1、添加仅采集影像，马达不运动的功能，可用于机械臂和影像采集测试；

2、使用 QSettings 记录 Action 的 isChecked 状态，并在打开软件时恢复；
使用QSettings保存选择的相机类型
2025-04-11 15:48:27 +08:00 · 2025-03-11 16:51:35 +08:00 · 2025-03-06 19:16:21 +08:00 · 2025-02-27 14:18:02 +08:00 · 2025-02-27 11:18:26 +08:00
15 changed files with 361 additions and 86 deletions
--- a/HPPA/HPPA.cpp
+++ b/HPPA/HPPA.cpp
@ -13,6 +13,10 @@ HPPA::HPPA(QWidget *parent)
 {
 	ui.setupUi(this);

+	QCoreApplication::setOrganizationName("IRIS");
+	QCoreApplication::setOrganizationDomain("iris.com");
+	QCoreApplication::setApplicationName("HPPA");
+
 	QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
 	QFile file(strPath);
 	if (file.open(QIODevice::ReadOnly)) {
@ -178,7 +182,8 @@ 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>
@ -289,6 +294,18 @@ HPPA::HPPA(QWidget *parent)

 	createActionGroups();
 	connect(mImagerGroup, &QActionGroup::triggered, this, &HPPA::selectingImager);
+
+	connect(this->ui.mAction_is_motor_enable, SIGNAL(triggered()), this, SLOT(onMotorSwitch()));
+	QSettings settings;
+	bool isMotorEnable = settings.value("isMotorEnable").toBool();
+	this->ui.mAction_is_motor_enable->setChecked(isMotorEnable);
+}
+
+void HPPA::onMotorSwitch()
+{
+	QSettings settings;
+	settings.setValue("isMotorEnable", this->ui.mAction_is_motor_enable->isChecked());
+	settings.sync();
 }

 void HPPA::createActionGroups()
@ -300,13 +317,36 @@ 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();
 }

 HPPA::~HPPA()
@ -372,24 +412,54 @@ 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;
+	bool isMotorEnable = this->ui.mAction_is_motor_enable->isChecked();
+	if (!isMotorEnable)//ͣ<><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFA3AC><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>
+		if (m_RecordState % 2 == 1)
+		{
+			//<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() + "_" + std::to_string(1) + ".bil";
+			int x = _access(imgPath.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);;
+				if (response == QMessageBox::Yes)//
+				{
+					//std::cout << "<22><><EFBFBD><EFBFBD>" << std::endl;
+				}
+				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;
+				}
+			}

-	//	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);}");
-	//}
+			ui.ImageViewerTabWidget->clear();

+			onCreateTab(0);
+			m_numberOfRecording = 0;
+			m_Imager->setFrameNumber(this->frame_number->text().toInt());
+			m_Imager->setFileName2Save(imgPath);
+			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>
+
+			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;
+	}

 	//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;
@ -417,7 +487,6 @@ void HPPA::onStartRecordStep1()
 		return;
 	}

-
 	//<2F><>ʼ<EFBFBD>ɼ<EFBFBD>
 	m_RecordState += 1;

@ -427,7 +496,7 @@ void HPPA::onStartRecordStep1()
 		FileOperation * fileOperation = new FileOperation();
 		string directory = fileOperation->getDirectoryFromString();
 		//string imgPath = directory + "\\tmp_image";
-		string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(1);
+		string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString();
 		int x = _access(imgPath.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>
 		{
@ -449,15 +518,20 @@ void HPPA::onStartRecordStep1()
 		operateWidget = QObject::sender()->objectName();

 		//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-		m_Imager->setFileName2Save(m_FilenameLineEdit->text().toStdString());
+		m_Imager->setFileName2Save(imgPath);

 		//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+");
+
 		//<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++)
 		{
@ -510,7 +584,6 @@ 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++;

 		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 +594,8 @@ 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 +604,7 @@ void HPPA::onStartRecordStep2(int lineNumber)
 		//ֹͣy<D6B9><79><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
 		m_yMotor->StopMotormove();

+		fclose(m_hTimesFile);
 	}
 }

@ -665,7 +741,7 @@ 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());

@ -1258,6 +1334,10 @@ 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 +1351,7 @@ 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 +1359,21 @@ 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 +1559,7 @@ 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 +1695,7 @@ 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();
@ -1808,15 +1903,19 @@ 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_is_motor_enable->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();	
@ -1826,12 +1925,16 @@ 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_is_motor_enable->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);
+		}
 	}
 }

@ -1950,11 +2053,19 @@ void HPPA::PlotSpectral(int state)
 void HPPA::onRecordFinishedSignal_WhenFrameNumberMeet()
 {
 	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>
 }

 void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet()
 {
 	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);}");
 }

 ForLoopControl::ForLoopControl()
--- a/HPPA/HPPA.h
+++ b/HPPA/HPPA.h
@ -236,12 +236,13 @@ private:
 	void getRequest(QString str);

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

 	PathPlan* m_pathPlan;

+	FILE* m_hTimesFile;
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage();
 	void PlotSpectral(int state);
@ -320,6 +321,8 @@ public Q_SLOTS:
 	void ontimerMoveXmotor();
 	void ontimerMoveYmotor();

+	void onMotorSwitch();
+
 	//
 	void onimagerSimulatorMove(int x, int y);
 	void OnSendLogToCallClass(QString str);
@ -337,6 +340,7 @@ signals:
 	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>1120</width>
+    <height>675</height>
   </rect>
  </property>
  <property name="windowTitle">
@ -84,7 +84,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-     <width>1078</width>
+     <width>1120</width>
     <height>30</height>
    </rect>
   </property>
@ -162,8 +162,15 @@ 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_motor_enable"/>
+   </widget>
   <addaction name="file"/>
   <addaction name="menuspectrometer"/>
+   <addaction name="menu_2"/>
   <addaction name="mWindowsMenu"/>
   <addaction name="menuhelp"/>
  </widget>
@ -1535,6 +1542,28 @@ 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_motor_enable">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>true</bool>
+   </property>
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>开启</string>
+   </property>
+  </action>
 </widget>
 <layoutdefault spacing="6" margin="11"/>
 <customwidgets>
--- a/HPPA/ImagerOperationBase.cpp
+++ b/HPPA/ImagerOperationBase.cpp
@ -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);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -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
--- 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/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);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -356,6 +359,7 @@ void ResononNirImager::start_record()
 		if (m_iFrameCounter >= m_iFrameNumber)
 		{
 			break;
+			//qDebug() << "<22><><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>";
 		}

 	}
@ -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/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：1.8.7</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/utility_tc.cpp
+++ b/HPPA/utility_tc.cpp
@ -101,6 +101,17 @@ bool createDir(QString fullPath)
    }
 }

+std::string removeFileExtension(std::string filename)
+{
+    size_t lastDot = filename.find_last_of(".");
+    if (lastDot == std::string::npos) {
+        // 如果没有找到后缀，返回原字符串
+        return filename;
+    }
+    return filename.substr(0, lastDot);
+
+}
+
 QList<QString> getFileInfo(QString file)
 {
    QFileInfo fileInfo = QFileInfo(file);
@ -121,3 +132,28 @@ QList<QString> getFileInfo(QString file)

    return result;
 }
+
+long long getNanosecondsSinceMidnight()
+{
+    // 获取当前系统时间
+    auto now = std::chrono::system_clock::now();
+
+    // 转换为 time_t（秒级别的时间戳）
+    std::time_t t = std::chrono::system_clock::to_time_t(now);
+    std::tm local_tm = *std::localtime(&t); // 获取本地时间结构
+
+    // 将时间结构调整到当天 00:00:00
+    local_tm.tm_hour = 0;
+    local_tm.tm_min = 0;
+    local_tm.tm_sec = 0;
+    local_tm.tm_isdst = -1;  // 让 mktime 自动判断夏令时
+
+    // 获取当天 00:00:00 的时间点
+    auto midnight = std::chrono::system_clock::from_time_t(std::mktime(&local_tm));
+
+    // 计算从当天 00:00:00 到现在的时间差
+    auto nanoseconds_since_midnight = std::chrono::duration_cast<std::chrono::nanoseconds>(now - midnight);
+
+    // 返回纳秒数
+    return nanoseconds_since_midnight.count();
+}
--- a/HPPA/utility_tc.h
+++ b/HPPA/utility_tc.h
@ -3,9 +3,11 @@

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

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

 QString getFileNameBaseOnTime();

@ -17,7 +19,10 @@ void bubbleSort(unsigned short * a, int n);
 void swap(unsigned short * a, unsigned short * b);

 bool createDir(QString fullPath);
+std::string removeFileExtension(std::string filename);

 QList<QString> getFileInfo(QString file);

+long long getNanosecondsSinceMidnight();
+
 #endif // UTILITY_TC_H
--- a/readme.txt
+++ b/readme.txt
@ -0,0 +1,28 @@
+1、HPPA拼接
+每条航线的开始帧的位置不一样，无法直接将相邻航线拼接一起，否则航向有错位。
+1.1 步骤
+（1）采集每帧的同时，获取线性平台的位置，并写入文件；
+（2）根据位置信息匹配帧号，然后进行拼接；
+1.2 存在的问题及解决办法
+（1）马达库不知道是否能够支持20hz及以上的访问频率；
+或者按照一定频率采集线性平台位置，通过时间进行插值获取每帧位置；
+（2）列之间的重叠
+通过一个可调参数进行旁向拼接设置；
+1.3 拼接后裁剪
+
+1.4 根据每个像素的xy坐标进行拼接：放弃
+
+2、bug修复
+（1）反射率图像条纹：白板和暗电流都采集30帧进行平均；
+（2）轨迹2位小数
+（3）速度输入接受小数
+
+3、hppa升降桌无线控制模块
+如果没有配置过，那么默认ip为http://192.168.1.254，且默认wifi以iris1开头，默认wifi密码为123456789。
+配置网页为http://192.168.1.254/wificonfig.html，配置密码是licahk*******
+
+如果已经配置为252，那么可用下面网址控制
+http://192.168.1.252/stopnow
+http://192.168.1.252/set_up
+http://192.168.1.252/set_down
+http://192.168.1.252/wificonfig.html
Author	SHA1	Message	Date
tangchao0503	f32ade7487	1、添加仅采集影像，马达不运动的功能，可用于机械臂和影像采集测试； 2、使用 QSettings 记录 Action 的 isChecked 状态，并在打开软件时恢复；	2025-04-11 15:48:27 +08:00
tangchao0503	89c701c5f2	使用QSettings保存选择的相机类型	2025-03-11 16:51:35 +08:00
tangchao0503	a7fd9e4fa9	添加3个升降桌	2025-03-06 19:16:21 +08:00
tangchao0503	5af6a039c2	x马达扫描速度接受小数	2025-02-27 14:18:02 +08:00
tangchao0503	b779118d72	1、记录x马达位置用于拼接影像； 2、修复了航线读写错误问题；	2025-02-27 11:18:26 +08:00