1、1轴/2轴：采集白板和暗电流时，移动马达；

2、移除以前的采集逻辑，马达控制全用多轴控制器，采集逻辑全放到采集逻辑控制器里；
3、删除了多余文件；
4、添加了辐亮度和反射率界面，并没有实现功能；

.gitignore

@@ -1,5 +1,10 @@
 # tc
 GeneratedFiles/
+ResononAPISetup-3.12-64bit.exe
+gdal202.dll
+*.rej
+HPPA类图.drawio
+HPPA - 副本.ui
 
 ## Ignore Visual Studio temporary files, build results, and
 ## files generated by popular Visual Studio add-ons.

HPPA.sln

@@ -10,6 +10,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HPPA", "HPPA\HPPA.vcxproj",
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "vincecontrol", "vincecontrol\vincecontrol.vcxproj", "{B12702AD-ABFB-343A-A199-8E24837244A3}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "IrisMultiMotorController", "IrisMultiMotorController\IrisMultiMotorController\IrisMultiMotorController.vcxproj", "{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|x64 = Debug|x64
@@ -34,6 +36,14 @@ Global
 		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x64.Build.0 = Release|x64
 		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x86.ActiveCfg = Release|Win32
 		{B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x86.Build.0 = Release|Win32
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x64.ActiveCfg = Debug|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x64.Build.0 = Debug|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x86.ActiveCfg = Debug|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Debug|x86.Build.0 = Debug|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x64.ActiveCfg = Release|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x64.Build.0 = Release|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x86.ActiveCfg = Release|x64
+		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x86.Build.0 = Release|x64
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

HPPA/CaptureCoordinator.cpp

@@ -0,0 +1,716 @@
+#include "CaptureCoordinator.h"
+
+TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	ImagerOperationBase* cameraCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_cameraCtrl(cameraCtrl)
+	, m_isRunning(false)
+{
+	//这些信号槽是按照逻辑顺序的
+	connect(this, SIGNAL(moveTo(int, double, double, int)),
+		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)),
+		m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+	connect(this, &TwoMotionCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &TwoMotionCaptureCoordinator::handlePositionReached);
+	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
+	//	this, &TwoMotionCaptureCoordinator::handleError);
+
+	connect(this, &TwoMotionCaptureCoordinator::startRecordHSISignal,
+		m_cameraCtrl, &ImagerOperationBase::start_record);
+	connect(this, &TwoMotionCaptureCoordinator::stopRecordHSISignal,
+		m_cameraCtrl, &ImagerOperationBase::stop_record);
+	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet,
+		this, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+	//connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberNotMeet,
+	//	this, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberNotMeet);
+	//connect(m_cameraCtrl, &ImagerOperationBase::captureFailed,
+	//	this, &TwoMotionCaptureCoordinator::handleError);
+}
+
+TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_isRunning(false)
+{
+	connect(this, SIGNAL(moveTo(int, double, double, int)),
+		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)),
+		m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &TwoMotionCaptureCoordinator::handlePositionReached);
+	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
+	//	this, &TwoMotionCaptureCoordinator::handleError);
+}
+
+TwoMotionCaptureCoordinator::~TwoMotionCaptureCoordinator()
+{
+
+}
+
+void TwoMotionCaptureCoordinator::start(QVector<PathLine> pathLines)
+{
+	//QMutexLocker locker(&m_dataMutex);
+
+	if (m_isRunning)
+	{
+		emit errorOccurred("Sequence already running");
+		std::cout << "already running" << std::endl;
+		return;
+	}
+
+	getLocBeforeStart();
+	
+	m_pathLines = pathLines;
+
+	m_isMoving2XMin = false;
+	m_isMoving2XMax = false;
+	m_isMoving2XStartLoc = false;
+
+	m_isMoving2YTargeLoc = false;
+	m_isMoving2YStartLoc = false;
+	m_isImagerFrameNumberMeet = false;
+
+	m_retryTimesMoving2XMin = 0;
+	m_retryTimesMoving2XMax = 0;
+	m_retryTimesMoving2YTargeLoc = 0;
+
+	m_isRunning = true;
+	m_numCurrentPathLine = 0;
+	processNextPathLine();
+}
+
+void TwoMotionCaptureCoordinator::stop()
+{
+	if (!m_isRunning) return;
+
+	//QMutexLocker locker(&m_dataMutex);
+
+	std::cout << "The user manually stops the collection! " << std::endl;
+	savePathLinesToCsv();
+	
+	emit sequenceComplete(1);
+	emit finishRecordLineNumSignal(m_numCurrentPathLine);
+	//emit stopRecordHSISignal(m_numCurrentPathLine);
+	if (m_cameraCtrl != nullptr)
+	{
+		m_cameraCtrl->stop_record();
+	}
+
+	move2LocBeforeStart();
+}
+
+void TwoMotionCaptureCoordinator::getLocBeforeStart()
+{
+	QEventLoop loop;
+	bool received = false;
+
+	QTimer timer;
+	timer.setSingleShot(true);
+	connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
+
+	QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
+		[&](std::vector<double> pos) {
+			m_locBeforeStart = pos;
+			received = true;
+			loop.quit();
+		});
+
+	QMetaObject::invokeMethod(m_motorCtrl, "getLoc", Qt::QueuedConnection);
+	timer.start(3000);
+
+	loop.exec();
+
+	disconnect(conn);
+}
+
+void TwoMotionCaptureCoordinator::getRecordState()
+{
+	emit recordState(m_isRunning);
+}
+
+void TwoMotionCaptureCoordinator::move2LocBeforeStart()
+{
+	std::cout << "\nmove2LocBeforeStart." << std::endl;
+
+	PathLine& tmp = m_pathLines[0];
+	std::vector<double> speed;
+	speed.push_back(tmp.speedTargetXMinPosition);
+	speed.push_back(tmp.speedTargetYPosition);
+	emit moveTo(m_locBeforeStart, speed, 1000);
+
+	m_isRunning = false;
+
+	m_isMoving2XMin = false;
+	m_isMoving2XMax = false;
+	m_isMoving2YTargeLoc = false;
+
+	m_isMoving2XStartLoc = true;
+	m_isMoving2YStartLoc = true;
+}
+
+QVector<PathLine> TwoMotionCaptureCoordinator::pathLines() const
+{
+	//QMutexLocker locker(&m_dataMutex);
+	return m_pathLines;
+}
+
+double TwoMotionCaptureCoordinator::getTimeDiffMinutes(QDateTime startTime, QDateTime endTime)
+{
+	qint64 diffMillis = startTime.msecsTo(endTime);
+	double diffMinutes = (double)diffMillis / 60000;//min
+
+	return diffMinutes;
+}
+
+bool TwoMotionCaptureCoordinator::savePathLinesToCsv(QString filename)
+{
+	//QMutexLocker locker(&m_dataMutex);
+	if (filename.isEmpty())
+	{
+		FileOperation* fileOperation = new FileOperation();
+		string directory = fileOperation->getDirectoryOfExe();
+		QDateTime now = QDateTime::currentDateTime();
+		QString format1 = "yyyyMMdd_HHmmss";
+		QString fileNameTmp = now.toString("yyyyMMdd_HHmmss");
+
+		filename = QDir::cleanPath(QString::fromStdString(directory) + QDir::separator() + "pathLines" + QDir::separator() + fileNameTmp + "_pathLines.csv");
+	}
+
+	QDir dir = QFileInfo(filename).absoluteDir();
+
+	// 如果目录不存在，则递归创建
+	if (!dir.exists()) {
+		if (!dir.mkpath(".")) {
+			qWarning() << "Failed to create directory:" << dir.path();
+			return false;
+		}
+	}
+
+	QFile file(filename);
+	if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+	{
+		return false;
+	}
+
+	QTextStream out(&file);
+	out << "timestamp1,timestamp2,timestamp3,time consuming(min),targetYPosition,actualYPosition,targetXMinPosition,actualXMinPosition,targetXMaxPosition,actualXMaxPosition\n";
+
+	for (const auto& data : m_pathLines)
+	{
+		out << data.timestamp1.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+			<< data.timestamp2.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+			<< data.timestamp3.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+			<< QString::number(getTimeDiffMinutes(data.timestamp2, data.timestamp3), 'f', 4) << ","
+			<< QString::number(data.targetYPosition, 'f', 4) << ","
+			<< QString::number(data.actualYPosition, 'f', 4) << ","
+			<< QString::number(data.targetXMinPosition, 'f', 4) << ","
+			<< QString::number(data.actualXMinPosition, 'f', 4) << ","
+			<< QString::number(data.targetXMaxPosition, 'f', 4) << ","
+			<< QString::number(data.actualXMaxPosition, 'f', 4)
+			<< "\n";
+	}
+
+	file.close();
+	return true;
+}
+
+void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
+{
+	if (!m_isRunning) return;
+
+	//QMutexLocker locker(&m_dataMutex);
+
+	PathLine &tmp = m_pathLines[m_numCurrentPathLine];
+
+	if (motorID == 1)//y马达
+	{
+		if (m_isMoving2YTargeLoc)
+		{
+			double threshold = getThre(tmp.targetYPosition, pos);
+
+			if (threshold > 5)
+			{
+				//没到准确位置，再次给马达发送命令
+				if (m_retryTimesMoving2YTargeLoc < m_retryLimit)
+				{
+					m_retryTimesMoving2YTargeLoc++;
+
+					std::cout << "Y motor Moving2YTargeLoc error. Retry..." << std::endl;
+					emit moveTo(1, tmp.targetYPosition, tmp.speedTargetYPosition, 1000);
+					return;
+				}
+			}
+			m_retryTimesMoving2YTargeLoc = 0;
+
+			tmp.actualYPosition = pos;
+
+			m_isMoving2YTargeLoc = false;
+
+			std::cout << "y motor is reached!!!! " << std::endl;
+			startRecordHsi();
+
+			return;
+		}
+
+		if (m_isMoving2YStartLoc)
+		{
+			m_isMoving2YStartLoc = false;
+
+			return;
+		}
+	}
+	if (motorID == 0)//x马达
+	{
+		if (m_isMoving2XMin)
+		{
+			double threshold = getThre(tmp.targetXMinPosition, pos);
+
+			if (threshold > 5)
+			{
+				//没到准确位置，再次给马达发送命令
+				if (m_retryTimesMoving2XMin < m_retryLimit)
+				{
+					m_retryTimesMoving2XMin++;
+
+					std::cout << "X motor Moving2XMin error. Retry..." << std::endl;
+					emit moveTo(0, tmp.targetXMinPosition, tmp.speedTargetXMinPosition, 1000);
+					return;
+				}
+			}
+			m_retryTimesMoving2XMin = 0;
+
+			tmp.actualXMinPosition = pos;
+
+			m_isMoving2XMin = false;
+
+			std::cout << "x motor is reached!!!! " << std::endl;
+			startRecordHsi();
+			
+			return;
+		}
+
+		if (m_isMoving2XMax)
+		{
+			double threshold = getThre(tmp.targetXMaxPosition, pos);
+			
+			if (threshold > 5 && !m_isImagerFrameNumberMeet)//马达没到准确位置 && 【非】光谱仪因帧数限制主动停止采集
+			{
+				//没到准确位置，再次给马达发送命令
+				if (m_retryTimesMoving2XMax < m_retryLimit)
+				{
+					m_retryTimesMoving2XMax++;
+
+					std::cout << "X motor Moving2XMax error. Retry..." << std::endl;
+					emit moveTo(0, tmp.targetXMaxPosition, tmp.speedTargetXMaxPosition, 1000);
+					return;
+				}
+			}
+			m_retryTimesMoving2XMax = 0;
+
+			tmp.actualXMaxPosition = pos;
+			tmp.timestamp3 = QDateTime::currentDateTime();
+
+			std::cout << "Line " << m_numCurrentPathLine << " time span(min):" << getTimeDiffMinutes(tmp.timestamp2, tmp.timestamp3) << std::endl;
+
+			//停止采集高光谱数据
+			emit finishRecordLineNumSignal(m_numCurrentPathLine);
+			//emit stopRecordHSISignal(m_numCurrentPathLine);
+			if (m_cameraCtrl!=nullptr)
+			{
+				m_cameraCtrl->stop_record();
+			}
+
+			m_isMoving2XMax = false;
+			m_isImagerFrameNumberMeet = false;
+			m_numCurrentPathLine++;
+			processNextPathLine();
+
+			return;
+		}
+
+		if (m_isMoving2XStartLoc)
+		{
+			m_isMoving2XStartLoc = false;
+
+			return;
+		}
+	}
+}
+
+double TwoMotionCaptureCoordinator::getThre(double targetLoc,double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double thre = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return thre;
+}
+
+void TwoMotionCaptureCoordinator::startRecordHsi()
+{
+	if (!m_isRunning) return;
+
+	//QMutexLocker locker(&m_dataMutex);
+
+	if (!m_isMoving2XMin && !m_isMoving2YTargeLoc)
+	{
+		//开始采集高光谱数据
+		PathLine &tmp = m_pathLines[m_numCurrentPathLine];
+		tmp.timestamp2 = QDateTime::currentDateTime();
+		std::cout << "start recording hsi, moving to " << tmp.targetXMaxPosition << std::endl;
+
+		m_isMoving2XMax = true;
+		emit moveTo(0, tmp.targetXMaxPosition, tmp.speedTargetXMaxPosition, 1000);
+
+		emit startRecordHSISignal(m_numCurrentPathLine);
+	}
+}
+
+void TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
+{
+	m_isImagerFrameNumberMeet = true;
+	emit stopMotorSignal(0);
+}
+
+void TwoMotionCaptureCoordinator::handleError(const QString& error)
+{
+	//QMutexLocker locker(&m_dataMutex);
+	m_isRunning = false;
+	emit errorOccurred(error);
+}
+
+void TwoMotionCaptureCoordinator::processNextPathLine()
+{
+	if (!m_isRunning) return;
+
+	int numPathLines = m_pathLines.size();
+
+	if (numPathLines == 0)
+	{
+		move2LocBeforeStart();
+		return;
+	}
+
+	if (m_isMoving2YTargeLoc || m_isMoving2XMin)
+	{
+		return;
+	}
+
+	if (m_numCurrentPathLine > numPathLines - 1)
+	{
+		std::cout << "\nAll path lines is finished! " << std::endl;
+
+		move2LocBeforeStart();
+		savePathLinesToCsv();
+
+		emit sequenceComplete(0);
+
+		return;
+	}
+
+	std::cout << "\nNew path line: " << m_numCurrentPathLine << std::endl;
+	emit startRecordLineNumSignal(m_numCurrentPathLine);
+
+	PathLine &tmp = m_pathLines[m_numCurrentPathLine];
+	tmp.timestamp1 = QDateTime::currentDateTime();
+
+	std::vector<double> loc;
+	loc.push_back(tmp.targetXMinPosition);
+	loc.push_back(tmp.targetYPosition);
+	std::vector<double> speed;
+	speed.push_back(tmp.speedTargetXMinPosition);
+	speed.push_back(tmp.speedTargetYPosition);
+
+	m_isMoving2YTargeLoc = true;
+	m_isMoving2XMin = true;
+	emit moveTo(loc, speed, 1000);
+}
+
+OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	ImagerOperationBase* cameraCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_cameraCtrl(cameraCtrl)
+	, m_isRunning(false)
+{
+	connect(this, SIGNAL(moveTo(int, double, double, int)),
+		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_motorCtrl, SLOT(move(int, bool, double, int)));
+	connect(this, &OneMotionCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &OneMotionCaptureCoordinator::handleMotorStoped);
+	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
+	//	this, &OneMotionCaptureCoordinator::handleError);
+
+	connect(this, &OneMotionCaptureCoordinator::startRecordHSISignal,
+		m_cameraCtrl, &ImagerOperationBase::start_record);
+	connect(this, &OneMotionCaptureCoordinator::stopRecordHSISignal,
+		m_cameraCtrl, &ImagerOperationBase::stop_record);
+	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet,
+		this, &OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+}
+
+OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
+{
+
+}
+
+void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	if (m_isRunning)
+	{
+		emit errorOccurred("Sequence already running");
+		return;
+	}
+
+	m_isRunning = true;
+	m_pathLine = pathLine;
+
+	getLocBeforeStart();
+	m_pathLine.startPosition = m_locBeforeStart[0];
+	m_pathLine.timestamp1 = QDateTime::currentDateTime();
+
+	//移动马达并开始采集高光谱
+	emit moveSignal(0, false, m_pathLine.speedRecord, 1000);
+	emit startRecordHSISignal();
+}
+
+void OneMotionCaptureCoordinator::stopStepMotion()
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	if (m_cameraCtrl != nullptr)
+	{
+		m_cameraCtrl->stop_record();
+	}
+
+	emit stopMotorSignal(0);
+}
+
+void OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
+{
+	emit stopMotorSignal(0);
+}
+
+void OneMotionCaptureCoordinator::getLocBeforeStart()
+{
+	QEventLoop loop;
+	bool received = false;
+
+	QTimer timer;
+	timer.setSingleShot(true);
+	connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
+
+	QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
+		[&](std::vector<double> pos) {
+			m_locBeforeStart = pos;
+			received = true;
+			loop.quit();
+		});
+
+	QMetaObject::invokeMethod(m_motorCtrl, "getLoc", Qt::QueuedConnection);
+	timer.start(3000);
+
+	loop.exec();
+
+	disconnect(conn);
+}
+
+void OneMotionCaptureCoordinator::move2LocBeforeStart()
+{
+	std::cout << "\nmove2LocBeforeStart." << std::endl;
+
+	emit moveTo(0, m_locBeforeStart[0], m_pathLine.speedBack, 1000);
+
+	m_isRunning = false;
+}
+
+bool OneMotionCaptureCoordinator::saveToCsv(const QString& filename)
+{
+	//QMutexLocker locker(&m_dataMutex);
+
+	QFile file(filename);
+	if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+	{
+		return false;
+	}
+
+	QTextStream out(&file);
+	out << "startTime,stopTime,startPosition,stopPosition\n";
+
+	out << m_pathLine.timestamp1.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+		<< m_pathLine.timestamp2.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+		<< QString::number(m_pathLine.startPosition, 'f', 4) << ","
+		<< QString::number(m_pathLine.stopPosition, 'f', 4) << "\n";
+
+	file.close();
+	return true;
+}
+
+void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
+{
+	if (!m_isRunning) return;
+
+	QMutexLocker locker(&m_dataMutex);
+
+	// 记录位置信息
+	m_pathLine.stopPosition = pos;
+	m_pathLine.timestamp2 = QDateTime::currentDateTime();
+
+	//光谱仪停止采集，马达回到初始位置
+	emit stopRecordHSISignal();
+	if (m_cameraCtrl != nullptr)
+	{
+		m_cameraCtrl->stop_record();
+	}
+	move2LocBeforeStart();
+}
+
+void OneMotionCaptureCoordinator::handleCaptureComplete(double index)
+{
+	if (!m_isRunning) return;
+
+	QMutexLocker locker(&m_dataMutex);
+
+}
+
+void OneMotionCaptureCoordinator::handleError(const QString& error)
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_isRunning = false;
+	emit errorOccurred(error);
+}
+
+DarkAndWhiteCaptureCoordinator::DarkAndWhiteCaptureCoordinator(
+	int model,
+	IrisMultiMotorController* motorCtrl,
+	ImagerOperationBase* cameraCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_model(model)
+	, m_motorCtrl(motorCtrl)
+	, m_cameraCtrl(cameraCtrl)
+	, m_isRunning(false)
+{
+	connect(this, SIGNAL(moveTo(int, double, double, int)),
+		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_motorCtrl, SLOT(move(int, bool, double, int)));
+	connect(this, &DarkAndWhiteCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &DarkAndWhiteCaptureCoordinator::handleMotorStoped);
+
+	if (m_model == 0)//dark
+	{
+		connect(this, &DarkAndWhiteCaptureCoordinator::startRecordHSISignal,
+			m_cameraCtrl, &ImagerOperationBase::record_dark);
+		connect(m_cameraCtrl, &ImagerOperationBase::RecordDarlFinishSignal,
+			this, &DarkAndWhiteCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+	}
+	else if(m_model == 1)//white
+	{
+		connect(this, &DarkAndWhiteCaptureCoordinator::startRecordHSISignal,
+			m_cameraCtrl, &ImagerOperationBase::record_white);
+		connect(m_cameraCtrl, &ImagerOperationBase::RecordWhiteFinishSignal,
+			this, &DarkAndWhiteCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+	}
+	
+}
+
+DarkAndWhiteCaptureCoordinator::~DarkAndWhiteCaptureCoordinator()
+{
+
+}
+
+void DarkAndWhiteCaptureCoordinator::startStepMotion(double speed)
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	if (m_isRunning)
+	{
+		return;
+	}
+
+	m_isRunning = true;
+
+	m_speed = speed;
+
+	getLocBeforeStart();
+
+	//移动马达并开始采集高光谱
+	emit moveSignal(0, false, m_speed, 1000);
+	emit startRecordHSISignal();
+}
+
+void DarkAndWhiteCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
+{
+	emit stopMotorSignal(0);
+}
+
+void DarkAndWhiteCaptureCoordinator::getLocBeforeStart()
+{
+	QEventLoop loop;
+	bool received = false;
+
+	QTimer timer;
+	timer.setSingleShot(true);
+	connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
+
+	QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
+		[&](std::vector<double> pos) {
+			m_locBeforeStart = pos;
+			received = true;
+			loop.quit();
+		});
+
+	QMetaObject::invokeMethod(m_motorCtrl, "getLoc", Qt::QueuedConnection);
+	timer.start(3000);
+
+	loop.exec();
+
+	disconnect(conn);
+}
+
+void DarkAndWhiteCaptureCoordinator::move2LocBeforeStart()
+{
+	std::cout << "\nmove2LocBeforeStart." << std::endl;
+
+	emit moveTo(0, m_locBeforeStart[0], m_speed, 1000);
+
+	m_isRunning = false;
+}
+
+void DarkAndWhiteCaptureCoordinator::handleMotorStoped(int motorID, double pos)
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	if (!m_isRunning) return;
+
+	move2LocBeforeStart();
+}
+
+void DarkAndWhiteCaptureCoordinator::handleCaptureComplete(double index)
+{
+	QMutexLocker locker(&m_dataMutex);
+}

HPPA/CaptureCoordinator.h

@@ -0,0 +1,210 @@
+#pragma once
+#include <QDateTime>
+#include <QObject>
+#include <QMutex>
+#include <QMetaType>
+
+#include "ImagerOperationBase.h"
+#include "IrisMultiMotorController.h"
+
+struct PathLine
+{
+	double targetYPosition;
+	double actualYPosition;
+	double speedTargetYPosition;
+	
+	double targetXMinPosition;
+	double actualXMinPosition;
+	double speedTargetXMinPosition;
+
+	double targetXMaxPosition;
+	double actualXMaxPosition;
+	double speedTargetXMaxPosition;
+
+	QDateTime timestamp1;//开始航线
+	QDateTime timestamp2;//开始采集高光谱
+	QDateTime timestamp3;//结束采集高光谱
+
+	PathLine(double targetYPosition_=0, double targetXMinPosition_ = 0, double targetXMaxPosition_ = 0)
+		: targetYPosition(targetYPosition_), actualYPosition(0), speedTargetYPosition(0), 
+		targetXMinPosition(targetXMinPosition_), actualXMinPosition(0), speedTargetXMinPosition(0),
+		targetXMaxPosition(targetXMaxPosition_), actualXMaxPosition(0), speedTargetXMaxPosition(0),
+		timestamp1(QDateTime::currentDateTime()), timestamp2(QDateTime::currentDateTime()), timestamp3(QDateTime::currentDateTime()) {}
+};
+Q_DECLARE_METATYPE(PathLine);
+//Q_DECLARE_METATYPE(QVector<PathLine>);
+
+class TwoMotionCaptureCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
+		ImagerOperationBase* cameraCtrl,
+		QObject* parent = nullptr);
+	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
+		QObject* parent = nullptr);
+	~TwoMotionCaptureCoordinator();
+
+	QVector<PathLine> pathLines() const;
+
+signals:
+	void sequenceComplete(int);//0：所有采集线正常运行完成，1：用户主动取消采集
+	void startRecordLineNumSignal(int lineNum);
+	void finishRecordLineNumSignal(int lineNum);
+
+	void startRecordHSISignal(int lineNum);
+	void stopRecordHSISignal(int lineNum);
+
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void moveTo(const std::vector<double>, const std::vector<double>, int);
+	void stopMotorSignal(int axis);
+
+	void recordState(bool state);
+
+private slots:
+	void start(QVector<PathLine> pathLines);
+	void stop();
+	void getRecordState();
+
+	void handlePositionReached(int motorID, double pos);
+	void handleCaptureCompleteWhenFrameNumberMeet();
+	void handleError(const QString& error);
+
+	void move2LocBeforeStart();
+
+private:
+	void processNextPathLine();
+	void startRecordHsi();
+	void getLocBeforeStart();
+	double getThre(double targetLoc, double actualLoc);
+
+	double getTimeDiffMinutes(QDateTime startTime, QDateTime endTime);
+	bool savePathLinesToCsv(QString filename= QString());
+
+	IrisMultiMotorController* m_motorCtrl;
+	ImagerOperationBase* m_cameraCtrl=nullptr;
+	QVector<PathLine> m_pathLines;
+	mutable QMutex m_dataMutex;
+
+	bool m_isRunning;
+	bool m_isMoving2YTargeLoc;
+	bool m_isMoving2XMin;
+	bool m_isMoving2XMax;
+	
+	int m_retryLimit = 3;
+	int m_retryTimesMoving2YTargeLoc;
+	int m_retryTimesMoving2XMin;
+	int m_retryTimesMoving2XMax;
+
+	bool m_isImagerFrameNumberMeet;//光谱仪帧数限制到了，主动停止采集
+	std::vector<double> m_locBeforeStart;
+
+	bool m_isMoving2XStartLoc;
+	bool m_isMoving2YStartLoc;
+
+	int m_numCurrentPathLine;
+};
+
+
+struct OneMotionCapturePathLine
+{
+	double startPosition;
+	double stopPosition;
+	double speedRecord;
+	double speedBack;
+
+	QDateTime timestamp1;//开始
+	QDateTime timestamp2;//结束
+
+	OneMotionCapturePathLine()
+		: startPosition(0), stopPosition(0), speedRecord(0), speedBack(0),
+		timestamp1(QDateTime::currentDateTime()), timestamp2(QDateTime::currentDateTime()) {}
+};
+Q_DECLARE_METATYPE(OneMotionCapturePathLine);
+
+class OneMotionCaptureCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	OneMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
+		ImagerOperationBase* cameraCtrl,
+		QObject* parent = nullptr);
+	~OneMotionCaptureCoordinator();
+
+	bool saveToCsv(const QString& filename);
+
+public slots:
+	void startStepMotion(OneMotionCapturePathLine pathLine);
+	void stopStepMotion();
+
+	void handleCaptureCompleteWhenFrameNumberMeet();
+
+signals:
+	void sequenceComplete(int);
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void moveSignal(int, bool, double, int);
+	void stopMotorSignal(int axis);
+
+	void startRecordHSISignal();
+	void stopRecordHSISignal();
+
+private slots:
+	void handleMotorStoped(int motorID, double pos);
+	void handleCaptureComplete(double index);
+	void handleError(const QString& error);
+
+private:
+	IrisMultiMotorController* m_motorCtrl;
+	ImagerOperationBase* m_cameraCtrl;
+	OneMotionCapturePathLine m_pathLine;
+	mutable QMutex m_dataMutex;
+
+	bool m_isRunning;
+
+	std::vector<double> m_locBeforeStart;
+	void getLocBeforeStart();
+	void move2LocBeforeStart();
+};
+
+class DarkAndWhiteCaptureCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	DarkAndWhiteCaptureCoordinator(int model, IrisMultiMotorController* motorCtrl,
+		ImagerOperationBase* cameraCtrl,
+		QObject* parent = nullptr);
+	~DarkAndWhiteCaptureCoordinator();
+
+public slots:
+	void startStepMotion(double speed);
+
+	void handleCaptureCompleteWhenFrameNumberMeet();
+
+signals:
+	void sequenceComplete(int);
+	void moveTo(int, double, double, int);
+	void moveSignal(int, bool, double, int);
+	void stopMotorSignal(int axis);
+
+	void startRecordHSISignal();
+
+private slots:
+	void handleMotorStoped(int motorID, double pos);
+	void handleCaptureComplete(double index);
+
+private:
+	IrisMultiMotorController* m_motorCtrl;
+	ImagerOperationBase* m_cameraCtrl;
+	mutable QMutex m_dataMutex;
+
+	bool m_isRunning;
+
+	double m_speed;
+	int m_model;//0:dark,1:white
+
+	std::vector<double> m_locBeforeStart;
+	void getLocBeforeStart();
+	void move2LocBeforeStart();
+};

HPPA/Corning410Imager.cpp

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

HPPA/Corning410Imager.h

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

HPPA/FocusDialog.ui

@@ -6,12 +6,12 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>600</width>
-    <height>332</height>
+    <width>632</width>
+    <height>444</height>
    </rect>
   </property>
   <property name="windowTitle">
-   <string>Dialog</string>
+   <string>调焦</string>
   </property>
   <property name="windowIcon">
    <iconset resource="HPPA.qrc">
@@ -41,13 +41,10 @@
        <widget class="QComboBox" name="motorPort_comboBox"/>
       </item>
       <item row="1" column="0">
-       <widget class="QLabel" name="label_3">
+       <widget class="QRadioButton" name="ultrasound_radioButton">
         <property name="text">
          <string>超声</string>
         </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
        </widget>
       </item>
       <item row="1" column="1">
@@ -57,14 +54,14 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QRadioButton" name="ultrasound_radioButton">
+      <item row="2" column="0" colspan="2">
+       <widget class="QRadioButton" name="is_new_version_radioButton">
         <property name="text">
-         <string>超声</string>
+         <string>新版</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="1">
+      <item row="3" column="0" colspan="2">
        <widget class="QPushButton" name="connectMotor_btn">
         <property name="text">
          <string>连接线性平台</string>
@@ -81,20 +78,49 @@
      </property>
      <layout class="QGridLayout" name="gridLayout_3">
       <item row="0" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="enabled">
+         <bool>true</bool>
+        </property>
+        <property name="text">
+         <string>采样率</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLineEdit" name="sample_ratio_lineEdit">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>20</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
        <widget class="QProgressBar" name="autoFocusProgress_progressBar">
         <property name="value">
          <number>24</number>
         </property>
        </widget>
       </item>
-      <item row="0" column="1">
+      <item row="1" column="1">
        <widget class="QPushButton" name="autoFocus_btn">
         <property name="text">
          <string>自动调焦</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
+      <item row="2" column="0">
        <spacer name="horizontalSpacer">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
@@ -107,7 +133,7 @@
         </property>
        </spacer>
       </item>
-      <item row="1" column="1">
+      <item row="2" column="1">
        <widget class="QPushButton" name="manualFocus_btn">
         <property name="text">
          <string>手动调焦</string>
@@ -132,16 +158,16 @@
          </sizepolicy>
         </property>
         <property name="text">
-         <string>更新</string>
+         <string>更新实时位置</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="1">
+      <item row="0" column="1" colspan="2">
        <widget class="QLineEdit" name="currentLocation_lineEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
-          <height>46</height>
+          <height>0</height>
          </size>
         </property>
         <property name="text">
@@ -150,75 +176,101 @@
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
        </widget>
       </item>
-      <item row="0" column="2">
+      <item row="1" column="0">
        <widget class="QPushButton" name="moveto_btn">
         <property name="text">
          <string>移动至</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
+      <item row="1" column="1" colspan="2">
+       <widget class="QLineEdit" name="move2_lineEdit">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>10</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
        <widget class="QPushButton" name="add_btn">
         <property name="text">
          <string>+</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="1">
+      <item row="2" column="1" colspan="2">
        <widget class="QLineEdit" name="addStepSize_lineEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
-          <height>46</height>
+          <height>0</height>
          </size>
         </property>
         <property name="text">
-         <string>50</string>
+         <string>10</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
-      <item row="1" column="2">
-       <widget class="QPushButton" name="logicZero_btn">
-        <property name="text">
-         <string>LogicZero</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
+      <item row="3" column="0">
        <widget class="QPushButton" name="subtract_btn">
         <property name="text">
          <string>-</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="1">
+      <item row="3" column="1" colspan="2">
        <widget class="QLineEdit" name="subtractStepSize_lineEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
-          <height>46</height>
+          <height>0</height>
          </size>
         </property>
         <property name="text">
-         <string>50</string>
+         <string>10</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
-      <item row="2" column="2">
+      <item row="4" column="0">
+       <widget class="QPushButton" name="logicZero_btn">
+        <property name="text">
+         <string>LogicZero</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="1">
        <widget class="QPushButton" name="max_btn">
         <property name="text">
          <string>max</string>
         </property>
        </widget>
       </item>
+      <item row="4" column="2">
+       <widget class="QPushButton" name="rangeMeasurement_btn">
+        <property name="text">
+         <string>量程测量</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>

HPPA/HPPA.h

@@ -32,12 +32,15 @@
 #include "aboutWindow.h"
 #include "adjustTable.h"
 #include "PowerControl.h"
-#include "PathPlan.h"
+#include "RobotArmControl.h"
+#include "OneMotorControl.h"
+#include "TwoMotorControl.h"
 
 #include "hppaConfigFile.h"
 #include "path_tc.h"
 
 #include "ResononNirImager.h"
+#include "Corning410Imager.h"
 
 #define PI 3.1415926
 
@@ -120,36 +123,6 @@ signals:
 	void threadSignal(QString s);
 };
 
-
-class ForLoopControl :public QObject
-{
-	Q_OBJECT
-
-public:
-	ForLoopControl();
-	~ForLoopControl();
-
-	void setLoopCount(int loopCount);
-	int getLoopCount() const;
-
-	bool m_boolRecordNextLine;
-	bool m_boolQuitLoop;
-
-protected:
-private:
-	int m_loopCount;
-
-
-public slots:
-	void startLoop();
-
-signals:
-	//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>źţ<C5BA>
-	//<2F><><EFBFBD><EFBFBD><EFBFBD>źŷ<C5BA><C5B7><EFBFBD><EFBFBD><EFBFBD>ֵʱ<D6B5><CAB1>intֵ<74><D6B5><EFBFBD><EFBFBD><EFBFBD>òɼ<C3B2><C9BC>ڼ<EFBFBD><DABC><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD>
-	//<2F><><EFBFBD><EFBFBD><EFBFBD>źŷ<C5BA><C5B7>为ֵʱ<D6B5><CAB1>-1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɣ<EFBFBD><C9A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD><D6B6><EFBFBD>ֹ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>-2<><32><EFBFBD>ֶ<EFBFBD><D6B6><EFBFBD>ֹ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>
-	void recordSignal(int);
-};
-
 class HPPA : public QMainWindow
 {
 	Q_OBJECT
@@ -177,12 +150,10 @@ private:
 
 	Configfile mConfigfile;
 
-	ForLoopControl * m_ForLoopControl;
 	ImagerOperationBase* m_Imager;//
 
 	int m_RecordState;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>̣<EFBFBD>ȡ2<C8A1><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1 <20><> <20><><EFBFBD>ڲɼ<DAB2><C9BC><EFBFBD>0 <20><> ֹͣ<CDA3>ɼ<EFBFBD>
 
-	QThread * m_ForLoopControlThread;//
 	QThread * m_RecordThread;//Ӱ<><D3B0><EFBFBD>ɼ<EFBFBD><C9BC>߳<EFBFBD>
 	QThread * m_RgbCameraThread;//rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡͼ<C8A1><CDBC><EFBFBD>߳<EFBFBD>
 	QThread * m_CopyFileThread;//Ӱ<><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD>
@@ -193,34 +164,8 @@ private:
 	//QLineSeries *series;
 	//QChart *chart;
 
-	//<2F><><EFBFBD><EFBFBD>
-	VinceControl *m_yMotor;
-	VinceControl *m_xMotor;
-
-	long m_lXmotorLocationOfStartRecord;//<2F><>ʼ<EFBFBD>ɼ<EFBFBD>ǰx<C7B0><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
-	long m_lYmotorLocationOfStartRecord;//<2F><>ʼ<EFBFBD>ɼ<EFBFBD>ǰy<C7B0><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
-
-	unsigned long m_lManualSpeedOfXMotor;//X<><58><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6>ٶȣ<D9B6>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD><D6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+X<><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̲<EFBFBD><CCB2><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>12000*0.00052734375=6.328125cm/s
-	unsigned long m_lManualSpeedOfYMotor;//Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD>X<EFBFBD><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ͬ<EFBFBD>Ļ<EFBFBD><C4BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Y<EFBFBD><59><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD>װ<EFBFBD>ã<EFBFBD>ʵ<EFBFBD><CAB5>Y<EFBFBD><59><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>=X<><58><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>/5
-
-	int m_xConnectCount;//<2F><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4><CCAC>0<EFBFBD><30><EFBFBD>Ͽ<EFBFBD><CFBF><EFBFBD>1<EFBFBD><31><EFBFBD>Ͽ<EFBFBD><CFBF><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ӡ<EFBFBD><D3A1><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD>ӣ<EFBFBD><D3A3><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>״̬Ϊ1ʱ<31><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><C4B5><EFBFBD>
-	int m_yConnectCount;
-
-	QTimer *m_timerMoveXmotor;
-	QTimer *m_timerMoveYmotor;
-
-	QTimer *m_timerTestRangeOfxMotor;//<2F><><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	QTimer *m_timerTestRangeOfyMotor;//<2F><><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>y<EFBFBD><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	QTimer *m_timerLocationFeedBackOfMotor_x_y;//<2F><><EFBFBD>ֶ<EFBFBD><D6B6><EFBFBD><EFBFBD>ƣ<EFBFBD>x/y<><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>Զ<EFBFBD><D4B6>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>slider<65><72>
-	QTimer *m_timerYmotorLocationFeedBackAfterRecord;//<2F>ɼ<EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD><EFBFBD>ɺ󣬽<C9BA><F3A3ACBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>ʵʱ<CAB5><CAB1><EFBFBD>ص<EFBFBD>slider<65><72>
-
 	QString operateWidget;//<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>Ŀؼ<C4BF><D8BC><EFBFBD>
 	
-	bool isMotorConnected(VinceControl *motor);//<2F>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7>Ͽ<EFBFBD><CFBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͽ<EFBFBD><CFBF><EFBFBD><EFBFBD><EFBFBD>true<75><65><EFBFBD><EFBFBD><EFBFBD>򷵻<EFBFBD>false
-	void SetXMotorWidgetEnable(bool enable);
-	void SetYMotorWidgetEnable(bool enable);
-	void setMotorRange();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̷<EFBFBD>Χ
-
 	//ģ<><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
 	double widthScale;//QGraphicsView<65><77>viewport<72><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>widthScale = rect.width() / maxDistance;
 	double heightScale;//QGraphicsView<65><77>viewport<72>ߺ<EFBFBD><DFBA><EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>heightScale = rect.height() / maxDistance;
@@ -236,17 +181,27 @@ 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;
+	OneMotorControl* omc;
+	QDockWidget* dock_omc;
+
+	TwoMotorControl* tmc;
+	QDockWidget* dock_tmc;
+	
+	FILE* m_hTimesFile;
 
 public Q_SLOTS:
-	void onPlotHyperspectralImageRgbImage();
+	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber);
 	void PlotSpectral(int state);
 	void onRecordFinishedSignal_WhenFrameNumberMeet();
 	void onRecordFinishedSignal_WhenFrameNumberNotMeet();
+	void onsequenceComplete();
 
 	void onExit();
 	void onconnect();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
@@ -260,7 +215,6 @@ public Q_SLOTS:
 	void onReference();
 	void recordWhiteFinish();
 	void onStartRecordStep1();
-	void onStartRecordStep2(int lineNumber);
 	void onCreateTab(int trackNumber);
 	void onTabWidgetCurrentChanged(int index);
 	void onActionOpenDirectory();
@@ -276,50 +230,7 @@ public Q_SLOTS:
 	void onLeftMouseButtonPressed(int x, int y);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>
 
 
-	//<2F><><EFBFBD><EFBFBD>
-	void deleteMotor();
-	void newMotor();
 	void timerEvent(QTimerEvent *event);
-	void setMotorParamMicroscope(VinceControl* motor);
-	void setXMotorParamFromCfgFile(VinceControl* motor);
-	void setYMotorParamFromCfgFile(VinceControl* motor);
-
-
-	void onxMotorLeft();
-	void onxMotorRight();
-	void onxMotorStop();
-
-	void onyMotorForward();
-	void onyMotorBackward();
-	void onyMotorStop();
-
-	void onMotorReset();
-
-	void OnXmotorSpeedEditingFinished();
-
-	void ontimerLocationFeedBackOfMotor_x_y();
-	void ontimerYmotorLocationFeedBackAfterRecord();
-
-	void OnXmotorSpeedLineeditEditingFinished();
-	void OnXmotorSpeedSliderChanged(double speed);
-	void OnXmotorLocationLineeditEditingFinished();
-	void OnXmotorLocationSliderChanged(double location);
-	void OnXmotorLocationSliderReleased();
-
-
-	void OnYmotorLocationLineeditEditingFinished();
-	void OnYmotorLocationSliderChanged(double location);
-	void OnYmotorLocationSliderReleased();
-
-
-
-	void ontestRangeOfMotor_x_y();
-	void ontimerTestRangeOfxMotor();
-	void ontimerTestRangeOfyMotor();
-
-	void ontimerMoveXmotor();
-	void ontimerMoveYmotor();
-
 	//
 	void onimagerSimulatorMove(int x, int y);
 	void OnSendLogToCallClass(QString str);
@@ -332,9 +243,11 @@ public Q_SLOTS:
 
 	void requestFinished(QNetworkReply* reply);
 
+	void recordFromRobotArm(int fileCounter);
+
+	void createOneMotorScenario();
 signals:
 	void StartFocusSignal();
-	void StartLoopSignal();
 	void StartRecordSignal();
 	void CopyFileThreadSignal(QString, QString);
 

HPPA/HPPA.vcxproj

@@ -31,7 +31,7 @@
     <Import Project="$(QtMsBuild)\qt_defaults.props" />
   </ImportGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="QtSettings">
-    <QtInstall>5.9_msvc2017_64</QtInstall>
+    <QtInstall>5.13.2_msvc2017_64</QtInstall>
     <QtModules>core;network;gui;widgets;serialport;websockets;charts</QtModules>
     <QtBuildConfig>debug</QtBuildConfig>
   </PropertyGroup>
@@ -55,16 +55,16 @@
   </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;$(LibraryPath)</LibraryPath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;$(LibraryPath)</LibraryPath>
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
     <ClCompile>
@@ -73,7 +73,7 @@
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
   </ItemDefinitionGroup>
@@ -86,7 +86,7 @@
       <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
     </ClCompile>
     <Link>
-      <SubSystem>Windows</SubSystem>
+      <SubSystem>Console</SubSystem>
       <GenerateDebugInformation>true</GenerateDebugInformation>
     </Link>
   </ItemDefinitionGroup>
@@ -106,9 +106,13 @@
   <ItemGroup>
     <ClCompile Include="aboutWindow.cpp" />
     <ClCompile Include="adjustTable.cpp" />
+    <ClCompile Include="CaptureCoordinator.cpp" />
+    <ClCompile Include="Corning410Imager.cpp" />
     <ClCompile Include="hppaConfigFile.cpp" />
     <ClCompile Include="ImagerOperationBase.cpp" />
-    <ClCompile Include="PathPlan.cpp" />
+    <ClCompile Include="imager_base.cpp" />
+    <ClCompile Include="irisximeaimager.cpp" />
+    <ClCompile Include="OneMotorControl.cpp" />
     <ClCompile Include="path_tc.cpp" />
     <ClCompile Include="PowerControl.cpp" />
     <ClCompile Include="QDoubleSlider.cpp" />
@@ -116,10 +120,12 @@
     <ClCompile Include="resononImager.cpp" />
     <ClCompile Include="ResononNirImager.cpp" />
     <ClCompile Include="RgbCameraOperation.cpp" />
+    <ClCompile Include="RobotArmControl.cpp" />
     <ClCompile Include="stdafx.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
     </ClCompile>
+    <ClCompile Include="TwoMotorControl.cpp" />
     <ClCompile Include="utility_tc.cpp" />
     <QtRcc Include="HPPA.qrc" />
     <QtUic Include="about.ui" />
@@ -137,8 +143,13 @@
     <ClCompile Include="imagerSimulatioin.cpp" />
     <ClCompile Include="ImageViewer.cpp" />
     <ClCompile Include="main.cpp" />
+    <QtUic Include="oneMotorControl.ui" />
     <QtUic Include="PathPlan.ui" />
     <QtUic Include="PowerControl.ui" />
+    <QtUic Include="RadianceConversion.ui" />
+    <QtUic Include="ReflectanceConversion.ui" />
+    <QtUic Include="RobotArmControl.ui" />
+    <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h" />
@@ -152,7 +163,13 @@
   <ItemGroup>
     <QtMoc Include="adjustTable.h" />
     <QtMoc Include="PowerControl.h" />
-    <QtMoc Include="PathPlan.h" />
+    <QtMoc Include="RobotArmControl.h" />
+    <QtMoc Include="Corning410Imager.h" />
+    <QtMoc Include="CaptureCoordinator.h" />
+    <ClInclude Include="imager_base.h" />
+    <ClInclude Include="irisximeaimager.h" />
+    <QtMoc Include="OneMotorControl.h" />
+    <QtMoc Include="TwoMotorControl.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />

HPPA/HPPA.vcxproj.filters

@@ -21,6 +21,15 @@
       <UniqueIdentifier>{639EADAA-A684-42e4-A9AD-28FC9BCB8F7C}</UniqueIdentifier>
       <Extensions>ts</Extensions>
     </Filter>
+    <Filter Include="Header Files\motor">
+      <UniqueIdentifier>{eadfac5f-f4f9-49e2-9f99-0849bf074cf8}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\motor">
+      <UniqueIdentifier>{4672856c-86fb-46e3-94ff-0a296dcc6111}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Header Files\focus">
+      <UniqueIdentifier>{f2bfb93e-9ef8-4fdd-a776-db93b81af553}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtRcc Include="HPPA.qrc">
@@ -103,7 +112,25 @@
     <ClCompile Include="PowerControl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="PathPlan.cpp">
+    <ClCompile Include="RobotArmControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Corning410Imager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="imager_base.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="irisximeaimager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="OneMotorControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="CaptureCoordinator.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TwoMotorControl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
@@ -150,7 +177,19 @@
     <QtMoc Include="PowerControl.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="PathPlan.h">
+    <QtMoc Include="RobotArmControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="Corning410Imager.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="OneMotorControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="TwoMotorControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="CaptureCoordinator.h">
       <Filter>Header Files</Filter>
     </QtMoc>
   </ItemGroup>
@@ -179,6 +218,12 @@
     <ClInclude Include="utility_tc.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="imager_base.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="irisximeaimager.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">
@@ -196,6 +241,21 @@
     <QtUic Include="PathPlan.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="RobotArmControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="oneMotorControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="RadianceConversion.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="ReflectanceConversion.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="twoMotorControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />

HPPA/ImageViewer.cpp

@@ -14,8 +14,17 @@
 
 ImageViewer::ImageViewer(QWidget* pParent) :QGraphicsView(pParent)
 {
+	setRenderHint(QPainter::Antialiasing);
+	setRenderHint(QPainter::SmoothPixmapTransform);
+	setDragMode(QGraphicsView::ScrollHandDrag);
+
+	// <20>ؼ<EFBFBD><D8BC>㣺<EFBFBD><E3A3BA>ʹ<EFBFBD><CAB9> Qt Ĭ<>ϵ<EFBFBD> anchor<6F><72><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD><D4BC><EFBFBD><EFBFBD><EFBFBD>
+	setTransformationAnchor(QGraphicsView::NoAnchor);
+	setResizeAnchor(QGraphicsView::NoAnchor);
+
 	m_qtGraphicsScene = new QGraphicsScene(this);
 	this->setScene(m_qtGraphicsScene);
+	m_qtGraphicsScene->setSceneRect(-1e6, -1e6, 2e6, 2e6);
 
 	m_framNumberLabel = new QLabel(this);
 	m_framNumberLabel->setAlignment(Qt::AlignHCenter);
@@ -61,9 +70,24 @@ void ImageViewer::SetImage(QPixmap *image)
 	{
 		m_GraphicsPixmapItemHandle->setPixmap(*image);
 	}
+	ensureSceneVisible();
+}
 
-	setSceneRect(QRectF(image->rect()));
+void ImageViewer::ensureSceneVisible()
+{
+	resetTransform();
 
+	auto view_rect = viewport()->rect();
+	auto scene_rect = this->scene()->itemsBoundingRect();
+
+	double x_ratio = view_rect.width() / scene_rect.width();
+	double y_ratio = view_rect.height() / scene_rect.height();
+	double scale_factor = std::min(x_ratio, y_ratio) * 0.9;
+
+	scale(scale_factor, scale_factor);
+	m_scale *= scale_factor;
+
+	centerOn(scene_rect.center());
 }
 
 bool ImageViewer::HasImage()
@@ -81,37 +105,50 @@ bool ImageViewer::HasImage()
 void ImageViewer::wheelEvent(QWheelEvent *event)
 {
 	//qDebug() << "---------------+++++++++++++++++++++++++++++++++++++++++++++++++++ ";
-	if (true)//HasImage()
+	//if (true)//HasImage()
+	//{
+	//	//Χ<><CEA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>https://blog.csdn.net/GoForwardToStep/article/details/77035287?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.channel_param
+	//	// <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>view<65><77>λ<EFBFBD><CEBB>;
+	//	QPointF cursorPoint = event->pos();
+	//	// <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>scene<6E><65>λ<EFBFBD><CEBB>;
+	//	QPointF scenePos = this->mapToScene(QPoint(cursorPoint.x(), cursorPoint.y()));
+
+	//	// <20><>ȡview<65>Ŀ<EFBFBD><C4BF><EFBFBD>;
+	//	qreal viewWidth = this->viewport()->width();
+	//	qreal viewHeight = this->viewport()->height();
+
+	//	// <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>൱<EFBFBD><E0B5B1>view<65><77>С<EFBFBD>ĺ<EFBFBD><C4BA>ݱ<EFBFBD><DDB1><EFBFBD>;
+	//	qreal hScale = cursorPoint.x() / viewWidth;
+	//	qreal vScale = cursorPoint.y() / viewHeight;
+
+
+	//	// <20><><EFBFBD>ֵĹ<D6B5><C4B9><EFBFBD><EFBFBD><EFBFBD>
+	//	QPoint scrollAmount = event->angleDelta();
+	//	// <20><>ֵ<EFBFBD><D6B5>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6>ʹ<EFBFBD><CAB9><EFBFBD>߷Ŵ<DFB7><C5B4><EFBFBD>ֵ<EFBFBD><D6B5>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
+	//	scrollAmount.y() > 0 ? zoomIn() : zoomOut();
+
+
+	//	// <20><>scene<6E><65><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>;
+	//	QPointF viewPoint = this->matrix().map(scenePos);
+	//	// ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>view<65>Ŵ<EFBFBD><C5B4><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>չʾscene<6E><65>λ<EFBFBD><CEBB>;
+	//	horizontalScrollBar()->setValue(int(viewPoint.x() - viewWidth * hScale));
+	//	verticalScrollBar()->setValue(int(viewPoint.y() - viewHeight * vScale));
+	//}
+
+	if (HasImage())
 	{
-		//Χ<><CEA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>https://blog.csdn.net/GoForwardToStep/article/details/77035287?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.channel_param
-		// <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>view<65><77>λ<EFBFBD><CEBB>;
-		QPointF cursorPoint = event->pos();
-		// <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>scene<6E><65>λ<EFBFBD><CEBB>;
-		QPointF scenePos = this->mapToScene(QPoint(cursorPoint.x(), cursorPoint.y()));
+		QPointF oldPos = mapToScene(event->pos());
 
-		// <20><>ȡview<65>Ŀ<EFBFBD><C4BF><EFBFBD>;
-		qreal viewWidth = this->viewport()->width();
-		qreal viewHeight = this->viewport()->height();
-
-		// <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>൱<EFBFBD><E0B5B1>view<65><77>С<EFBFBD>ĺ<EFBFBD><C4BA>ݱ<EFBFBD><DDB1><EFBFBD>;
-		qreal hScale = cursorPoint.x() / viewWidth;
-		qreal vScale = cursorPoint.y() / viewHeight;
-
-
-		// <20><><EFBFBD>ֵĹ<D6B5><C4B9><EFBFBD><EFBFBD><EFBFBD>
 		QPoint scrollAmount = event->angleDelta();
-		// <20><>ֵ<EFBFBD><D6B5>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6>ʹ<EFBFBD><CAB9><EFBFBD>߷Ŵ<DFB7><C5B4><EFBFBD>ֵ<EFBFBD><D6B5>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
 		scrollAmount.y() > 0 ? zoomIn() : zoomOut();
 
+		QPointF newPos = mapToScene(event->pos());
 
-		// <20><>scene<6E><65><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>;
-		QPointF viewPoint = this->matrix().map(scenePos);
-		// ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>view<65>Ŵ<EFBFBD><C5B4><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>չʾscene<6E><65>λ<EFBFBD><CEBB>;
-		horizontalScrollBar()->setValue(int(viewPoint.x() - viewWidth * hScale));
-		verticalScrollBar()->setValue(int(viewPoint.y() - viewHeight * vScale));
+		QPointF delta = newPos - oldPos;
+		translate(delta.x(), delta.y());
 	}
 
-	QGraphicsView::wheelEvent(event);
+	//QGraphicsView::wheelEvent(event);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 }
 
 void ImageViewer::scaling(qreal scaleFactor)
@@ -141,7 +178,7 @@ void ImageViewer::mouseMoveEvent(QMouseEvent *event)
 {
 	if (m_bMouseTranslate){
 		QPointF mouseDelta = mapToScene(event->pos()) - mapToScene(m_lastMousePos);
-		translate(mouseDelta);
+		translate(mouseDelta.x(),mouseDelta.y());
 	}
 
 	m_lastMousePos = event->pos();
@@ -180,27 +217,6 @@ void ImageViewer::zoom(float scaleFactor)
 	m_scale *= scaleFactor;
 }
 
-void ImageViewer::translate(QPointF delta)
-{
-	// <20><><EFBFBD>ݵ<EFBFBD>ǰ zoom <20><><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>
-	delta *= m_scale;
-	delta *= m_translateSpeed;
-
-	////<2F><><EFBFBD><EFBFBD>1<EFBFBD><31>
-	//scene()->setSceneRect(scene()->sceneRect().x() - delta.x(), scene()->sceneRect().y() - delta.y(),
-	//	scene()->sceneRect().width(), scene()->sceneRect().height());
-	//scene()->update();
-
-	//<2F><><EFBFBD><EFBFBD>2<EFBFBD><32>
-	// view <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>µĵ<C2B5><C4B5><EFBFBD>Ϊê<CEAA><C3AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ scene
-	setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
-	QPoint newCenter(VIEW_WIDTH / 2 - delta.x(), VIEW_HEIGHT / 2 - delta.y());
-	centerOn(mapToScene(newCenter));
-
-	// scene <20><> view <20><><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><C4B5><EFBFBD>Ϊê<CEAA><C3AA>
-	setTransformationAnchor(QGraphicsView::AnchorViewCenter);
-}
-
 void ImageViewer::setTranslateSpeed(qreal speed)
 {
 	// <20><><EFBFBD><EFBFBD><EFBFBD>ٶȷ<D9B6>Χ

HPPA/ImageViewer.h

@@ -22,6 +22,7 @@ public:
 
 	void SetImage(QPixmap *image);
 	bool HasImage();
+	void ensureSceneVisible();
 
 	void wheelEvent(QWheelEvent *event) Q_DECL_OVERRIDE;
 	void scaling(qreal scaleFactor);
@@ -29,7 +30,6 @@ public:
 	void zoomIn();  // <20>Ŵ<EFBFBD>
 	void zoomOut();  // <20><>С
 	void zoom(float scaleFactor); // <20><><EFBFBD><EFBFBD> - scaleFactor<6F><72><EFBFBD>ŵı<C5B5><C4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	void translate(QPointF delta);  // ƽ<><C6BD>
 
 	// ƽ<><C6BD><EFBFBD>ٶ<EFBFBD>
 	void setTranslateSpeed(qreal speed);

HPPA/ImagerOperationBase.cpp

@@ -6,7 +6,7 @@ ImagerOperationBase::ImagerOperationBase()
 	m_bRecordControlState = true;
 
 	m_FileName2Save = "tmp_image";
-	m_FileSavedCounter = 1;
+	m_FileSavedCounter = 0;
 
 	m_RgbImage = new CImage();
 
@@ -54,9 +54,9 @@ double ImagerOperationBase::auto_exposure()
 	while (true)
 	{
 		getFrame(buffer);
-		if (GetMaxValue(buffer, m_FrameSize) >= 4095)
+		if (GetMaxValue(buffer, m_FrameSize) >= 4094)
 		{
-			setIntegrationTime(getIntegrationTime() * 0.8);
+			setIntegrationTime(getIntegrationTime() * 0.95);
 			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
 		}
 		else
@@ -74,6 +74,8 @@ double ImagerOperationBase::auto_exposure()
 
 void ImagerOperationBase::focus()
 {
+	m_iFocusFramesNumber = 0;
+
 	m_iFocusFrameCounter = 1;
 	//std::cout << "<22><><EFBFBD><EFBFBD>-----------" << std::endl;
 
@@ -85,16 +87,42 @@ void ImagerOperationBase::focus()
 	auto_exposure();
 	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
 
+	int iWidth, iHeight;
+	GetFrameSize(iWidth, iHeight);
+	unsigned short* tmp = new unsigned short[m_FrameSize];
+
 	imagerStartCollect();
 
 	//emit SpectralSignal(1);
 	m_bFocusControlState = true;
 	while (m_bFocusControlState)
 	{
+		////<2F><>֡ƽ<D6A1><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>
+		//memset((void*)buffer, 0, m_FrameSize * sizeof(unsigned short));
+		//int fn = 5;
+		//for (int i = 0; i < fn; i++)
+		//{
+		//	getFrame(tmp);
+
+		//	for (int j = 0; j < m_FrameSize; j++)
+		//	{
+		//		buffer[j] += tmp[j];
+		//	}
+		//}
+		//for (int j = 0; j < m_FrameSize; j++)
+		//{
+		//	buffer[j] += buffer[j] / fn;
+		//}
+
 		getFrame(buffer);
+		
 		//m_RgbImage->FillFocusGrayImage(buffer);
 		m_RgbImage->FillFocusGrayQImage(buffer);
 
+		double focusIndex = calcFocusIndexSobelPrivate(buffer);
+		emit FocusIndexSobelSignal(focusIndex);
+		std::cout << "focusIndex<EFBFBD><EFBFBD>" << focusIndex << std::endl;
+
 		emit SpectralSignal(1);
 
 		++m_iFocusFrameCounter;
@@ -102,6 +130,7 @@ void ImagerOperationBase::focus()
 	emit SpectralSignal(0);
 
 	imagerStopCollect();
+	delete[] tmp;
 
 	setFramerate(tmpFrmerate);
 	setIntegrationTime(tmpIntegrationTime);
@@ -204,21 +233,22 @@ 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 +289,7 @@ void ImagerOperationBase::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
+		fprintf(hTimesFile, "%d\n", timeOs);
 
 		//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@@ -268,7 +299,7 @@ void ImagerOperationBase::start_record()
 		//ÿ<><C3BF>1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><CEBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
-			emit PlotSignal();
+			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter);
 		}
 
 		if (m_iFrameCounter >= m_iFrameNumber)
@@ -279,14 +310,14 @@ void ImagerOperationBase::start_record()
 	}
 	imagerStopCollect();
 
+	//<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(m_FileSavedCounter, -1);//<2F><>1<EFBFBD><31><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ<EFBFBD><C8AB>2<EFBFBD><32>ʹ<EFBFBD>û<EFBFBD>е<EFBFBD>۲ɼ<DBB2>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ᵼ<EFBFBD><E1B5BC><EFBFBD>ϴβɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4>źŵ<C5BA><C5B5>õIJۺ<C4B2><DBBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˼<EFBFBD><CBBC>ݣ<EFBFBD>ע<EFBFBD>͵<EFBFBD>
+
 	m_bRecordControlState = false;
 	WriteHdr();
 	m_FileSavedCounter++;
 
-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	//m_RgbImage
-	emit PlotSignal();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ
-
 	if (m_iFrameCounter >= m_iFrameNumber)
 	{
 		emit RecordFinishedSignal_WhenFrameNumberMeet();
@@ -298,6 +329,7 @@ void ImagerOperationBase::start_record()
 
 	//QThread::msleep(1001);
 	fclose(m_fImage);
+	fclose(hTimesFile);
 }
 
 void ImagerOperationBase::setFrameNumber(int FrameNumber)
@@ -309,7 +341,7 @@ void ImagerOperationBase::setFrameNumber(int FrameNumber)
 void ImagerOperationBase::setFileName2Save(string FileName)
 {
 	m_FileName2Save = FileName;
-	m_FileSavedCounter = 1;
+	m_FileSavedCounter = 0;
 }
 
 void ImagerOperationBase::setFocusControlState(bool FocusControlState)
@@ -332,6 +364,61 @@ int ImagerOperationBase::GetFrameSize(int& iWidth, int& iHeight)
 	return 0;
 }
 
+void ImagerOperationBase::getFocusIndexSobel()
+{
+	imagerStartCollect();
+	getFrame(buffer);
+	imagerStopCollect();
+
+	double focusIndex = calcFocusIndexSobelPrivate(buffer);
+
+	emit FocusIndexSobelSignal(focusIndex);
+}
+
+double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
+{
+	int iSelection = 0;
+	int iWidth, iHeight;
+	GetFrameSize(iWidth, iHeight);
+
+	unsigned short* psData;
+	psData = (unsigned short*)pvData;
+
+	cv::Mat gray(iHeight, iWidth, CV_16UC1, psData);//<2F><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4>gray.data<74><61><EFBFBD><EFBFBD><EFBFBD>ݺ<EFBFBD>psDataһ<61><D2BB><EFBFBD><EFBFBD>
+	/*string rgbFilePathNoStrech = "E:\\hppa\\delete\\focusImg_";
+	string tmp1 = std::to_string(m_iFocusFramesNumber);
+	string tmp2 = ".png";*/
+
+	string rgbFilePathNoStrech = "E:\\hppa\\delete\\focusImg_" + std::to_string(m_iFocusFramesNumber) + ".png";
+
+	//cv::imwrite(rgbFilePathNoStrech, gray);
+	m_iFocusFramesNumber++;
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>
+	//cv::Mat outputImage;
+	//cv::Size kernelSize(5, 5);
+	//double sigmaX = 1.5;
+	//cv::GaussianBlur(gray, outputImage, kernelSize, sigmaX);
+
+	cv::Mat outputImage = gray;
+
+	cv::Mat gradX, gradY, absGradX, absGradY;
+
+	cv::Sobel(outputImage, gradX, CV_32F, 1, 0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪCV_16S<36><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>cv::magnitude<64><65><EFBFBD><EFBFBD>
+	cv::Sobel(outputImage, gradY, CV_32F, 0, 1);
+	cv::convertScaleAbs(gradX, absGradX);
+	cv::convertScaleAbs(gradY, absGradY);
+	cv::Mat grad;
+	cv::addWeighted(absGradX, 0.5, absGradY, 0.5, 0, grad);
+
+	cv::Mat magnitude, direction;
+	cv::magnitude(gradX, gradY, magnitude);//
+	cv::phase(gradX, gradY, direction, true);  // true<75><65>ʾ<EFBFBD><CABE><EFBFBD>ؽǶȶ<C7B6><C8B6>ǻ<EFBFBD><C7BB><EFBFBD>
+
+
+	return cv::mean(magnitude)[0];
+}
+
 CImage* ImagerOperationBase::getRgbImage() const
 {
 	return m_RgbImage;
@@ -362,6 +449,11 @@ void ImagerOperationBase::setRecordControlState(bool RecordControlState)
 	m_bRecordControlState = RecordControlState;
 }
 
+void ImagerOperationBase::stop_record()
+{
+	m_bRecordControlState = false;
+}
+
 int ImagerOperationBase::getFrameCounter() const
 {
 	return m_iFrameCounter;
@@ -398,17 +490,14 @@ 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";
 	outfile << "interleave = bil\n";
 	outfile << "data type = 12\n";
 	outfile << "bit depth = 12\n";
+	outfile << "byte order = 0\n";
 	outfile << "samples = " << getSampleCount() << "\n";
 	outfile << "bands = " << getBandCount() << "\n";
 	outfile << "lines = " << m_iFrameCounter << "\n";

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
 {
@@ -55,6 +56,7 @@ public:
     int GetFrameSize(int& iWidth, int& iHeight);
     
     
+
 protected:
     CImage* m_RgbImage;//<2F><>ʾ<EFBFBD><CABE>rgbͼ<62><CDBC>
     bool m_bRecordControlState;//<2F>ɼ<EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>
@@ -65,6 +67,7 @@ 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
@@ -83,16 +86,21 @@ protected:
     
 
 private:
+    int m_iFocusFramesNumber;
+    double calcFocusIndexSobelPrivate(void* pvData);
 
 public slots:
     virtual void connect_imager(int frameNumber);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٻ<EFBFBD><D9BB><EFBFBD>
     virtual double auto_exposure();
     virtual void focus();
     virtual void start_record();
+    void stop_record();
     virtual void record_dark();
     virtual void record_white();
+
+    void getFocusIndexSobel();
 signals:
-    void PlotSignal();//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>ź<EFBFBD>
+    void PlotSignal(int, int);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD>񣻵ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-1<><31><EFBFBD><EFBFBD><EFBFBD>˴βɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
     void RecordFinishedSignal_WhenFrameNumberMeet();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>m_iFrameNumber<65><72><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>
     void RecordFinishedSignal_WhenFrameNumberNotMeet();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>m_iFrameNumber<65><72>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD><EFBFBD>ɣ<EFBFBD><C9A3><EFBFBD>;ֹͣ<CDA3>ɼ<EFBFBD>
     void SpectralSignal(int);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD><C6B9>ף<EFBFBD><D7A3><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD>
@@ -100,6 +108,8 @@ signals:
     void RecordWhiteFinishSignal();
     void RecordDarlFinishSignal();
 
+    void FocusIndexSobelSignal(double);
+
 
     void testImagerStatus();//<2F><>ʾ<EFBFBD><CABE><EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ӣ<EFBFBD><D3A3><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 };

HPPA/OneMotorControl.cpp

@@ -0,0 +1,176 @@
+#include "OneMotorControl.h"
+
+OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
+
+}
+
+OneMotorControl::~OneMotorControl()
+{
+    m_motorThread.quit();
+    m_motorThread.wait();
+}
+
+void OneMotorControl::onConnectMotor()
+{
+	try
+	{
+        FileOperation* fileOperation = new FileOperation();
+        string directory = fileOperation->getDirectoryOfExe();
+        QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile.cfg";
+
+        m_multiAxisController = new IrisMultiMotorController(configFilePath);
+	}
+	catch (std::exception const& e)
+	{
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+        msgBox.exec();
+	}
+    
+    m_multiAxisController->moveToThread(&m_motorThread);
+    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+
+    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+
+    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+    connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
+    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+
+    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+    
+    m_motorThread.start();
+    emit testConnectivitySignal(0, 1000);
+}
+
+void OneMotorControl::display_x_loc(std::vector<double> loc)
+{
+    double tmp = round(loc[0] * 100) / 100;
+    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+}
+
+void OneMotorControl::display_motors_connectivity(std::vector<int> connectivity)
+{
+    //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
+    if (connectivity[0])
+    {
+        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+    }
+    else
+    {
+        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+    }
+}
+
+void OneMotorControl::zeroStart()
+{
+    zeroStartSignal(0);
+}
+
+void OneMotorControl::onx_rangeMeasurement()
+{
+    double s0 = ui.speed_lineEdit->text().toDouble();
+    emit rangeMeasurement(0, s0, 1000);
+}
+
+void OneMotorControl::onxMove2Loc()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+    double l = ui.move2loc_lineEdit->text().toDouble();
+
+    emit move2LocSignal(0, l, s, 1000);
+}
+
+void OneMotorControl::onxMotorRight()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, false, s, 1000);
+}
+
+void OneMotorControl::onxMotorLeft()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, true, s, 1000);
+}
+
+void OneMotorControl::onxMotorStop()
+{
+    emit stopSignal(0);
+}
+
+void OneMotorControl::setImager(ImagerOperationBase* imager)
+{
+    m_Imager = imager;
+}
+
+void OneMotorControl::record_dark()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    if (m_darkCaptureCoordinator == nullptr)
+    {
+        m_darkCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(0, m_multiAxisController, m_Imager);
+    }
+
+    m_darkCaptureCoordinator->startStepMotion(s);
+}
+
+void OneMotorControl::record_white()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    if (m_whiteCaptureCoordinator == nullptr)
+    {
+        m_whiteCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(1, m_multiAxisController, m_Imager);
+    }
+
+    m_whiteCaptureCoordinator->startStepMotion(s);
+}
+
+void OneMotorControl::run()
+{
+    if (m_coordinator == nullptr)
+    {
+        qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
+        m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+        connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
+        connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
+
+        connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
+    }
+
+    OneMotionCapturePathLine tmp;
+    tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
+    tmp.speedBack = ui.return_speed_lineEdit->text().toDouble();
+
+    emit start(tmp);
+}
+
+void OneMotorControl::stop()
+{
+    emit stopStepMotionSignal();
+}
+
+void OneMotorControl::onSequenceComplete()
+{
+    emit sequenceComplete();
+}

HPPA/OneMotorControl.h

@@ -0,0 +1,69 @@
+#pragma once
+#include <QThread>
+#include <QMessageBox>
+
+#include "ui_oneMotorControl.h"
+
+#include "IrisMultiMotorController.h"
+#include "fileOperation.h"
+#include "CaptureCoordinator.h"
+
+class OneMotorControl : public QDialog
+{
+    Q_OBJECT
+
+public:
+    OneMotorControl(QWidget* parent = nullptr);
+    ~OneMotorControl();
+
+    void setImager(ImagerOperationBase* imager);
+
+    void run();
+    void stop();
+
+    void record_dark();
+    void record_white();
+
+
+public Q_SLOTS:
+    void onConnectMotor();
+
+    void display_x_loc(std::vector<double> loc);
+    void display_motors_connectivity(std::vector<int> connectivity);
+    void onxMove2Loc();
+    void zeroStart();
+    void onx_rangeMeasurement();
+
+    void onxMotorRight();
+    void onxMotorLeft();
+    void onxMotorStop();
+
+    void onSequenceComplete();
+
+signals:
+    void moveSignal(int, bool, double, int);
+    void move2LocSignal(int, double, double, int);
+    void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
+    void stopSignal(int);
+
+    void rangeMeasurement(int, double, int);
+    void zeroStartSignal(int);
+    void testConnectivitySignal(int, int);
+
+    void start(OneMotionCapturePathLine);
+    void stopStepMotionSignal();
+
+    void sequenceComplete();
+
+private:
+    Ui::OneMotorControl_UI ui;
+
+    QThread m_motorThread;
+    IrisMultiMotorController* m_multiAxisController;
+
+    OneMotionCaptureCoordinator* m_coordinator = nullptr;
+    ImagerOperationBase* m_Imager;
+
+    DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
+    DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
+};

HPPA/PathPlan.cpp

@@ -1,308 +0,0 @@
-#include "PathPlan.h"
-#include <iostream>
-#include <QMessageBox>
-#include <QFileDialog>
-#include <fileOperation.h>
-
-PathPlan::PathPlan(VinceControl* xMotor, VinceControl* yMotor, QMotorDoubleSlider* xSlider, QMotorDoubleSlider* ySlider, QWidget* parent)
-	: QDialog(parent)
-{
-	ui.setupUi(this);
-
-	m_xMotor = xMotor;
-	m_yMotor = yMotor;
-
-	m_xSlider = xSlider;
-	m_ySlider = ySlider;
-
-	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
-	ui.recordLine_tableWidget->setStyleSheet("selection-background-color:rgb(255,209,128)");//<2F><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD><D0B8><EFBFBD>
-
-	ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//<2F><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>λ
-	//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//<2F><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>ģʽ<C4A3><CABD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	//QHeaderView* headerView = ui.recordLine_tableWidget->verticalHeader();
-	//headerView->setHidden(true);//ȥ<><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD><C4AC><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>к<EFBFBD>
-
-
-	ui.recordLine_tableWidget->setColumnCount(2);
-	ui.recordLine_tableWidget->setHorizontalHeaderLabels(QStringList() << "yPosition" << "xMaxPosition");
-
-	connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
-	connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
-	connect(ui.generateRecordLine_btn, SIGNAL(clicked()), this, SLOT(onGenerateRecordLine_btn()));
-	connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
-	connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
-	connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
-}
-
-PathPlan::~PathPlan()
-{}
-
-void PathPlan::setMotor(VinceControl* xMotor, VinceControl* yMotor)
-{
-	m_xMotor = xMotor;
-	m_yMotor = yMotor;
-}
-
-QTableWidget* PathPlan::getRecordLineTableWidget()
-{
-	return ui.recordLine_tableWidget;
-}
-
-void PathPlan::onAddRecordLine_btn()
-{
-	//׼<><D7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	ByteBack MotorState = m_yMotor->GetState();
-	double currentPosOfYmotor = m_ySlider->getDistanceFromPulse(MotorState.Location);
-	double maxRangeOfXmotro = m_xSlider->maximum();
-
-	//<2F><>ȡѡ<C8A1><D1A1><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD>
-	int currentRow = ui.recordLine_tableWidget->currentRow();
-	std::cout << "currentRow<EFBFBD><EFBFBD>" << currentRow << std::endl;
-
-	QTableWidgetItem* Item1 = new QTableWidgetItem(QString::number(currentPosOfYmotor, 10, 2));
-	QTableWidgetItem* Item2 = new QTableWidgetItem(QString::number(maxRangeOfXmotro, 10, 2));
-	Item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	if (currentRow == -1)//<2F><>û<EFBFBD><C3BB>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>ʱ
-	{
-		int RowCount = ui.recordLine_tableWidget->rowCount();//Returns the number of rows. <20><>1<EFBFBD><31>ʼ<EFBFBD><CABC>
-		ui.recordLine_tableWidget->insertRow(RowCount);//<2F><><EFBFBD><EFBFBD>һ<EFBFBD>У<EFBFBD><D0A3>β<EFBFBD><CEB2>Ǵ<EFBFBD>0<EFBFBD><30>ʼ<EFBFBD><CABC>
-
-		ui.recordLine_tableWidget->setItem(RowCount, 0, Item1);
-		ui.recordLine_tableWidget->setItem(RowCount, 1, Item2);
-	}
-	else
-	{
-		ui.recordLine_tableWidget->insertRow(currentRow + 1);//<2F><><EFBFBD><EFBFBD>һ<EFBFBD>У<EFBFBD><D0A3>β<EFBFBD><CEB2>Ǵ<EFBFBD>0<EFBFBD><30>ʼ<EFBFBD><CABC>
-
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 0, Item1);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 1, Item2);
-	}
-}
-
-void PathPlan::onRemoveRecordLine_btn()
-{
-	int rowIndex = ui.recordLine_tableWidget->currentRow();
-	if (rowIndex != -1)
-		ui.recordLine_tableWidget->removeRow(rowIndex);
-}
-
-void PathPlan::onGenerateRecordLine_btn()
-{
-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	double height = ui.height_lineEdit->text().toDouble();
-	double fov = ui.fov_lineEdit->text().toDouble();
-	double swath = (height * tan(fov / 2 * PI / 180)) * 2;//tan<61><6E><EFBFBD><EFBFBD><EFBFBD>ǻ<EFBFBD><C7BB><EFBFBD>
-	ui.swath_lineEdit->setText(QString::number(swath));
-
-
-	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ
-	double xMotorRange = m_xSlider->maximum();
-	double yMotorRange = m_ySlider->maximum();
-
-
-	//ȷ<><C8B7><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC>ߣ<EFBFBD><DFA3><EFBFBD>ʽ<EFBFBD><CABD>numberOfRecordLine_tmp * swath - repetitiveLength<74><68>numberOfRecordLine_tmp - 1<><31> = overallLength
-	double overallLength = yMotorRange + swath;
-	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble() / 100;
-	double repetitiveLength = repetitiveRate * swath;
-	double offset = ui.offset_lineEdit->text().toDouble();
-
-	double numberOfRecordLine_tmp = (overallLength - repetitiveLength - offset) / (swath - repetitiveLength);
-	double tmp = numberOfRecordLine_tmp - (int)numberOfRecordLine_tmp;
-	int numberOfRecordLine;
-	double threshold = ui.LastLineThreshold_lineEdit->text().toDouble();//<2F><>numberOfRecordLine_tmpΪС<CEAA><D0A1>ʱ<EFBFBD><CAB1><EFBFBD>ж<EFBFBD><D0B6>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>
-	if (tmp > threshold)
-	{
-		numberOfRecordLine = (int)numberOfRecordLine_tmp + 1;
-		//std::cout << "<22><><EFBFBD>ڣ<EFBFBD>" << threshold << std::endl;
-	}
-	else
-	{
-		numberOfRecordLine = (int)numberOfRecordLine_tmp;
-	}
-
-
-
-	//ȥ<><C8A5>tableWidget<65><74><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-
-
-	//<2F><>tableWidget<65><74><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3>ɼ<EFBFBD><C9BC>ߣ<EFBFBD>
-	QTableWidgetItem* tmpItem;
-	for (size_t i = 0; i < numberOfRecordLine; i++)
-	{
-		//<2F><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
-		int RowCount = ui.recordLine_tableWidget->rowCount();
-		ui.recordLine_tableWidget->insertRow(RowCount);
-
-		//<2F><><EFBFBD><EFBFBD>yPosition
-		if (tmp > threshold && i == numberOfRecordLine - 1)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>е<EFBFBD>yPosition
-		{
-			tmpItem = new QTableWidgetItem(QString::number(yMotorRange, 10, 2));
-			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
-		}
-		else
-		{
-			double x = swath * i - i * repetitiveLength + offset;
-			tmpItem = new QTableWidgetItem(QString::number(x, 10, 2));
-			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
-		}
-
-		//<2F><><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>λ<EFBFBD><CEBB> <20><> ֵ<><D6B5><EFBFBD><EFBFBD>Ϊx<CEAA><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-		tmpItem = new QTableWidgetItem(QString::number(xMotorRange, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 1, tmpItem);
-
-	}
-
-}
-
-void PathPlan::onDeleteRecordLine_btn()
-{
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-}
-
-void PathPlan::onSaveRecordLine2File_btn()
-{
-	//ȷ<><C8B7><EFBFBD>ɼ<EFBFBD><C9BC>ߴ<EFBFBD><DFB4><EFBFBD>
-	if (ui.recordLine_tableWidget->rowCount() <= 0)
-	{
-		QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ켣<EFBFBD><EFBFBD>"));
-		return;
-	}
-
-	double height = ui.height_lineEdit->text().toDouble();
-	double fov = ui.fov_lineEdit->text().toDouble();
-	double swath = ui.swath_lineEdit->text().toDouble();
-	double offset = ui.offset_lineEdit->text().toDouble();
-	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble();
-	double LastLineThreshold = ui.LastLineThreshold_lineEdit->text().toDouble();
-
-	FileOperation* fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryOfExe();
-
-	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine File"),
-		QString::fromStdString(directory),
-		tr("RecordLineFile (*.RecordLine)"));
-
-	if (RecordLineFilePath.isEmpty())
-	{
-		return;
-	}
-
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
-
-	fwrite(&height, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&fov, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&swath, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&offset, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
-
-	double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
-	fwrite(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	//double data[number];
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			data[i * ui.recordLine_tableWidget->columnCount() + j] = ui.recordLine_tableWidget->item(i, j)->text().toDouble();
-		}
-	}
-
-	fwrite(data, sizeof(double), number, RecordLineFileHandle);
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><EFBFBD><EFBFBD>"));
-}
-
-void PathPlan::onReadRecordLineFile_btn()
-{
-	//<2F><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
-	FileOperation* fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryOfExe();
-	//string RecordLineFilePath = directory + "\\test.RecordLine";
-
-	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine File"),
-		QString::fromStdString(directory),
-		tr("RecordLineFile (*.RecordLine)"));
-
-	if (RecordLineFilePath.isEmpty())
-	{
-		return;
-	}
-
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "r");
-	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
-
-	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
-	fread(&height, sizeof(double), 1, RecordLineFileHandle);
-	fread(&fov, sizeof(double), 1, RecordLineFileHandle);
-	fread(&swath, sizeof(double), 1, RecordLineFileHandle);
-	fread(&offset, sizeof(double), 1, RecordLineFileHandle);
-	fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
-	fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
-	fread(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	for (size_t i = 0; i < number; i++)
-	{
-		fread(data + i, sizeof(double), 1, RecordLineFileHandle);
-		//std::cout << *(data + i) << std::endl;
-	}
-
-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д
-	ui.height_lineEdit->setText(QString::number(height));
-	ui.fov_lineEdit->setText(QString::number(fov));
-	ui.swath_lineEdit->setText(QString::number(swath));
-	ui.offset_lineEdit->setText(QString::number(offset));
-	ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
-	ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));
-
-
-	//<2F><>tableWidget<65><74><EFBFBD>Ӳɼ<D3B2><C9BC><EFBFBD>
-	//<2F><>1<EFBFBD><31>ȥ<EFBFBD><C8A5>tableWidget<65><74><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-	//<2F><>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3>ɼ<EFBFBD><C9BC>ߣ<EFBFBD>
-	int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
-	for (size_t i = 0; i < RecordLineCount; i++)
-	{
-		ui.recordLine_tableWidget->insertRow(0);
-
-	}
-	//<2F><>3<EFBFBD><33><EFBFBD><EFBFBD>tableWidget<65><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
-			tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, j, tmp);
-		}
-	}
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȡ<EFBFBD>ɹ<EFBFBD><EFBFBD><EFBFBD>"));
-
-}

HPPA/PathPlan.h

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

HPPA/PathPlan.ui

@@ -15,19 +15,19 @@
   </property>
   <layout class="QGridLayout" name="gridLayout">
    <property name="leftMargin">
-    <number>0</number>
+    <number>9</number>
    </property>
    <property name="topMargin">
-    <number>0</number>
+    <number>9</number>
    </property>
    <property name="rightMargin">
-    <number>0</number>
+    <number>9</number>
    </property>
    <property name="bottomMargin">
-    <number>0</number>
+    <number>9</number>
    </property>
    <property name="spacing">
-    <number>0</number>
+    <number>6</number>
    </property>
    <item row="0" column="0">
     <layout class="QHBoxLayout" name="horizontalLayout_16">
@@ -349,12 +349,6 @@
     <widget class="QTableWidget" name="recordLine_tableWidget"/>
    </item>
   </layout>
-  <zorder>layoutWidget</zorder>
-  <zorder>layoutWidget_2</zorder>
-  <zorder>recordLine_tableWidget</zorder>
-  <zorder>layoutWidget_3</zorder>
-  <zorder>layoutWidget_4</zorder>
-  <zorder>label_7</zorder>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources/>

HPPA/RadianceConversion.ui

@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>RadianceConversion_UI</class>
+ <widget class="QDialog" name="RadianceConversion_UI">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>544</width>
+    <height>177</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>辐亮度转换</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>影像</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_6">
+         <property name="text">
+          <string>定标文件</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QLineEdit" name="imgPath_lineEdit">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="calFilePath_lineEdit">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color: rgb(255, 255, 255);</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <widget class="QPushButton" name="imgSelect_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="calFileSelect_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>...</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="conversion_btn">
+       <property name="text">
+        <string>转换</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="2" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>191</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

HPPA/ReflectanceConversion.ui

@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ReflectanceConversion_UI</class>
+ <widget class="QDialog" name="ReflectanceConversion_UI">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>544</width>
+    <height>177</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>反射率转换</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>影像</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_6">
+         <property name="text">
+          <string>白板影像</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QLineEdit" name="imgPath_lineEdit">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="whiteImgPath_lineEdit">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color: rgb(255, 255, 255);</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <widget class="QPushButton" name="imgSelect_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="whiteImgSelect_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>...</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="conversion_btn">
+       <property name="text">
+        <string>转换</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="2" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>191</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

HPPA/ResononNirImager.cpp

@@ -285,15 +285,15 @@ void ResononNirImager::start_record()
 		exit(EXIT_FAILURE);
 	}
 
-	FileOperation* fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryFromString();
-	string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter)+".bil";
-
-	FILE* m_fImage = fopen(imgPath.c_str(), "w+b");
+	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
+	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
 	size_t x;
 	double pixelValueTmp;
 
+	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
+	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
+
 	reConnectImage();//nir<69>ڶ<EFBFBD><DAB6>βɼ<CEB2>ʱ<EFBFBD><CAB1>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imagerStartCollect()<29>ᱨ<EFBFBD><E1B1A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	imagerStartCollect();
 	while (m_bRecordControlState)
@@ -301,6 +301,8 @@ void ResononNirImager::start_record()
 		m_iFrameCounter++;
 
 		getFrame(buffer);
+		long long timeOs = getNanosecondsSinceMidnight();
+		//qDebug() << "time ns-------------------: " << timeOs;
 
 		//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
 		if (m_HasDark)
@@ -341,6 +343,7 @@ void ResononNirImager::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
+		fprintf(hTimesFile, "%lld\n", timeOs);
 
 		//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@@ -350,25 +353,26 @@ void ResononNirImager::start_record()
 		//ÿ<><C3BF>1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><CEBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
-			emit PlotSignal();
+			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter);
 		}
 
 		if (m_iFrameCounter >= m_iFrameNumber)
 		{
 			break;
+			//qDebug() << "<22><><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>";
 		}
 
 	}
 	imagerStopCollect();
 
+	//<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(m_FileSavedCounter, -1);//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ
+
 	m_bRecordControlState = false;
 	WriteHdr();
 	m_FileSavedCounter++;
 
-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<CDBC><C7B0>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	//m_RgbImage
-	emit PlotSignal();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ
-
 	if (m_iFrameCounter >= m_iFrameNumber)
 	{
 		emit RecordFinishedSignal_WhenFrameNumberMeet();
@@ -380,6 +384,7 @@ void ResononNirImager::start_record()
 
 	//QThread::msleep(1001);
 	fclose(m_fImage);
+	fclose(hTimesFile);
 }
 
 void ResononNirImager::WriteHdr()
@@ -387,17 +392,14 @@ 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";
 	outfile << "interleave = bil\n";
 	outfile << "data type = 12\n";
 	outfile << "bit depth = 12\n";
+	outfile << "byte order = 0\n";
 	outfile << "samples = " << getSampleCount() << "\n";
 	outfile << "bands = " << getBandCount() << "\n";
 	outfile << "lines = " << m_iFrameCounter << "\n";

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
 {

HPPA/RobotArmControl.cpp

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

HPPA/RobotArmControl.h

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

HPPA/RobotArmControl.ui

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

HPPA/TwoMotorControl.cpp

@@ -0,0 +1,605 @@
+#include "TwoMotorControl.h"
+
+TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
+{
+    ui.setupUi(this);
+
+	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
+	ui.recordLine_tableWidget->setStyleSheet("selection-background-color:rgb(255,209,128)");//设置选择的行高亮
+
+	ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选择行为，以行为单位
+	//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//设置选择模式，选择单行
+	//QHeaderView* headerView = ui.recordLine_tableWidget->verticalHeader();
+	//headerView->setHidden(true);//去除左边默认自带序列号
+
+    connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
+
+    connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
+    connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
+    connect(ui.generateRecordLine_btn, SIGNAL(clicked()), this, SLOT(onGenerateRecordLine_btn()));
+    connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
+    connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
+    connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
+
+	connect(ui.run_btn, SIGNAL(clicked()), this, SLOT(run()));
+	connect(ui.stop_btn, SIGNAL(clicked()), this, SLOT(stop()));
+}
+
+void TwoMotorControl::setImager(ImagerOperationBase* imager)
+{
+	m_Imager = imager;
+}
+
+void TwoMotorControl::setPosFileName(QString posFileName)
+{
+	isWritePosFile = true;
+	m_posFileName = posFileName;
+	m_posFileHandle = fopen(posFileName.toStdString().c_str(), "w+");
+}
+
+bool TwoMotorControl::getState()
+{
+	QEventLoop loop;
+	bool tmp = false;
+	bool received = false;
+
+	QTimer timer;
+	timer.setSingleShot(true);
+	connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
+
+	QMetaObject::Connection conn = QObject::connect(
+		m_coordinator, &TwoMotionCaptureCoordinator::recordState,
+		[&](bool state) {
+			tmp = state;
+			received = true;
+			loop.quit();
+		});
+
+	QMetaObject::invokeMethod(m_coordinator, "getRecordState", Qt::QueuedConnection);
+	timer.start(3000);
+
+	loop.exec();
+
+	disconnect(conn);
+
+	return tmp;
+}
+
+void TwoMotorControl::record_dark()
+{
+	double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+
+	if (m_darkCaptureCoordinator == nullptr)
+	{
+		m_darkCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(0, m_multiAxisController, m_Imager);
+	}
+
+	m_darkCaptureCoordinator->startStepMotion(s);
+}
+
+void TwoMotorControl::record_white()
+{
+	double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+
+	if (m_whiteCaptureCoordinator == nullptr)
+	{
+		m_whiteCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(1, m_multiAxisController, m_Imager);
+	}
+
+	m_whiteCaptureCoordinator->startStepMotion(s);
+}
+
+void TwoMotorControl::run()
+{
+	if (m_coordinator==nullptr)
+	{
+		qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
+		m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+		m_coordinator->moveToThread(&m_coordinatorThread);
+		connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+		connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
+		connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
+		connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
+		connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
+		connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
+		m_coordinatorThread.start();
+	}
+
+	if (getState())
+	{
+		//std::cout << "已经开始运行，请勿重复点击！！！！！！！！" << std::endl;
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！！！！！！！！！"));
+		return;
+	}
+
+	QVector<PathLine> pathLines;
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	//int columnCount = ui.recordLine_tableWidget->columnCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		PathLine tmp;
+
+		tmp.targetYPosition = ui.recordLine_tableWidget->item(i, 0)->text().toDouble();
+		tmp.speedTargetYPosition = ui.recordLine_tableWidget->item(i, 1)->text().toDouble();
+		tmp.targetXMinPosition = ui.recordLine_tableWidget->item(i, 2)->text().toDouble();
+		tmp.speedTargetXMinPosition = ui.recordLine_tableWidget->item(i, 3)->text().toDouble();
+		tmp.targetXMaxPosition = ui.recordLine_tableWidget->item(i, 4)->text().toDouble();
+		tmp.speedTargetXMaxPosition = ui.recordLine_tableWidget->item(i, 5)->text().toDouble();
+
+		pathLines.append(tmp);
+	}
+
+	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
+	{
+		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
+		{
+			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
+		}
+	}
+
+	emit start(pathLines);
+}
+
+void TwoMotorControl::stop()
+{
+	emit stopSignal();
+}
+
+TwoMotorControl::~TwoMotorControl()
+{
+    m_motorThread.quit();
+    m_motorThread.wait();
+
+	m_coordinatorThread.quit();
+	m_coordinatorThread.wait();
+}
+
+void TwoMotorControl::onConnectMotor()
+{
+    try
+    {
+        FileOperation* fileOperation = new FileOperation();
+        string directory = fileOperation->getDirectoryOfExe();
+        QString configFilePath = QString::fromStdString(directory) + "\\twoMotorConfigFile.cfg";
+
+        m_multiAxisController = new IrisMultiMotorController(configFilePath);
+    }
+    catch (std::exception const& e)
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
+        msgBox.exec();
+    }
+
+    m_multiAxisController->moveToThread(&m_motorThread);
+    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+
+    connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
+    connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
+    connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
+    connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
+
+    //connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
+
+    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+    //connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
+    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+
+    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+    m_motorThread.start();
+    emit testConnectivitySignal(0, 1000);
+    emit testConnectivitySignal(1, 1000);
+}
+
+void TwoMotorControl::receiveStartRecordLineNum(int lineNum)
+{
+	emit startLineNumSignal(lineNum);
+	for (size_t i = 0; i < ui.recordLine_tableWidget->columnCount(); i++)
+	{
+		ui.recordLine_tableWidget->item(lineNum, i)->setBackgroundColor(QColor(255, 0, 0));
+	}
+}
+
+void TwoMotorControl::receiveFinishRecordLineNum(int lineNum)
+{
+	for (size_t i = 0; i < ui.recordLine_tableWidget->columnCount(); i++)
+	{
+		ui.recordLine_tableWidget->item(lineNum, i)->setBackgroundColor(QColor(0, 255, 0));
+	}
+}
+
+void TwoMotorControl::onSequenceComplete()
+{
+	isWritePosFile = false;
+	fclose(m_posFileHandle);
+	
+	emit sequenceComplete();
+}
+
+void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
+{
+    //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
+    if (connectivity[0])
+    {
+        this->ui.xMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+    }
+    else
+    {
+        this->ui.xMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+    }
+
+    if (connectivity[1])
+    {
+        this->ui.yMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+    }
+    else
+    {
+        this->ui.yMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+    }
+}
+
+void TwoMotorControl::onxMotorRight()
+{
+    double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, false, s, 1000);
+}
+
+void TwoMotorControl::onxMotorLeft()
+{
+    double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, true, s, 1000);
+}
+
+void TwoMotorControl::onxMotorStop()
+{
+    emit stopSignal(0);
+}
+
+void TwoMotorControl::onyMotorforward()
+{
+    double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
+
+    emit moveSignal(1, false, s, 1000);
+}
+
+void TwoMotorControl::onyMotorbackward()
+{
+    double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
+
+    emit moveSignal(1, true, s, 1000);
+}
+
+void TwoMotorControl::onyMotorStop()
+{
+    emit stopSignal(1);
+}
+
+void TwoMotorControl::displayRealTimeLoc(std::vector<double> loc)
+{
+	double tmp = round(loc[0] * 100) / 100;
+	if (isWritePosFile)
+	{
+		long long timeOs = getNanosecondsSinceMidnight();
+		fprintf(m_posFileHandle, "%lld,%f\n", timeOs, loc[0]);
+	}
+    this->ui.xmotor_realTimeLoc_lineEdit->setText(QString::number(tmp));
+
+    tmp = round(loc[1] * 100) / 100;
+    this->ui.ymotor_realTimeLoc_lineEdit->setText(QString::number(tmp));
+}
+
+void TwoMotorControl::zeroStart()
+{
+    zeroStartSignal(0);
+    zeroStartSignal(1);
+}
+
+void TwoMotorControl::on_rangeMeasurement()
+{
+    double s0 = ui.xmotor_move_speed_lineEdit->text().toDouble();
+    emit rangeMeasurement(0, s0, 1000);
+
+    s0 = ui.ymotor_move_speed_lineEdit->text().toDouble();
+    emit rangeMeasurement(1, s0, 1000);
+}
+
+void TwoMotorControl::onAddRecordLine_btn()
+{
+	//准备数据：获取y马达的当前位置，获取x马达的当前位置和最大位置
+	double currentPosOfYmotor = 15;
+
+	double currentPosOfXmotor = 0;
+	double maxRangeOfXmotor = 50;
+
+	//获取选中行的索引
+	int currentRow = ui.recordLine_tableWidget->currentRow();
+	std::cout << "currentRow：" << currentRow << std::endl;
+
+	QTableWidgetItem* Item1 = new QTableWidgetItem(QString::number(currentPosOfYmotor, 10, 2));
+	QTableWidgetItem* Item2 = new QTableWidgetItem(QString::number(1, 10, 2));
+	QTableWidgetItem* Item3 = new QTableWidgetItem(QString::number(currentPosOfXmotor, 10, 2));
+	QTableWidgetItem* Item4 = new QTableWidgetItem(QString::number(1, 10, 2));
+	QTableWidgetItem* Item5 = new QTableWidgetItem(QString::number(maxRangeOfXmotor, 10, 2));
+	QTableWidgetItem* Item6 = new QTableWidgetItem(QString::number(1, 10, 2));
+	Item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	Item6->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+	if (currentRow == -1)//当没有选中行时
+	{
+		int RowCount = ui.recordLine_tableWidget->rowCount();//Returns the number of rows. 从1开始的
+		ui.recordLine_tableWidget->insertRow(RowCount);//增加一行，形参是从0开始的
+
+		ui.recordLine_tableWidget->setItem(RowCount, 0, Item1);
+		ui.recordLine_tableWidget->setItem(RowCount, 1, Item2);
+		ui.recordLine_tableWidget->setItem(RowCount, 2, Item3);
+		ui.recordLine_tableWidget->setItem(RowCount, 3, Item4);
+		ui.recordLine_tableWidget->setItem(RowCount, 4, Item5);
+		ui.recordLine_tableWidget->setItem(RowCount, 5, Item6);
+	}
+	else
+	{
+		ui.recordLine_tableWidget->insertRow(currentRow + 1);//增加一行，形参是从0开始的
+
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 0, Item1);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 1, Item2);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 2, Item3);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 3, Item4);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 4, Item5);
+		ui.recordLine_tableWidget->setItem(currentRow + 1, 5, Item6);
+	}
+}
+
+void TwoMotorControl::onRemoveRecordLine_btn()
+{
+	int rowIndex = ui.recordLine_tableWidget->currentRow();
+	if (rowIndex != -1)
+		ui.recordLine_tableWidget->removeRow(rowIndex);
+}
+
+void TwoMotorControl::onGenerateRecordLine_btn()
+{
+	//求幅宽
+	double height = ui.height_lineEdit->text().toDouble();
+	double fov = ui.fov_lineEdit->text().toDouble();
+	double swath = (height * tan(fov / 2 * PI / 180)) * 2;//tan输入是弧度
+	ui.swath_lineEdit->setText(QString::number(swath));
+
+
+	//读取马达测量范围
+	double xMotorRange = 50;
+	double yMotorRange = 500;
+
+
+	//确定有多少条采集线，公式：numberOfRecordLine_tmp * swath - repetitiveLength（numberOfRecordLine_tmp - 1） = overallLength
+	double overallLength = yMotorRange + swath;
+	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble() / 100;
+	double repetitiveLength = repetitiveRate * swath;
+	double offset = ui.offset_lineEdit->text().toDouble();
+
+	double numberOfRecordLine_tmp = (overallLength - repetitiveLength - offset) / (swath - repetitiveLength);
+	double tmp = numberOfRecordLine_tmp - (int)numberOfRecordLine_tmp;
+	int numberOfRecordLine;
+	double threshold = ui.LastLineThreshold_lineEdit->text().toDouble();//当numberOfRecordLine_tmp为小数时，判断是否多加一条采集线
+	if (tmp > threshold)
+	{
+		numberOfRecordLine = (int)numberOfRecordLine_tmp + 1;
+		//std::cout << "大于：" << threshold << std::endl;
+	}
+	else
+	{
+		numberOfRecordLine = (int)numberOfRecordLine_tmp;
+	}
+
+
+
+	//去掉tableWidget中所有的行
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		ui.recordLine_tableWidget->removeRow(0);
+	}
+
+
+	//向tableWidget添加行（采集线）
+	QTableWidgetItem* tmpItem;
+	for (size_t i = 0; i < numberOfRecordLine; i++)
+	{
+		//增加一行
+		int RowCount = ui.recordLine_tableWidget->rowCount();
+		ui.recordLine_tableWidget->insertRow(RowCount);
+
+		//设置yPosition
+		if (tmp > threshold && i == numberOfRecordLine - 1)//设置最后一行的yPosition
+		{
+			tmpItem = new QTableWidgetItem(QString::number(yMotorRange, 10, 2));
+			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
+		}
+		else
+		{
+			double x = swath * i - i * repetitiveLength + offset;
+			tmpItem = new QTableWidgetItem(QString::number(x, 10, 2));
+			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
+		}
+		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
+		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+		ui.recordLine_tableWidget->setItem(i, 1, tmpItem);
+
+		tmpItem = new QTableWidgetItem(QString::number(0, 10, 2));
+		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+		ui.recordLine_tableWidget->setItem(i, 2, tmpItem);
+		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
+		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+		ui.recordLine_tableWidget->setItem(i, 3, tmpItem);
+
+		//设置x马达最大运动位置 → 值设置为x马达量程
+		tmpItem = new QTableWidgetItem(QString::number(xMotorRange, 10, 2));
+		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+		ui.recordLine_tableWidget->setItem(i, 4, tmpItem);
+		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
+		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+		ui.recordLine_tableWidget->setItem(i, 5, tmpItem);
+	}
+}
+
+void TwoMotorControl::onDeleteRecordLine_btn()
+{
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		ui.recordLine_tableWidget->removeRow(0);
+	}
+}
+
+void TwoMotorControl::onSaveRecordLine2File_btn()
+{
+	//确保采集线存在
+	if (ui.recordLine_tableWidget->rowCount() <= 0)
+	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请先生成轨迹！"));
+		return;
+	}
+
+	double height = ui.height_lineEdit->text().toDouble();
+	double fov = ui.fov_lineEdit->text().toDouble();
+	double swath = ui.swath_lineEdit->text().toDouble();
+	double offset = ui.offset_lineEdit->text().toDouble();
+	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble();
+	double LastLineThreshold = ui.LastLineThreshold_lineEdit->text().toDouble();
+
+	FileOperation* fileOperation = new FileOperation();
+	string directory = fileOperation->getDirectoryOfExe();
+
+	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine2 File"),
+		QString::fromStdString(directory),
+		tr("RecordLineFile2 (*.RecordLine2)"));
+
+	if (RecordLineFilePath.isEmpty())
+	{
+		return;
+	}
+
+	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
+
+	fwrite(&height, sizeof(double), 1, RecordLineFileHandle);
+	fwrite(&fov, sizeof(double), 1, RecordLineFileHandle);
+	fwrite(&swath, sizeof(double), 1, RecordLineFileHandle);
+	fwrite(&offset, sizeof(double), 1, RecordLineFileHandle);
+	fwrite(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
+	fwrite(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
+
+	double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
+	fwrite(&number, sizeof(double), 1, RecordLineFileHandle);
+
+	double* data = new double[number];
+	//double data[number];
+	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
+	{
+		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
+		{
+			data[i * ui.recordLine_tableWidget->columnCount() + j] = ui.recordLine_tableWidget->item(i, j)->text().toDouble();
+		}
+	}
+
+	fwrite(data, sizeof(double), number, RecordLineFileHandle);
+
+	fclose(RecordLineFileHandle);
+	delete[] data;
+
+	QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("保存成功！"));
+}
+
+void TwoMotorControl::onReadRecordLineFile_btn()
+{
+	//打开文件
+	FileOperation* fileOperation = new FileOperation();
+	string directory = fileOperation->getDirectoryOfExe();
+
+	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine2 File"),
+		QString::fromStdString(directory),
+		tr("RecordLineFile (*.RecordLine2)"));
+
+	if (RecordLineFilePath.isEmpty())
+	{
+		return;
+	}
+
+	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
+	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
+
+	//读取数据
+	fread(&height, sizeof(double), 1, RecordLineFileHandle);
+	fread(&fov, sizeof(double), 1, RecordLineFileHandle);
+	fread(&swath, sizeof(double), 1, RecordLineFileHandle);
+	fread(&offset, sizeof(double), 1, RecordLineFileHandle);
+	fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
+	fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
+	fread(&number, sizeof(double), 1, RecordLineFileHandle);
+
+	double* data = new double[number];
+	for (size_t i = 0; i < number; i++)
+	{
+		fread(data + i, sizeof(double), 1, RecordLineFileHandle);
+		//std::cout << *(data + i) << std::endl;
+	}
+
+	//向界面中填写
+	ui.height_lineEdit->setText(QString::number(height));
+	ui.fov_lineEdit->setText(QString::number(fov));
+	ui.swath_lineEdit->setText(QString::number(swath));
+	ui.offset_lineEdit->setText(QString::number(offset));
+	ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
+	ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));
+
+
+	//向tableWidget添加采集线
+	//（1）去掉tableWidget中所有的行
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		ui.recordLine_tableWidget->removeRow(0);
+	}
+	//（2）添加行（采集线）
+	int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
+	for (size_t i = 0; i < RecordLineCount; i++)
+	{
+		ui.recordLine_tableWidget->insertRow(0);
+
+	}
+	//（3）向tableWidget填充数据
+	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
+	{
+		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
+		{
+			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
+			tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+			ui.recordLine_tableWidget->setItem(i, j, tmp);
+		}
+	}
+
+	fclose(RecordLineFileHandle);
+	delete[] data;
+
+	QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("读取成功！"));
+}

HPPA/TwoMotorControl.h

@@ -0,0 +1,95 @@
+#pragma once
+#include <QThread>
+#include <QMessageBox>
+#include <QFileDialog>
+
+#include "ui_twoMotorControl.h"
+
+#include "IrisMultiMotorController.h"
+#include "fileOperation.h"
+#include "CaptureCoordinator.h"
+
+#define PI 3.1415926
+
+
+
+class TwoMotorControl : public QDialog
+{
+    Q_OBJECT
+
+public:
+    TwoMotorControl(QWidget* parent = nullptr);
+    ~TwoMotorControl();
+
+    void setImager(ImagerOperationBase* imager);
+    void setPosFileName(QString posFileName);
+
+    void record_dark();
+    void record_white();
+
+private:
+    ImagerOperationBase* m_Imager;
+    bool getState();
+
+    bool isWritePosFile = false;
+    QString m_posFileName;
+    FILE* m_posFileHandle;
+
+
+public Q_SLOTS:
+    void onConnectMotor();
+
+    void displayRealTimeLoc(std::vector<double> loc);
+    void display_motors_connectivity(std::vector<int> connectivity);
+    //void onxMove2Loc();
+    void zeroStart();
+    void on_rangeMeasurement();
+
+    void onxMotorRight();
+    void onxMotorLeft();
+    void onxMotorStop();
+
+    void onyMotorforward();
+    void onyMotorbackward();
+    void onyMotorStop();
+
+    void onAddRecordLine_btn();
+    void onRemoveRecordLine_btn();
+    void onGenerateRecordLine_btn();
+    void onDeleteRecordLine_btn();
+    void onSaveRecordLine2File_btn();
+    void onReadRecordLineFile_btn();
+
+    void run();
+    void stop();
+    void receiveStartRecordLineNum(int lineNum);
+    void receiveFinishRecordLineNum(int lineNum);
+    void onSequenceComplete();
+
+signals:
+    void moveSignal(int, bool, double, int);
+    void move2LocSignal(int, double, double, int);
+    void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
+    void stopSignal(int);
+
+    void rangeMeasurement(int, double, int);
+    void zeroStartSignal(int);
+    void testConnectivitySignal(int, int);
+
+    void start(QVector<PathLine>);
+    void stopSignal();
+
+    void startLineNumSignal(int lineNum);
+    void sequenceComplete();//所有采集线正常运行完成
+
+private:
+    Ui::twoMotorControl_UI ui;
+    QThread m_coordinatorThread;
+    TwoMotionCaptureCoordinator* m_coordinator = nullptr;
+
+    DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
+    DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
+
+    QThread m_motorThread;
+    IrisMultiMotorController* m_multiAxisController;
+};

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：2.0</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_4">

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);
+}

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;
 

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">

HPPA/fileOperation.h

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

HPPA/focusWindow.cpp

@@ -1,11 +1,11 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "focusWindow.h"
 
 focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 {
 	ui.setupUi(this);
 
-	//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+	//读取配置文件
 	string HPPACfgFile = getPathofEXE() + "\\HPPA.cfg";
 	Configfile configfile;
 	configfile.setConfigfilePath(HPPACfgFile);
@@ -18,7 +18,7 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 
 	disableBeforeConnect(true);
 
-	setAttribute(Qt::WA_DeleteOnClose);//<EFBFBD><EFBFBD><EFBFBD>ùرմ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>ô<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	setAttribute(Qt::WA_DeleteOnClose);//设置关闭窗体就调用窗体的析构函数
 
 	m_Imager = imager;
 	m_FocusState = 0;
@@ -38,7 +38,9 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 	connect(this->ui.updateCurrentLocation_btn, SIGNAL(clicked()), this, SLOT(onUpdateCurrentLocation()));
 	connect(this->ui.moveto_btn, SIGNAL(clicked()), this, SLOT(onMoveto()));
 
-	//<2F><><EFBFBD>ҿ<EFBFBD><D2BF>ô<EFBFBD><C3B4>ڣ<EFBFBD><DAA3><EFBFBD><EFBFBD><EFBFBD>ʾ
+	connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
+
+	//查找可用串口，并显示
 	foreach(const QSerialPortInfo &info, QSerialPortInfo::availablePorts())
 	{
 		QSerialPort serial;
@@ -51,20 +53,29 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 		}
 	}
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//设置自动调焦进度条
 	ui.autoFocusProgress_progressBar->setMinimum(0);
 	ui.autoFocusProgress_progressBar->setMaximum(100);
 	ui.autoFocusProgress_progressBar->reset();
+
+	m_dSpeed = 1.0;
+
 }
 
 focusWindow::~focusWindow()
 {
 	printf("destroy focusWindow-------------------------\n");
 
-	emit StartManualFocusSignal(0);//<EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>û<EFBFBD>е<EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͹رմ<EFBFBD><EFBFBD><EFBFBD>
+	emit StartManualFocusSignal(0);//当用户没有点击停止调焦就关闭窗口
 
 	delete m_ctrlFocusMotor;
 	//delete thread1, progressThread;
+
+	m_motorThread.quit();
+	m_motorThread.wait();
+
+	m_MotionCaptureCoordinatorThread.quit();
+	m_MotionCaptureCoordinatorThread.wait();
 }
 
 void focusWindow::disableBeforeConnect(bool disable)
@@ -91,10 +102,42 @@ bool test(void *pCaller, int *x, int *y, void **pvdata)
 }
 
 void focusWindow::onConnectMotor()
+{
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		FileOperation* fileOperation = new FileOperation();
+		string directory = fileOperation->getDirectoryOfExe();
+		QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
+
+		m_multiAxisController = new IrisMultiMotorController(configFilePath);
+		m_multiAxisController->moveToThread(&m_motorThread);
+		connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+		connect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
+		connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+		connect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+		connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+		connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
+		connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+		connect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
+		m_motorThread.start();
+		
+		//归零
+		//emit zeroStartSignal(0);
+
+		//自动调焦逻辑
+		m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
+		m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
+		connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+		connect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
+		connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
+		connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
+		m_MotionCaptureCoordinatorThread.start();
+	}
+	else
 	{
 		if (m_ctrlFocusMotor != nullptr)
 		{
-		printf("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-------------------------\n");
+			printf("不能重复连接-------------------------\n");
 			return;
 		}
 
@@ -154,41 +197,96 @@ void focusWindow::onConnectMotor()
 			m_ctrlFocusMotor->InitSystem(motor, test, this);
 			m_ctrlFocusMotor->MoveToLogicZero();
 		}
+	}
 	
 	disableBeforeConnect(false);
 }
 
+void focusWindow::display_x_loc(std::vector<double> loc)
+{
+	double tmp = round(loc[0] * 100) / 100;
+	this->ui.currentLocation_lineEdit->setText(QString::number(tmp));
+}
+
+void focusWindow::onx_rangeMeasurement()
+{
+	emit rangeMeasurementSignal(0, m_dSpeed, 1000);
+}
+
 void focusWindow::onMove2MotorLogicZero()
+{
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		emit zeroStartSignal(0);
+	}
+	else
 	{
 		m_ctrlFocusMotor->MoveToLogicZero();
 	}
+}
 
 void focusWindow::onMove2MotorMax()
+{
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		emit move2MaxLocSignal(0, m_dSpeed, 1000);
+	}
+	else
 	{
 		m_ctrlFocusMotor->MoveToPos(m_iMaxPos);
 	}
+}
 
 void focusWindow::onAdd()
 {
-	DriverInfo di;
-	m_ctrlFocusMotor->GetDriverStatus(di);
+	double rdistance = ui.addStepSize_lineEdit->text().toDouble();
 
-	int stepSize = ui.addStepSize_lineEdit->text().toInt();
-
-	m_ctrlFocusMotor->MoveToPos(di.iAbsPosition + stepSize);
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		emit rmoveSignal(0, (double)abs(rdistance), m_dSpeed, 1000);
 	}
-
-void focusWindow::onSubtract()
+	else
 	{
 		DriverInfo di;
 		m_ctrlFocusMotor->GetDriverStatus(di);
 
-	int stepSize = ui.subtractStepSize_lineEdit->text().toInt();
+		m_ctrlFocusMotor->MoveToPos(di.iAbsPosition + rdistance);
+	}
+}
 
-	m_ctrlFocusMotor->MoveToPos(di.iAbsPosition - stepSize);
+void focusWindow::onSubtract()
+{
+	double rdistance = ui.subtractStepSize_lineEdit->text().toDouble();
+
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		emit rmoveSignal(0, (double)abs(rdistance) * -1, m_dSpeed, 1000);
+	}
+	else
+	{
+		DriverInfo di;
+		m_ctrlFocusMotor->GetDriverStatus(di);
+
+		m_ctrlFocusMotor->MoveToPos(di.iAbsPosition - rdistance);
+	}
 }
 
 void focusWindow::onAutoFocus()
+{
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		//先按照一定间隔从负极限到正极限获取一系列（位置，调焦指数）
+		m_iStepSize = ui.sample_ratio_lineEdit->text().toInt();
+		ui.autoFocusProgress_progressBar->setMinimum(0);
+		ui.autoFocusProgress_progressBar->setMaximum(m_iStepSize);
+		ui.autoFocusProgress_progressBar->reset();
+
+		//获取马达最大位置
+		std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
+		double maxPos = maxRangeLocations[0];
+		emit startStepMotion(m_dSpeed, m_iStepSize, 0, maxPos);
+	}
+	else
 	{
 		bool isUltrasound = ui.ultrasound_radioButton->isChecked();
 		WorkerThread2* thread1 = new WorkerThread2(m_ctrlFocusMotor, isUltrasound);
@@ -196,38 +294,48 @@ void focusWindow::onAutoFocus()
 		connect(thread1, SIGNAL(AutoFocusFinishedSignal()), this, SLOT(onAutoFocusFinished()));
 
 		thread1->start();
-	this->setDisabled(true);
 
 		WorkerThread4* progressThread = new WorkerThread4(m_ctrlFocusMotor);
 		connect(progressThread, SIGNAL(AutoFocusProgressSignal(int)), this, SLOT(onAutoFocusProgress(int)));
 		progressThread->start();
 		ui.autoFocusProgress_progressBar->reset();
 	}
+	this->setDisabled(true);
+}
 
 void focusWindow::onManualFocus()
 {
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+
+	}
+	else
+	{
+
+	}
+
 	m_FocusState += 1;
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ť<EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "点击调焦按钮！" << std::endl;
 
 
 	if (m_FocusState % 2 == 1)
 	{
-		//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		//开始调焦
 		emit StartManualFocusSignal(1);
-		ui.manualFocus_btn->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+		ui.manualFocus_btn->setText(QString::fromLocal8Bit("停止调焦"));
 
 		ui.manualFocus_btn->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
 
 		ui.autoFocus_btn->setDisabled(true);
 
-		//std::cout << "------------------------------------------<EFBFBD><EFBFBD>" << m_FocusState << std::endl;
+		//std::cout << "------------------------------------------：" << m_FocusState << std::endl;
 	}
 	else
 	{
 		emit StartManualFocusSignal(0);
 		m_Imager->setFocusControlState(false);
 
-		ui.manualFocus_btn->setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+		ui.manualFocus_btn->setText(QString::fromLocal8Bit("调焦"));
 
 		ui.manualFocus_btn->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
 
@@ -236,31 +344,193 @@ void focusWindow::onManualFocus()
 }
 
 void focusWindow::onUpdateCurrentLocation()
+{
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		//因为新版的马达控制是实时反馈位置信息，所以不需要做任何事
+	}
+	else
 	{
 		DriverInfo di;
 		m_ctrlFocusMotor->GetDriverStatus(di);
 		ui.currentLocation_lineEdit->setText(QString::number(di.iAbsPosition));
 	}
+}
 
 void focusWindow::onMoveto()
 {
-	int pos = ui.currentLocation_lineEdit->text().toInt();
-	//<2F><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD>鿴<EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>Χ<EFBFBD><CEA7>
+	double pos = ui.move2_lineEdit->text().toDouble();
 
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		emit move2LocSignal(0, (double)pos, m_dSpeed, 1000);
+	}
+	else
+	{
+		//需要做参数有效性验证，查看是否在有效范围内
 
 		m_ctrlFocusMotor->MoveToPos(pos);
 	}
+}
 
 void focusWindow::onAutoFocusFinished()
 {
-	this->setDisabled(false);
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		//通过高斯拟合获取最佳位置
+		QVector<PositionData> positionData = m_coordinator->getAllPositionData();
 
+		std::vector<double> actualPositions;
+		std::vector<double> cameraIndices;
+
+		actualPositions.reserve(positionData.size());
+		cameraIndices.reserve(positionData.size());
+
+		int scaleFactor = 100;
+		for (const auto& data : positionData)
+		{
+			actualPositions.push_back(data.actualPosition * scaleFactor);
+			cameraIndices.push_back(data.cameraIndex);
+		}
+		double a_init, mu_init, sigma_init, c_init;
+		getGaussianInitParam(actualPositions, cameraIndices, a_init, mu_init, sigma_init, c_init);
+
+		double a = a_init, mu = mu_init, sigma = sigma_init, c = c_init;
+		gaussian_fit(actualPositions, cameraIndices, a, mu, sigma, c);
+
+		mu_init = mu_init / scaleFactor;
+		mu = mu / scaleFactor;
+
+		std::cout << "mu 初值：" << mu_init << std::endl << "mu 拟合值：" << mu << std::endl;
+
+		//对拟合值进行判断，排除错误拟合情况（地物没有纹理）
+		std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
+		double maxPos = maxRangeLocations[0];
+		if (mu < 0 || mu > maxPos)
+		{
+			std::cout << "拟合失败！！！！！" << std::endl;
+			m_goodPos = mu_init;
+			m_isAutoFocusSuccess = false;
+		}
+		else
+		{
+			std::cout << "拟合成功！！！！！" << std::endl;
+			m_goodPos = mu;
+			m_isAutoFocusSuccess = true;
+		}
+
+		FileOperation* fileOperation = new FileOperation();
+		string directory = fileOperation->getDirectoryOfExe();
+		QDateTime now = QDateTime::currentDateTime();
+		QString format1 = "yyyyMMdd_HHmmss";
+		QString fileName = now.toString("yyyyMMdd_HHmmss");
+
+		QString fitDataFile = QDir::cleanPath(QString::fromStdString(directory) + QDir::separator() + fileName + "_" + QString::number(m_iStepSize) + "interval_" + QString::number(mu) + ".csv");
+		m_coordinator->saveToCsv(fitDataFile);
+
+		//由于马达移动准确性较低，自动调焦完成后，直接移动到m_goodPos效果不好，所以先移动到tmpPos，然后移动到m_goodPos
+		double tmpPos = m_goodPos - positionData[positionData.size() - 1].actualPosition / 10;
+		m_isMoveAfterAutoFocus = true;
+		emit move2LocSignal(0, (double)tmpPos, m_dSpeed, 1000);
+	}
+	else
+	{
 		onUpdateCurrentLocation();
 	}
 
+	this->setDisabled(false);
+}
+
+void focusWindow::moveAfterAutoFocus(int motorID, double location)
+{
+	if (!m_isMoveAfterAutoFocus)
+	{
+		return;
+	}
+
+	std::cout << "\n已经到达位置：" << location  << std::endl;
+
+	//移动马达到最佳位置
+	emit move2LocSignal(0, (double)m_goodPos, m_dSpeed, 1000);
+
+	double tmp = abs(location - m_goodPos) / m_goodPos * 100;
+	if (tmp<5)
+	{
+		if (!m_isAutoFocusSuccess)
+		{
+			QMessageBox msgBox;
+			msgBox.setText(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
+			msgBox.exec();
+		}
+		else
+		{
+			QMessageBox msgBox;
+			msgBox.setText(QString::fromLocal8Bit("自动调焦成功！"));
+			msgBox.exec();
+		}
+		m_isMoveAfterAutoFocus = false;
+	}
+}
+
+void focusWindow::getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init)
+{
+	auto minmax_element = std::minmax_element(index.begin(), index.end());
+	a_init = *minmax_element.second - *minmax_element.first;
+	mu_init = pos[std::distance(index.begin(), minmax_element.second)];
+	c_init = *minmax_element.first;
+
+	//sigma_init
+	double half_max = (*minmax_element.second + *minmax_element.first) / 2.0;
+	size_t peak_idx = std::distance(index.begin(), minmax_element.second);
+	size_t left_idx = peak_idx;// 找左半高点
+	while (left_idx > 0 && index[left_idx] > half_max) left_idx--;
+	size_t right_idx = peak_idx;// 找右半高点
+	while (right_idx < index.size() - 1 && index[right_idx] > half_max) right_idx++;
+	double fwhm = pos[right_idx] - pos[left_idx];
+	sigma_init = fwhm / 2.3548;
+}
+
+// 使用 Gauss-Newton 进行高斯拟合
+void focusWindow::gaussian_fit(const std::vector<double>& x_data,
+	const std::vector<double>& y_data,
+	double& a, double& mu, double& sigma, double& c)
+{
+	const int max_iter = 100;
+	for (int iter = 0; iter < max_iter; iter++)
+	{
+		Eigen::MatrixXd J(x_data.size(), 4);
+		Eigen::VectorXd r(x_data.size());
+
+		for (size_t i = 0; i < x_data.size(); i++)
+		{
+			double xi = x_data[i];
+			double yi = y_data[i];
+			double exp_part = std::exp(-(xi - mu) * (xi - mu) / (2 * sigma * sigma));
+			double fi = a * exp_part + c;
+
+			r(i) = yi - fi;
+
+			// 雅可比
+			J(i, 0) = -exp_part;                                   // ∂f/∂a
+			J(i, 1) = -a * exp_part * ((xi - mu) / (sigma * sigma));  // ∂f/∂mu
+			J(i, 2) = -a * exp_part * ((xi - mu) * (xi - mu) / (sigma * sigma * sigma)); // ∂f/∂sigma
+			J(i, 3) = -1.0;                                        // ∂f/∂c
+		}
+
+		Eigen::VectorXd delta = (J.transpose() * J).ldlt().solve(-J.transpose() * r);
+
+		a += delta(0);
+		mu += delta(1);
+		sigma += delta(2);
+		c += delta(3);
+
+		if (delta.norm() < 1e-8) break;
+	}
+}
+
 void focusWindow::onAutoFocusProgress(int progress)
 {
-	//std::cout << "<EFBFBD><EFBFBD><EFBFBD>ȣ<EFBFBD>" << progress << std::endl;
+	//std::cout << "进度：" << progress << std::endl;
 	
 	ui.autoFocusProgress_progressBar->setValue(progress);
 }
@@ -287,7 +557,7 @@ WorkerThread2::WorkerThread2(CFocusMotorControl * ctrlFocusMotor, bool isUltraso
 
 void WorkerThread2::run()
 {
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+	//配置文件
 	string HPPACfgFile = getPathofEXE() + "\\HPPA.cfg";
 	Configfile configfile;
 	configfile.setConfigfilePath(HPPACfgFile);
@@ -326,15 +596,185 @@ void WorkerThread4::run()
 	{
 		int progress = m_ctrlFocusMotor->GetProgressIndex();
 
-		//std::cout << "WorkerThread4::run----<EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȣ<EFBFBD>" << progress << std::endl;
+		//std::cout << "WorkerThread4::run----自动调焦进度：" << progress << std::endl;
 
 		emit AutoFocusProgressSignal(progress);
 		if (progress == 100)
 		{
-			//std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD>" << std::endl;
+			//std::cout << "自动调焦完成！" << std::endl;
 			break;
 		}
 
 		msleep(200);
 	}
 }
+
+
+//-------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+MotionCaptureCoordinator::MotionCaptureCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	ImagerOperationBase* cameraCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_cameraCtrl(cameraCtrl)
+	, m_currentPos(0)
+	, m_endPos(0)
+	, m_isRunning(false)
+{
+	//这些信号槽是按照逻辑顺序的
+	connect(this, SIGNAL(moveTo(int, double, double, int)),
+		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &MotionCaptureCoordinator::handlePositionReached);
+	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
+	//	this, &MotionCaptureCoordinator::handleError);
+
+	connect(this, SIGNAL(getFocusIndexSobel()),
+		m_cameraCtrl, SLOT(getFocusIndexSobel()));
+
+	connect(m_cameraCtrl, &ImagerOperationBase::FocusIndexSobelSignal,
+		this, &MotionCaptureCoordinator::handleCaptureComplete);
+	//connect(m_cameraCtrl, &ImagerOperationBase::captureFailed,
+	//	this, &MotionCaptureCoordinator::handleError);
+}
+
+MotionCaptureCoordinator::~MotionCaptureCoordinator()
+{
+
+}
+
+void MotionCaptureCoordinator::startStepMotion(double speed, int stepInterval, double startPos, double endPos)
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	if (m_isRunning)
+	{
+		emit errorOccurred("Sequence already running");
+		return;
+	}
+
+	m_counter = 0;
+
+	m_positionData.clear();
+
+	m_speed = speed;
+	m_iStepInterval = stepInterval;
+	m_iStepIntervalRealTime = 1;
+	m_currentPos = startPos;
+	m_endPos = endPos;
+	m_posInternal = (endPos - startPos) / stepInterval;
+
+	m_isRunning = true;
+
+	processNextPosition();
+}
+
+void MotionCaptureCoordinator::stopStepMotion()
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_isRunning = false;
+	emit sequenceStopped();
+}
+
+QVector<PositionData> MotionCaptureCoordinator::getAllPositionData() const
+{
+	//QMutexLocker locker(&m_dataMutex);
+	return m_positionData;
+}
+
+bool MotionCaptureCoordinator::saveToCsv(const QString& filename)
+{
+	//QMutexLocker locker(&m_dataMutex);
+
+	QFile file(filename);
+	if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+	{
+		return false;
+	}
+
+	QTextStream out(&file);
+	out << "Timestamp,targetPosition,ActualPosition,FocusIndex\n";
+
+	for (const auto& data : m_positionData)
+	{
+		out << data.timestamp.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+			<< QString::number(data.targetPosition, 'f', 4) << ","
+			<< QString::number(data.actualPosition, 'f', 4) << ","
+			<< QString::number(data.cameraIndex, 'f', 4) << "\n";
+	}
+
+	file.close();
+	return true;
+}
+
+void MotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
+{
+	if (!m_isRunning) return;
+
+	QMutexLocker locker(&m_dataMutex);
+
+	//验证马达运动位置是否到达指定位置
+	//if (pos != m_currentPos) return;
+
+	// 记录位置信息
+	PositionData data;
+	data.targetPosition = m_currentPos;
+	data.actualPosition = pos;
+	data.timestamp = QDateTime::currentDateTime();
+	m_positionData.append(data);
+
+	// 开始采集
+	emit getFocusIndexSobel();
+}
+
+void MotionCaptureCoordinator::handleCaptureComplete(double index)
+{
+	if (!m_isRunning) return;
+
+	QMutexLocker locker(&m_dataMutex);
+
+	// 更新最近一条记录的相机指数
+	//if (!m_positionData.isEmpty() &&
+	//	m_positionData.last().targetPosition == m_positionData.last().actualPosition)
+	//{
+	//	m_positionData.last().cameraIndex = index;
+	//}
+	m_positionData.last().cameraIndex = index;
+
+	m_currentPos += m_posInternal;
+	m_iStepIntervalRealTime++;
+	emit progressChanged(m_iStepIntervalRealTime);
+
+	m_counter += 1;
+
+	std::cout << "第" << m_counter << "次采集：" << std::endl;
+	std::cout << "目标位置：" << m_positionData.last().targetPosition << std::endl;
+	std::cout << "实际位置：" << m_positionData.last().actualPosition << std::endl;
+
+	processNextPosition();
+}
+
+void MotionCaptureCoordinator::handleError(const QString& error)
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_isRunning = false;
+	emit errorOccurred(error);
+}
+
+void MotionCaptureCoordinator::processNextPosition()
+{
+	if (!m_isRunning) return;
+
+	if (m_currentPos > m_endPos)
+	{
+		m_isRunning = false;
+		emit sequenceComplete();
+
+		return;
+	}
+
+	emit moveTo(0, m_currentPos, m_speed, 1000);
+}

HPPA/focusWindow.h

@@ -16,6 +16,8 @@
 #include <QFileDialog>
 #include <QtSerialPort/QSerialPort>
 #include <QtSerialPort/QSerialPortInfo>
+#include <QDateTime>
+#include <QMutex>
 
 #include "ui_FocusDialog.h"
 #include "AbstractPortMiscDefines.h"
@@ -26,6 +28,71 @@
 #include "hppaConfigFile.h"
 #include "path_tc.h"
 #include "ImagerOperationBase.h"
+#include "IrisMultiMotorController.h"
+
+#include <Eigen/Dense>
+#include <cmath>
+
+// <20><><EFBFBD>ݼ<EFBFBD>¼<EFBFBD>ṹ<EFBFBD><E1B9B9>
+struct PositionData {
+	double targetPosition;    // Ŀ<><C4BF>λ<EFBFBD><CEBB>
+	double actualPosition; // ʵ<><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
+	double cameraIndex;    // <20><><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>ָ<EFBFBD><D6B8>
+	QDateTime timestamp;   // ʱ<><CAB1><EFBFBD><EFBFBD>
+
+	PositionData(double target = 0, double actual = 0.0, double index = 0.0)
+		: targetPosition(target), actualPosition(actual),
+		cameraIndex(index), timestamp(QDateTime::currentDateTime()) {}
+};
+
+// Э<><D0AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+class MotionCaptureCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	MotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
+		ImagerOperationBase* cameraCtrl,
+		QObject* parent = nullptr);
+	~MotionCaptureCoordinator();
+
+	QVector<PositionData> getAllPositionData() const;
+	bool saveToCsv(const QString& filename);
+
+public slots:
+	void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);//-1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܵ<EFBFBD><DCB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զλ<D4B6><CEBB>
+	void stopStepMotion();
+
+signals:
+	void progressChanged(int progress);
+	void sequenceComplete();
+	void sequenceStopped();
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void getFocusIndexSobel();
+
+private slots:
+	void handlePositionReached(int motorID, double pos);
+	void handleCaptureComplete(double index);
+	void handleError(const QString& error);
+
+private:
+	void processNextPosition();
+
+	IrisMultiMotorController* m_motorCtrl;
+	ImagerOperationBase* m_cameraCtrl;
+	QVector<PositionData> m_positionData;
+	mutable QMutex m_dataMutex;
+
+	double m_posInternal;
+	double m_currentPos;
+	double m_endPos;
+	bool m_isRunning;
+	double m_speed;
+
+	int m_iStepInterval;
+	int m_iStepIntervalRealTime;
+	int m_counter;
+};
 
 class focusWindow:public QDialog
 {
@@ -50,6 +117,21 @@ private:
 
 	void disableBeforeConnect(bool disable);
 
+	QThread m_motorThread;
+	IrisMultiMotorController* m_multiAxisController;
+	double m_dSpeed;
+
+	QThread m_MotionCaptureCoordinatorThread;
+	MotionCaptureCoordinator* m_coordinator;
+
+	int m_iStepSize;
+	double m_goodPos;
+	bool m_isAutoFocusSuccess;
+	bool m_isMoveAfterAutoFocus = false;
+	void getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init);
+	void gaussian_fit(const std::vector<double>& x_data, const std::vector<double>& y_data, double& a, double& mu, double& sigma, double& c);
+
+
 public Q_SLOTS:
 	void onConnectMotor();
 	void onMove2MotorLogicZero();
@@ -64,8 +146,21 @@ public Q_SLOTS:
 	void onAutoFocusProgress(int progress);
 	void onUltrasound_radioButton();
 
+	void display_x_loc(std::vector<double> loc);
+	void onx_rangeMeasurement();
+
+	void moveAfterAutoFocus(int motorID, double location);
+
 signals:
 	void StartManualFocusSignal(int);//1<><31><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+	void move2LocSignal(int, double, double, int);
+	void move2MaxLocSignal(int, double, int);
+	void rmoveSignal(int, double, double, int);
+	void rangeMeasurementSignal(int, double, int);
+	void zeroStartSignal(int);
+
+	void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);
 };
 
 class WorkerThread2 : public QThread

HPPA/hppaConfigFile.cpp

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

HPPA/hppaConfigFile.h

@@ -45,6 +45,36 @@ public:
     bool createConfigFile();
     bool updateConfigFile();
 
+private:
+    string m_configfilePath;
+    Config cfg;
+};
+
+class CorningConfigfile
+{
+public:
+    CorningConfigfile();
+    void setConfigfilePath(string configfilePath);
+    bool isConfigfileExist();
+    bool parseConfigfile();
+
+    bool getSpectralBin(int& spectralBin);
+    bool getspatialBin(int& spatialBin);
+    bool getEffectiveWindow(int& width, int& offsetx, int& height, int& offsety);
+    bool getEffectiveWindowRoi(int& width, int& offsetx);
+    bool getWindowOffsety_HeightOfSpectral(int& offsety, int& height, string spectralBinString);//spectralBinString = "bin1"<22><><EFBFBD>ߡ<EFBFBD>bin2<6E><32>
+    bool getGainOffset(float& gain, float& offset);
+    bool getGainOffsetOfSpectralBin1(float& gain, float& offset);
+    bool getSN(QString& SN);
+
+    bool getBufferPolicy(int& bufferPolicy);
+    bool getAcqBufferSize(int& acqBufferSize);
+
+    bool getPushFlowParam(int& flowSwitch, int& rgbHeight, int& framerateVideo);
+
+    bool createConfigFile();
+    bool updateConfigFile();
+
 private:
     string m_configfilePath;
     Config cfg;

HPPA/image2display.cpp

@@ -172,7 +172,7 @@ void CImage::FillFocusGrayQImage(unsigned short * datacube)
 		}
 	}
 
-	m_qimageFocusGrayImage->save("D:/delete/2222222222/test.bmp");
+	//m_qimageFocusGrayImage->save("D:/delete/2222222222/test.bmp");
 
 
 

HPPA/imager_base.cpp

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

HPPA/imager_base.h

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

HPPA/irisximeaimager.cpp

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

HPPA/irisximeaimager.h

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

HPPA/oneMotorControl.ui

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

HPPA/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();
+}

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

cfg_file_backup/HPPA.cfg

@@ -0,0 +1,43 @@
+SN = "2004";
+autoFocus : 
+{
+  PositionRestriction : 
+  {
+    max = 1000;
+    min = 120;
+  };
+  TuningStepSize : 
+  {
+    coarse = 10;
+    fine = 2;
+  };
+  FitParams : 
+  {
+    fa = 0.0017;
+    fb = 0.3277;
+  };
+  AutoFocusRange : 
+  {
+    max = 688;
+    min = 144;
+  };
+};
+motionPlatform : 
+{
+  x : 
+  {
+    StepAnglemar = 1.8;
+    Lead = 1.0;
+    SubdivisionMultiples = 8;
+    ScaleFactor = 1.0;
+    MaxRange = 30.742266;
+  };
+  y : 
+  {
+    StepAnglemar = 1.8;
+    Lead = 1.0;
+    SubdivisionMultiples = 8;
+    ScaleFactor = 1.0;
+    MaxRange = 31.283163;
+  };
+};

cfg_file_backup/oneMotorConfigFile.cfg

@@ -0,0 +1,60 @@
+SN = "0";
+motors : 
+{
+  motor1 : 
+  {
+    platformParams : 
+    {
+      hardwareParams : 
+      {
+        StepAngle = 1.8;
+        Lead = 4.0;
+        ScaleFactor = 1.0;
+      };
+      runParams : 
+      {
+        RecordSpeed = 1.8;
+        MoveSpeed = 1.8;
+        ReturnSpeed = 1.8;
+        MaxRange = 120.0;
+      };
+    };
+    motorParams : 
+    {
+      Manufacturer = 0;
+      CommunicationProtocol = 0;
+      connectionParams : 
+      {
+        SerialPortNumber = "COM10";
+        BaudRate = 9600;
+      };
+      initParams : 
+      {
+        limit : 
+        {
+          msr = 1;
+          msv = 0;
+          psr = 2;
+          psv = 0;
+        };
+        other : 
+        {
+          acc = 20000.0;
+          cra = 4.0;
+          crh = 1.0;
+          crn = 4.0;
+          dec = 20000.0;
+          mcs = 7;
+        };
+        zeroStart : 
+        {
+          osv = 0;
+          snr = 0;
+          zmd = 2;
+          zsd = 3000;
+          zsp = 2400;
+        };
+      };
+    };
+  };
+};

cfg_file_backup/oneMotorConfigFile_focus.cfg

@@ -0,0 +1,60 @@
+SN = "0";
+motors : 
+{
+  motor1 : 
+  {
+    platformParams : 
+    {
+      hardwareParams : 
+      {
+        StepAngle = 1.8;
+        Lead = 1.37;
+        ScaleFactor = 1.0;
+      };
+      runParams : 
+      {
+        RecordSpeed = 1.0;
+        MoveSpeed = 1.0;
+        ReturnSpeed = 1.0;
+        MaxRange = 11.559696;
+      };
+    };
+    motorParams : 
+    {
+      Manufacturer = 0;
+      CommunicationProtocol = 1;
+      connectionParams : 
+      {
+        SerialPortNumber = "COM10";
+        BaudRate = 9600;
+      };
+      initParams : 
+      {
+        limit : 
+        {
+          msr = 1;
+          msv = 1;
+          psr = 2;
+          psv = 1;
+        };
+        other : 
+        {
+          acc = 19200.0;
+          cra = 0.2;
+          crh = 0.0;
+          crn = 0.2;
+          dec = 19200.0;
+          mcs = 6;
+        };
+        zeroStart : 
+        {
+          osv = 1;
+          snr = 0;
+          zmd = 1;
+          zsd = 4000;
+          zsp = 2400;
+        };
+      };
+    };
+  };
+};

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