widget>
   </item>
-   <item row="0" column="1">
+   <item row="0" column="2">
    <widget class="QGroupBox" name="groupBox_6">
     <property name="title">
-      <string>2号升降台</string>
+      <string>254号升降台</string>
     </property>
     <layout class="QGridLayout" name="gridLayout_9">
      <item row="0" column="0">
--- a/HPPA/fileOperation.h
+++ b/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");


 	
--- a/HPPA/hppaConfigFile.cpp
+++ b/HPPA/hppaConfigFile.cpp
@ -397,3 +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;
+}
--- a/HPPA/hppaConfigFile.h
+++ b/HPPA/hppaConfigFile.h
@ -45,6 +45,36 @@ public:
    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();
+
 private:
    string m_configfilePath;
    Config cfg;
--- a/HPPA/image2display.cpp
+++ b/HPPA/image2display.cpp
@ -172,7 +172,7 @@ void CImage::FillFocusGrayQImage(unsigned short * datacube)
 		}
 	}

-	m_qimageFocusGrayImage->save("D:/delete/2222222222/test.bmp");
+	//m_qimageFocusGrayImage->save("D:/delete/2222222222/test.bmp");



--- a/HPPA/imager_base.cpp
+++ b/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;
+}
--- a/HPPA/imager_base.h
+++ b/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
--- a/HPPA/irisximeaimager.cpp
+++ b/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;
+}
--- a/HPPA/irisximeaimager.h
+++ b/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
--- a/HPPA/oneMotorControl.ui
+++ b/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>
--- 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	48be580226	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；	2025-07-17 18:30:30 +08:00
tangchao0503	a629115e91	add 1、添加corning 410控制； 2、通过 IrisMultiMotorController 添加一轴马达控制，通过配置文件控制马达个数和马达初始化参数； fix 1、修复点击显示光谱bug； 2、修复机械臂bug；	2025-05-15 16:40:42 +08:00
tangchao0503	c1e4144ed6	add 支持corning 410，并添加配置文件	2025-05-09 17:27:04 +08:00
tangchao0503	c2b3f131ee	fix 1、重启软件后，恢复上次关闭的布局； 2、菜单栏添加/：光谱曲线显示停靠窗； add 双轴线性平台：采集暗电流也移动x马达；	2025-05-07 10:05:16 +08:00
tangchao0503	20848bef1a	机械臂和光谱仪联动，右下角机械臂控制窗口不会触发相机采集；	2025-04-16 16:25:51 +08:00
tangchao0503	f6138dd2ed	QTcpSocket异步通讯控制机械臂	2025-04-14 10:02:37 +08:00
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