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；

QTcpSocket异步通讯控制机械臂
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；
2025-04-16 16:25:51 +08:00 · 2025-04-14 10:02:37 +08:00 · 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
20 changed files with 1492 additions and 159 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>
@ -262,7 +267,8 @@ HPPA::HPPA(QWidget *parent)
 	//<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 +277,7 @@ 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 +287,7 @@ 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 +295,50 @@ 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());
+
 	createActionGroups();
 	connect(mImagerGroup, &QActionGroup::triggered, this, &HPPA::selectingImager);
+
+	createMoveplatformActionGroup();
+	connect(moveplatformActionGroup, &QActionGroup::triggered, this, &HPPA::selectingMoveplatform);
+}
+
+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 +350,69 @@ 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);
+
+	// <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);
+	}
+}
+
+void HPPA::selectingMoveplatform(QAction* selectedAction)
+{
+	QSettings settings;
+	settings.setValue("LastSelectedMoveplatform", selectedAction->objectName());
+	settings.sync();
 }

 HPPA::~HPPA()
@ -372,112 +478,144 @@ 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)
+	//<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();
+	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>
 	{
-		QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ켣<EFBFBD><EFBFBD>"));
-		return;
+		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;
+		}
 	}

+	m_Imager->setFrameNumber(this->frame_number->text().toInt());
+	m_Imager->setFileName2Save(imgPath);

-	//<2F><>ʼ<EFBFBD>ɼ<EFBFBD>
-	m_RecordState += 1;
+	QString checkedName = checked->objectName();

-	if (m_RecordState % 2 == 1)
+	if (checkedName == "mAction_is_no_motor")
 	{
-		//<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);
-		if (!x)//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>ھ<EFBFBD>ִ<EFBFBD>д<EFBFBD>if<69>Ĵ<EFBFBD><C4B4><EFBFBD>
+		m_RecordState += 1;
+
+		if (m_RecordState % 2 == 1)
 		{
-			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.ImageViewerTabWidget->clear();
+
+			onCreateTab(0);
+			m_numberOfRecording = 0;
+			
+			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>

-
-		//
-		operateWidget = QObject::sender()->objectName();
-
-		//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-		m_Imager->setFileName2Save(m_FilenameLineEdit->text().toStdString());
-
-		//ɾ<EFBFBD><EFBFBD><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
+			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<EFBFBD><EFBFBD>x<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD> 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++)
 		{
-			for (size_t j = 0; j < m_pathPlan->getRecordLineTableWidget()->columnCount(); j++)
+			//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())
 			{
-				m_pathPlan->getRecordLineTableWidget()->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
+				validLineCount++;
 			}
+
 		}

-		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);}");
+		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+");
+
+			//<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
+	else if (checkedName == "mAction_RobotArm")
 	{
-		m_Imager->setRecordControlState(false);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD>
+		//<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<EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾbug
+		rac->executeTaskWithHyperImager();

-		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;
 	}
 }

@ -510,7 +648,6 @@ 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 +658,8 @@ 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 +668,7 @@ void HPPA::onStartRecordStep2(int lineNumber)
 		//ֹͣy<D6B9><79><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
 		m_yMotor->StopMotormove();

+		fclose(m_hTimesFile);
 	}
 }

@ -665,7 +805,7 @@ 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());

@ -720,7 +860,7 @@ 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 +878,7 @@ 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 +1398,10 @@ 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 +1415,7 @@ 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 +1423,21 @@ 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 +1623,7 @@ 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 +1759,7 @@ 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();
@ -1611,7 +1770,7 @@ void HPPA::onconnect()
 		}
 		else if (imagerSelected == "mActionPika_XC2")
 		{
-			
+			m_Imager = new ResononPicaLImager();
 		}
 		else if (imagerSelected == "mActionCorning_410")
 		{
@ -1808,15 +1967,19 @@ 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 +1989,22 @@ 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()
 {
+	//return;
 	//<2F><>ȡ<EFBFBD><C8A1>ͼ<EFBFBD>ؼ<EFBFBD>
 	QWidget* currentWidget = ui.ImageViewerTabWidget->widget(m_numberOfRecording);
 	QList<ImageViewer *> currentImageViewer = currentWidget->findChildren<ImageViewer *>();
@ -1950,11 +2118,32 @@ 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()
 {
+	QAction* checked = moveplatformActionGroup->checkedAction();
+	QString checkedName;
+	if (checked)
+	{
+		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;
+	}
+	
+
 	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
@ -33,6 +33,7 @@
 #include "adjustTable.h"
 #include "PowerControl.h"
 #include "PathPlan.h"
+#include "RobotArmControl.h"

 #include "hppaConfigFile.h"
 #include "path_tc.h"
@ -236,12 +237,18 @@ 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;
+	

 	PathPlan* m_pathPlan;

+	FILE* m_hTimesFile;
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage();
 	void PlotSpectral(int state);
@ -332,11 +339,14 @@ public Q_SLOTS:

 	void requestFinished(QNetworkReply* reply);

+	void recordFromRobotArm(int fileCounter);
+
 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 +162,17 @@ 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_2AxisMotor"/>
+    <addaction name="mAction_RobotArm"/>
+   </widget>
   <addaction name="file"/>
   <addaction name="menuspectrometer"/>
+   <addaction name="menu_2"/>
   <addaction name="mWindowsMenu"/>
   <addaction name="menuhelp"/>
  </widget>
@ -1535,6 +1544,47 @@ 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>
 </widget>
 <layoutdefault spacing="6" margin="11"/>
 <customwidgets>
--- a/HPPA/HPPA.vcxproj
+++ b/HPPA/HPPA.vcxproj
@ -86,7 +86,7 @@
      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
    </ClCompile>
    <Link>
-      <SubSystem>Windows</SubSystem>
+      <SubSystem>Console</SubSystem>
      <GenerateDebugInformation>true</GenerateDebugInformation>
    </Link>
  </ItemDefinitionGroup>
@ -116,6 +116,7 @@
    <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>
@ -139,6 +140,7 @@
    <ClCompile Include="main.cpp" />
    <QtUic Include="PathPlan.ui" />
    <QtUic Include="PowerControl.ui" />
+    <QtUic Include="RobotArmControl.ui" />
  </ItemGroup>
  <ItemGroup>
    <QtMoc Include="fileOperation.h" />
@ -153,6 +155,7 @@
    <QtMoc Include="adjustTable.h" />
    <QtMoc Include="PowerControl.h" />
    <QtMoc Include="PathPlan.h" />
+    <QtMoc Include="RobotArmControl.h" />
    <ClInclude Include="utility_tc.h" />
    <QtMoc Include="aboutWindow.h" />
    <ClInclude Include="hppaConfigFile.h" />
--- a/HPPA/HPPA.vcxproj.filters
+++ b/HPPA/HPPA.vcxproj.filters
@ -106,6 +106,9 @@
    <ClCompile Include="PathPlan.cpp">
      <Filter>Source Files</Filter>
    </ClCompile>
+    <ClCompile Include="RobotArmControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
  </ItemGroup>
  <ItemGroup>
    <QtMoc Include="fileOperation.h">
@ -153,6 +156,9 @@
    <QtMoc Include="PathPlan.h">
      <Filter>Header Files</Filter>
    </QtMoc>
+    <QtMoc Include="RobotArmControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
  </ItemGroup>
  <ItemGroup>
    <ClInclude Include="imageProcessor.h">
@ -196,6 +202,9 @@
    <QtUic Include="PathPlan.ui">
      <Filter>Form Files</Filter>
    </QtUic>
+    <QtUic Include="RobotArmControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
  </ItemGroup>
  <ItemGroup>
    <None Include="cpp.hint" />
--- 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);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -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();//<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
+	//emit PlotSignal();//<2F><>1<EFBFBD><31><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
--- 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/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：1.8.8</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	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