完成maptool的功能：

1、工具在工具栏中的状态管理；
2、工具在mapcavas中的图标管理；
3、工具在多tab切换时的管理；
4、MapToolSpectral添加十字叉，显示点击位置；

.gitignore

@@ -1,5 +1,12 @@
 # tc
 GeneratedFiles/
+ResononAPISetup-3.12-64bit.exe
+gdal202.dll
+*.rej
+HPPA类图.drawio
+HPPA - 副本.ui
+icon
+ignore_*
 
 ## 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/Carousel.cpp

@@ -0,0 +1,259 @@
+#include "Carousel.h"
+#include <QContextMenuEvent>
+#include <QDebug>
+
+MyCarousel::MyCarousel(QWidget* parent)
+    : QWidget(parent),
+    m_stackedWidget(new QStackedWidget(this)),
+    m_bottomButtonOverlay(nullptr),
+    m_bottomButtonLayout(nullptr),
+    m_bottomButtonGroup(nullptr),
+    m_currentIndex(0),
+    m_isPlaying(false),
+    m_isLocked(false),
+    m_lockedIndex(-1),
+    m_playInterval(2000),
+    m_intervalButtonSize(40)
+{
+    QVBoxLayout* layout = new QVBoxLayout(this);
+    layout->addWidget(m_stackedWidget);
+    layout->setContentsMargins(0, 0, 0, 0);
+
+    m_autoPlayerTimer = new QTimer(this);
+    connect(m_autoPlayerTimer, &QTimer::timeout,
+        this, &MyCarousel::slideRight);
+
+    m_nomalQSS= R"(
+            QPushButton
+            {
+                background-color: #FFFFFF;
+                border-radius: 5px;
+                border: 1px solid #FFFFFF;
+            }
+            QPushButton:checked
+            {
+                background-color: #08F8E8;
+                border-radius: 5px;
+                border: 1px solid #08F8E8;
+            }
+            QPushButton:hover
+            {
+                background-color: red;
+                border-radius: 5px;
+                border: 1px solid red;
+            }
+            /*QPushButton:!checked {
+                background-color: #FFFFFF;
+                border-radius: 5px;
+                border: 1px solid #FFFFFF;
+            }*/
+	)";
+
+    m_lockedQSS = R"(
+            QPushButton
+            {
+                background-color: #FFFFFF;
+                border-radius: 5px;
+                border: 1px solid #FFFFFF;
+            }
+            QPushButton:checked
+            {
+                background-color: #08F8E8;
+                border-radius: 5px;
+                border: 1px solid #08F8E8;
+            }
+            QPushButton:hover
+            {
+                background-color: red;
+                border-radius: 5px;
+                border: 1px solid red;
+            }
+	)";
+}
+
+void MyCarousel::addWidget(QWidget* w)
+{
+    m_widgets.append(w);
+    m_stackedWidget->addWidget(w);
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::play()
+{
+    if (m_widgets.isEmpty())
+        return;
+
+    m_isPlaying = true;
+
+    // 创建底部按钮
+    m_bottomButtonLayout = new QHBoxLayout();
+    m_bottomButtonGroup = new QButtonGroup(this);
+    m_bottomButtons.clear();
+
+    for (int i = 0; i < m_widgets.size(); ++i) {
+        QPushButton* btn = new QPushButton(this);
+        btn->setCheckable(true);
+        btn->setFixedSize(m_intervalButtonSize, 3);
+        btn->setStyleSheet(m_nomalQSS);
+        btn->setFixedHeight(10);
+        btn->setFixedWidth(10);
+
+        m_bottomButtonLayout->addWidget(btn);
+        m_bottomButtonGroup->addButton(btn, i);
+        m_bottomButtons.append(btn);
+
+        connect(btn, &QPushButton::clicked, this, [this, i]() {
+            onButtonClicked(i);
+            });
+    }
+
+    m_bottomButtonOverlay = new QWidget(this);
+    m_bottomButtonOverlay->setLayout(m_bottomButtonLayout);
+    m_bottomButtonOverlay->setAttribute(Qt::WA_TranslucentBackground);
+    m_bottomButtonOverlay->show();
+
+    m_autoPlayerTimer->setInterval(m_playInterval);
+    m_autoPlayerTimer->start();
+
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::contextMenuEvent(QContextMenuEvent* event)
+{
+    showContextMenu(event->globalPos());
+}
+
+void MyCarousel::showContextMenu(const QPoint& pos)
+{
+    QMenu menu(this);
+
+    QAction* startAct = menu.addAction(QString::fromLocal8Bit("开始轮播"));
+    QAction* stopAct = menu.addAction(QString::fromLocal8Bit("停止轮播"));
+
+    if (!m_isLocked)
+        startAct->setEnabled(false);
+
+    if (m_isLocked)
+        stopAct->setEnabled(false);
+
+    QAction* act = menu.exec(pos);
+
+    if (act == startAct)
+        startAutoPlay();
+    else if (act == stopAct)
+        stopAutoPlay();
+}
+
+void MyCarousel::startAutoPlay()
+{
+    updateButtonState(m_currentIndex);
+}
+
+void MyCarousel::stopAutoPlay()
+{
+    updateButtonState(m_currentIndex);
+}
+
+void MyCarousel::onButtonClicked(int index)
+{
+    updateButtonState(index);
+    gotoWidget(index);
+}
+
+void MyCarousel::updateButtonState(int index)
+{
+    if (m_isLocked)
+    {
+        if (index == m_lockedIndex) {
+            // 解锁
+            m_isLocked = false;
+            m_lockedIndex = -1;
+
+            if (m_isPlaying)
+                m_autoPlayerTimer->start();
+
+            restoreButtonStyle(index);
+        }
+        else {
+            // 切换锁定
+            restoreButtonStyle(m_lockedIndex);
+            setButtonLocked(index);
+            m_lockedIndex = index;
+        }
+    }
+    else {
+        // 初次锁定
+        m_isLocked = true;
+        m_lockedIndex = index;
+        m_autoPlayerTimer->stop();
+        setButtonLocked(index);
+    }
+}
+
+void MyCarousel::setButtonLocked(int index)
+{
+    QPushButton* btn = m_bottomButtons[index];
+    btn->setText("");
+    btn->setStyleSheet(m_lockedQSS);
+}
+
+void MyCarousel::restoreButtonStyle(int index)
+{
+    if (index < 0)
+        return;
+
+    QPushButton* btn = m_bottomButtons[index];
+    btn->setText("");
+    btn->setStyleSheet(m_nomalQSS);
+}
+
+void MyCarousel::slideLeft()
+{
+    if (m_widgets.isEmpty() || m_isLocked || !m_isPlaying)
+        return;
+
+    m_currentIndex = (m_currentIndex - 1 + m_widgets.size()) % m_widgets.size();
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::slideRight()
+{
+    if (m_widgets.isEmpty() || m_isLocked || !m_isPlaying)
+        return;
+
+    m_currentIndex = (m_currentIndex + 1) % m_widgets.size();
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::gotoWidget(int index)
+{
+    m_currentIndex = index;
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::updateStackedWidgetVisibility()
+{
+    if (m_widgets.isEmpty())
+        return;
+
+    m_stackedWidget->setCurrentIndex(m_currentIndex);
+
+    if (!m_isLocked) {
+        for (int i = 0; i < m_bottomButtons.size(); ++i)
+            m_bottomButtons[i]->setChecked(i == m_currentIndex);
+    }
+}
+
+void MyCarousel::resizeEvent(QResizeEvent*)
+{
+    if (!m_bottomButtonOverlay)
+        return;
+
+    int count = m_widgets.size();
+    int totalWidth = m_intervalButtonSize * count + 10 * (count - 1);
+
+    int x = (width() - totalWidth) / 2;
+    int y = height() - m_intervalButtonSize;
+
+    m_bottomButtonOverlay->setGeometry(x, y, totalWidth, m_intervalButtonSize);
+}

HPPA/Carousel.h

@@ -0,0 +1,66 @@
+#pragma once
+
+#include <QWidget>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QButtonGroup>
+#include <QTimer>
+#include <QMenu>
+
+class MyCarousel : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit MyCarousel(QWidget* parent = nullptr);
+
+    void addWidget(QWidget* w);
+    void play();
+    void gotoWidget(int index);
+
+protected:
+    void contextMenuEvent(QContextMenuEvent* event) override;
+    void resizeEvent(QResizeEvent* event) override;
+
+private slots:
+    void slideLeft();
+    void slideRight();
+    void onButtonClicked(int index);
+
+private:
+    // UI
+    QStackedWidget* m_stackedWidget;
+    QWidget* m_bottomButtonOverlay;
+    QHBoxLayout* m_bottomButtonLayout;
+    QButtonGroup* m_bottomButtonGroup;
+
+    QVector<QWidget*> m_widgets;
+    QVector<QPushButton*> m_bottomButtons;
+    QString m_nomalQSS;
+    QString m_lockedQSS;
+
+    // ״ֵ̬
+    int m_currentIndex;
+    bool m_isPlaying;
+    bool m_isLocked;
+    int m_lockedIndex;
+
+    // <20><><EFBFBD><EFBFBD>
+    int m_playInterval;
+    int m_intervalButtonSize;
+
+    QTimer* m_autoPlayerTimer;
+
+private:
+    void updateStackedWidgetVisibility();
+    void updateButtonState(int index);
+
+    void setButtonLocked(int index);
+    void restoreButtonStyle(int index);
+
+    void showContextMenu(const QPoint& pos);
+
+    void startAutoPlay();
+    void stopAutoPlay();
+};

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/CustomDockWidgetBase.cpp

@@ -0,0 +1,204 @@
+#include "CustomDockWidgetBase.h"
+
+CustomDockWidgetBase::CustomDockWidgetBase(QMainWindow* parent)
+    : QDockWidget(parent),
+    m_mainWindow(parent),
+    m_isMaximized(false)
+{
+    initialize();
+}
+
+CustomDockWidgetBase::CustomDockWidgetBase(QString title, QMainWindow* parent)
+    : QDockWidget(title, parent),
+    m_mainWindow(parent),
+    m_isMaximized(false)
+{
+    initialize();
+    setTile(title);
+}
+
+void CustomDockWidgetBase::initialize()
+{
+    QWidget* titleBar_Background = new QWidget(this);
+    titleBar_Background->setObjectName("titleBar_Background");
+    QGridLayout* layout_titleBar_Background = new QGridLayout(titleBar_Background);
+    layout_titleBar_Background->setContentsMargins(0, 0, 0, 0);
+    titleBar_Background->setStyleSheet(R"(
+        QWidget #titleBar_Background{
+			background: #040125;
+        }
+	)");
+
+    QWidget* titleBar = new QWidget(titleBar_Background);
+    titleBar->setObjectName("titleBar");
+    QHBoxLayout* layout = new QHBoxLayout(titleBar);
+    titleBar->setFixedHeight(30);
+
+    title_label = new QLabel(titleBar);
+
+    layout->setContentsMargins(10, 0, 10, 0);
+    layout->addWidget(title_label);
+    layout->addStretch();
+
+    m_maxButton = new QToolButton(titleBar);
+    m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarMaxButton));
+
+    layout->addWidget(m_maxButton);
+
+    titleBar->setStyleSheet(R"(
+        QWidget #titleBar{
+			background: #0E1C4C;
+			/*border: 4px solid #2c586b;*/
+			/*padding-top: 10px;
+			padding-bottom: 10px;*/
+
+			border-top: 1px solid #2c586b;
+			border-left: 1px solid #2c586b;
+			border-right: 1px solid #2c586b;
+			border-bottom: none;  /* ȡ<><C8A1><EFBFBD>ײ<EFBFBD><D7B2>߿<EFBFBD> */
+			
+			border-top-left-radius: 5px;
+			border-top-right-radius: 5px;
+        }
+	)");
+    title_label->setStyleSheet("color: white;");
+    m_maxButton->setStyleSheet("");
+
+    layout_titleBar_Background->addWidget(titleBar);
+
+    setTitleBarWidget(titleBar_Background);
+    setFeatures(QDockWidget::DockWidgetClosable);
+    connect(m_maxButton, &QToolButton::clicked, this, &CustomDockWidgetBase::toggleMaximize);
+}
+
+void CustomDockWidgetBase::setTile(QString title)
+{
+    title_label->setText(title);
+}
+
+void CustomDockWidgetBase::hideMaxButton()
+{
+    m_maxButton->hide();
+}
+
+void CustomDockWidgetBase::toggleMaximize()
+{
+    if (!m_isMaximized)
+    {
+        m_hiddenDocks.clear();
+        m_originalSizes.clear();
+
+        m_savedState = m_mainWindow->saveState();
+
+        const QList<QDockWidget*> docks = m_mainWindow->findChildren<QDockWidget*>();
+        for (QDockWidget* dock : docks)
+        {
+            m_originalSizes[dock] = dock->size();
+            if (dock != this && dock->isVisible())
+            {
+                dock->hide();
+                m_hiddenDocks.append(dock);
+            }
+        }
+
+        m_isMaximized = true;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarNormalButton));
+    }
+    else
+    {
+        for (QDockWidget* dock : m_hiddenDocks)
+        {
+            dock->show();
+        }
+
+        if (!m_savedState.isEmpty())
+        {
+            m_mainWindow->restoreState(m_savedState);
+            m_savedState.clear();
+        }
+
+        QList<QDockWidget*> docks;
+        QList<int> widths, heights;
+        for (auto it = m_originalSizes.begin(); it != m_originalSizes.end(); ++it)
+        {
+            docks.append(it.key());
+            widths.append(it.value().width());
+            heights.append(it.value().height());
+        }
+
+        m_mainWindow->resizeDocks(docks, widths, Qt::Horizontal);
+        m_mainWindow->resizeDocks(docks, heights, Qt::Vertical);
+
+        m_isMaximized = false;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarMaxButton));
+    }
+}
+
+
+CustomDockWidgetHideAbove::CustomDockWidgetHideAbove(QString title, QMainWindow* parent)
+    :CustomDockWidgetBase(title, parent)
+{
+
+}
+CustomDockWidgetHideAbove::CustomDockWidgetHideAbove(QMainWindow* parent)
+    :CustomDockWidgetBase(parent)
+{
+
+}
+
+void CustomDockWidgetHideAbove::toggleMaximize()
+{
+    if (!m_isMaximized)
+    {
+        m_hiddenDocks.clear();
+        m_originalSizes.clear();
+
+        m_savedState = m_mainWindow->saveState();
+
+        const QList<QDockWidget*> docks = m_mainWindow->findChildren<QDockWidget*>();
+        for (QDockWidget* dock : docks)
+        {
+            m_originalSizes[dock] = dock->size();
+            if (dock->objectName().contains("mDockCarousel") && dock->isVisible())
+            {
+                dock->hide();
+                m_hiddenDocks.append(dock);
+            }
+        }
+
+        m_isMaximized = true;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarNormalButton));
+    }
+    else
+    {
+        for (QDockWidget* dock : m_hiddenDocks)
+        {
+            dock->show();
+        }
+
+        if (!m_savedState.isEmpty())
+        {
+            m_mainWindow->restoreState(m_savedState);
+            m_savedState.clear();
+        }
+
+        //QList<QDockWidget*> docks;
+        //QList<int> widths, heights;
+        //for (auto it = m_originalSizes.begin(); it != m_originalSizes.end(); ++it)
+        //{
+        //    docks.append(it.key());
+        //    widths.append(it.value().width());
+        //    heights.append(it.value().height());
+        //}
+
+        //m_mainWindow->resizeDocks(docks, widths, Qt::Horizontal);
+        //m_mainWindow->resizeDocks(docks, heights, Qt::Vertical);
+
+        m_isMaximized = false;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarMaxButton));
+    }
+}

HPPA/CustomDockWidgetBase.h

@@ -0,0 +1,53 @@
+#pragma once
+#include <QDockWidget>
+#include <QToolButton>
+#include <QStyle>
+#include <QHBoxLayout>
+#include <QMainWindow>
+#include <QMap>
+#include <QSize>
+#include <QLabel>
+
+class CustomDockWidgetBase :
+    public QDockWidget
+{
+    Q_OBJECT
+public:
+    explicit CustomDockWidgetBase(QString title, QMainWindow* parent = nullptr);
+    explicit CustomDockWidgetBase(QMainWindow* parent = nullptr);
+    void setTile(QString title);
+    void hideMaxButton();
+
+public slots:
+    virtual void toggleMaximize();
+
+signals:
+    void maximizeStateChanged(bool isMaximized);
+
+protected:
+    QMainWindow* m_mainWindow = nullptr;
+    QToolButton* m_maxButton = nullptr;
+    bool m_isMaximized = false;
+
+    QList<QDockWidget*> m_hiddenDocks;
+    QByteArray m_savedState;
+    QMap<QDockWidget*, QSize> m_originalSizes;
+
+    QLabel* title_label;
+    void initialize();
+};
+
+class CustomDockWidgetHideAbove :
+    public CustomDockWidgetBase
+{
+    Q_OBJECT
+public:
+    explicit CustomDockWidgetHideAbove(QString title, QMainWindow* parent = nullptr);
+    explicit CustomDockWidgetHideAbove(QMainWindow* parent = nullptr);
+
+private slots:
+    void toggleMaximize();
+
+private:
+
+};

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

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <cstdio>
 #include <iostream>
@@ -12,11 +12,14 @@
 #include <QLineSeries>
 #include <QChart>
 #include <QChartView>
+#include <QValueAxis>
 #include <QFileDialog>
 
 #include <QNetworkRequest>
 #include <QNetworkReply>
 #include <QNetworkAccessManager>
+#include <QVector>
+#include <QItemSelection>
 
 #include "ui_HPPA.h"
 #include "resononImager.h"
@@ -32,16 +35,41 @@
 #include "aboutWindow.h"
 #include "adjustTable.h"
 #include "PowerControl.h"
-#include "PathPlan.h"
+#include "RobotArmControl.h"
+#include "OneMotorControl.h"
+#include "TwoMotorControl.h"
+#include "imageControl.h"
 
 #include "hppaConfigFile.h"
 #include "path_tc.h"
 
 #include "ResononNirImager.h"
+#include "Corning410Imager.h"
+
+#include "CustomDockWidgetBase.h"
+#include "Carousel.h"
+
+#include "View3D.h"
+#include "TabManager.h"
+
+#include "View3DModelManager.h"
+
+#include "LayerTreeModel.h"
+#include "LayerTree.h"
+#include "MapLayer.h"
+#include "MapLayerStore.h"
+
+#include "LayerTreeView.h"
+#include "LayerTreeViewMenuProvider.h"
+
+#include "MapTool.h"
+#include "MapToolPan.h"
+#include "MapToolSpectral.h"
+#include "MapTools.h"
 
 #define PI 3.1415926
 
-QT_CHARTS_USE_NAMESPACE//QChartView ʹ<EFBFBD><EFBFBD> <20><>Ҫ<EFBFBD>Ӻ꣬ <20><><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD>ʹ<EFBFBD><CAB9>
+QT_CHARTS_USE_NAMESPACE//QChartView 使用 需要加宏， 否则无法使用
 
 class WorkerThread : public QThread
 {
@@ -68,11 +96,11 @@ public:
 	//			//double x = m_Imager->m_ResononImager.get_framerate();
 	//			int x = m_Imager->m_ResononImager.get_band_count();
 
-	//			std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>slopeΪ<EFBFBD><EFBFBD>" << x << std::endl;
+	//			std::cout << "相机连接正常！slope为：" << x << std::endl;
 	//		}
 	//		catch (std::runtime_error *e)//CException *e
 	//		{
-	//			std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӣ<EFBFBD>" << e->what() << std::endl;
+	//			std::cout << "相机断开连接！" << e->what() << std::endl;
 	//		}
 	//		Sleep(1000);
 	//	}
@@ -120,34 +148,29 @@ signals:
 	void threadSignal(QString s);
 };
 
-
-class ForLoopControl :public QObject
+class WidgetWithBackgroundPicture : public QWidget
 {
 	Q_OBJECT
 
 public:
-	ForLoopControl();
-	~ForLoopControl();
-
-	void setLoopCount(int loopCount);
-	int getLoopCount() const;
-
-	bool m_boolRecordNextLine;
-	bool m_boolQuitLoop;
+	explicit WidgetWithBackgroundPicture(QWidget* parent = nullptr)
+		: QWidget(parent),
+		m_pixmap(".//icon//titile_bar_bgp.png")  // 使用资源或绝对路径
+	{
+		// 可选：设置初始大小
+		resize(800, 600);
+	}
 
 protected:
+	void paintEvent(QPaintEvent* event) override
+	{
+		QPainter painter(this);
+		QPixmap scaled = m_pixmap.scaled(size(), Qt::KeepAspectRatioByExpanding, Qt::SmoothTransformation);
+		painter.drawPixmap(rect(), scaled);
+	}
+
 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);
+	QPixmap m_pixmap;
 };
 
 class HPPA : public QMainWindow
@@ -158,17 +181,24 @@ public:
 	HPPA(QWidget *parent = Q_NULLPTR);
 	~HPPA();
 
-	void CalculateIntegratioinTimeRange();//ͨ<><CDA8>֡<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>䷶Χ<E4B7B6><CEA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>slider<65><72><EFBFBD><EFBFBD>ֵ
+	static HPPA* instance();
+	LayerTreeNode* rasterGroupNode() const;
 
-	WorkerThread * m_TestImagerStausThread;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD>߳<EFBFBD>
+	void CalculateIntegratioinTimeRange();//通过帧率计算积分时间范围，设置slider最大值
+
+	WorkerThread * m_TestImagerStausThread;//检测相机连接状态的线程
 
 private:
+	static HPPA* s_instance;
 	Ui::HPPAClass ui;
+	QTabWidget* m_imageViewerTabWidget;
 
 	QMenu* mPanelMenu = nullptr;
 	QMenu* mToolbarMenu = nullptr;
 
+	void initMenubarToolbar();
 	void initPanelToolbar();
+	void initControlTabwidget();
 
 	QLineEdit * frame_number;
 	QLineEdit * m_FilenameLineEdit;
@@ -177,60 +207,33 @@ private:
 
 	Configfile mConfigfile;
 
-	ForLoopControl * m_ForLoopControl;
 	ImagerOperationBase* m_Imager;//
 
-	int m_RecordState;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD>ȡ2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1 <20><> <20><><EFBFBD>ڲɼ<DAB2><C9BC><EFBFBD>0 <20><> ֹͣ<CDA3>ɼ<EFBFBD>
+	int m_RecordState;//用来控制相机采集流程，取2的余数，1 → 正在采集，0 → 停止采集
 
-	QThread * m_ForLoopControlThread;//
-	QThread * m_RecordThread;//Ӱ<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD>߳<EFBFBD>
-	QThread * m_RgbCameraThread;//rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡͼ<EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD>
-	QThread * m_CopyFileThread;//Ӱ<><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD>
+	QThread * m_RecordThread;//影像采集线程
+	QThread * m_RgbCameraThread;//rgb相机获取图像线程
+	QThread * m_CopyFileThread;//影像文件复制线程
 	FileOperation * m_FileOperation;
 
 	QChartView * m_chartView;
+	QChart* m_chart;
 
 	//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>
+	QString operateWidget;//当前操作的控件名
 	
-	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;
+	//模拟相机位置
+	double widthScale;//QGraphicsView的viewport宽和真实距离比例：widthScale = rect.width() / maxDistance;
+	double heightScale;//QGraphicsView的viewport高和真实距离比例：heightScale = rect.height() / maxDistance;
 	void setImagerSimulationPos(double x, double y);//ui.graphicsView->imager->setPos(x, y);
 
-	//<EFBFBD>ɼ<EFBFBD><EFBFBD>߹滮
-	int m_numberOfRecording;//<EFBFBD><EFBFBD>ʾui.recordLine_tableWidget<EFBFBD>еĵڼ<EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD>ڲɼ<DAB2><C9BC>ڼ<EFBFBD><DABC><EFBFBD><EFBFBD><EFBFBD>
+	//采集线规划
+	int m_numberOfRecording;//表示ui.recordLine_tableWidget中的第几行 → 正在采集第几条线
 
 	//
-	int m_TabWidgetCurrentIndex;//<EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>ѡ<EFBFBD><EFBFBD>TabWidget<EFBFBD>ı<EFBFBD>ǩʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD>仯<EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab index
+	int m_TabWidgetCurrentIndex;//当手动选择TabWidget的标签时，记录变化后的tab index
 	RgbCameraOperation *m_RgbCamera;
 
 	void getRequest(QString str);
@@ -239,19 +242,60 @@ private:
 	void createActionGroups();
 	void selectingImager(QAction* selectedAction);
 
-	PathPlan* m_pathPlan;
+	QActionGroup* moveplatformActionGroup = nullptr;
+	void createMoveplatformActionGroup();
+	void selectingMoveplatform(QAction* selectedAction);
 
+	QActionGroup* m_ScenarioActionGroup = nullptr;
+	void createScenarioActionGroup();
+	void selectScenario(QAction* selectedAction);
+
+	
+	
 	FILE* m_hTimesFile;
 
+	CustomDockWidgetBase* m_dock_carousel;
+
+	MyCarousel* m_carousel;
+	QLabel* m_cam_label;
+	QPushButton* m_open_rgb_camera_btn;
+	QPushButton* m_close_rgb_camera_btn;
+
+	TabManager* m_tabManager;
+
+	ImageControl* m_ic;
+	adjustTable* m_adt;
+	PowerControl* m_pc;
+	RobotArmControl* m_rac;
+	OneMotorControl* m_omc;
+	TwoMotorControl* m_tmc;
+
+	View3DModelManager* m_view3DModelManager;
+
+	LayerTreeView* m_layerTreeView;
+	LayerTree* m_LayerTree = nullptr;
+	LayerTreeModel* m_LayerTreeModel = nullptr;
+	LayerTreeNode* m_RasterGroup = nullptr; // 指向 "Raster" 分组，便于后续添加 layer
+
+	MapLayerStore* m_MapLayerStore = nullptr;
+
+	// Map tools
+	MapTools* m_mapTools = nullptr;
+	QActionGroup* m_mapToolActionGroup = nullptr;
+	void initMapTools();
+	void setMapTool();
+
 public Q_SLOTS:
-	void onPlotHyperspectralImageRgbImage();
+	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
 	void PlotSpectral(int state);
 	void onRecordFinishedSignal_WhenFrameNumberMeet();
 	void onRecordFinishedSignal_WhenFrameNumberNotMeet();
+	void onsequenceComplete();
 
 	void onExit();
-	void onconnect();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	void testImagerStatus();//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
+	void onOpenImg();
+	void onconnect();//连接相机
+	void testImagerStatus();//获取相机状态：连接是否正常
 	void onAutoExposure();
 	void onFocus1();
 	void onFocus2(int command);
@@ -261,88 +305,58 @@ public Q_SLOTS:
 	void onReference();
 	void recordWhiteFinish();
 	void onStartRecordStep1();
-	void onStartRecordStep2(int lineNumber);
-	void onCreateTab(int trackNumber);
+	QWidget* onCreateTab(QString tabName);
 	void onTabWidgetCurrentChanged(int index);
 	void onActionOpenDirectory();
 
 	void OnFramerateLineeditEditingFinished();//
-	void OnFramerateSliderChanged(double framerate);//
+		void OnFramerateSliderChanged(double framerate);//
 
-	void OnIntegratioinTimeEditingFinished();//
-	void OnIntegratioinTimeSliderChanged(double IntegratioinTime);//
-	void OnGainEditingFinished();//
-	void OnGainSliderChanged(double Gain);//
+		void OnIntegratioinTimeEditingFinished();//
+		void OnIntegratioinTimeSliderChanged(double IntegratioinTime);//
+		void OnGainEditingFinished();//
+		void OnGainSliderChanged(double Gain);//
 
-	void onLeftMouseButtonPressed(int x, int y);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>
+		void onLeftMouseButtonPressed(int x, int y, QVector<double> wavelengths, QVector<double> spectrum);//点击影像像元显示光谱
+		void setAxis(QValueAxis* axisX, QValueAxis* axisY);
 
 
-	//<2F><><EFBFBD><EFBFBD>
-	void deleteMotor();
-	void newMotor();
-	void timerEvent(QTimerEvent *event);
-	void setMotorParamMicroscope(VinceControl* motor);
-	void setXMotorParamFromCfgFile(VinceControl* motor);
-	void setYMotorParamFromCfgFile(VinceControl* motor);
+		void timerEvent(QTimerEvent *event);
+		//
+		void onimagerSimulatorMove(int x, int y);
+		void OnSendLogToCallClass(QString str);
 
+		void onPlotRgbImage();
+		void onCloseRgbCamera();
+		void onClearLabel();
 
-	void onxMotorLeft();
-	void onxMotorRight();
-	void onxMotorStop();
+		void onCopyFinished();
 
-	void onyMotorForward();
-	void onyMotorBackward();
-	void onyMotorStop();
+		void requestFinished(QNetworkReply* reply);
 
-	void onMotorReset();
+		void recordFromRobotArm(int fileCounter);
 
-	void OnXmotorSpeedEditingFinished();
+		void createOneMotorScenario();
+		void createPlantPhenotypeScenario();
+		void onCreated3DModelPlantPhenotype();
+		void onCreated3DModelOneMotor();
 
-	void ontimerLocationFeedBackOfMotor_x_y();
-	void ontimerYmotorLocationFeedBackAfterRecord();
+		void onImageFileSaved(QString path, int fileIndex);
 
-	void OnXmotorSpeedLineeditEditingFinished();
-	void OnXmotorSpeedSliderChanged(double speed);
-	void OnXmotorLocationLineeditEditingFinished();
-	void OnXmotorLocationSliderChanged(double location);
-	void OnXmotorLocationSliderReleased();
+		void onLayerCreatedFromFile(const QString& baseName, const QString& filePath, int fileIndex);
+		void removeLayerByTreeIndex();
+		void removeAllLayersInRasterGroup();
 
+		void onLayerTreeSelectionChanged(const QItemSelection& selected, const QItemSelection& deselected);
+		void onBandSelectionChanged(double rWave, double gWave, double bWave);
 
-	void OnYmotorLocationLineeditEditingFinished();
-	void OnYmotorLocationSliderChanged(double location);
-	void OnYmotorLocationSliderReleased();
-
-
-
-	void ontestRangeOfMotor_x_y();
-	void ontimerTestRangeOfxMotor();
-	void ontimerTestRangeOfyMotor();
-
-	void ontimerMoveXmotor();
-	void ontimerMoveYmotor();
-
-	void onMotorSwitch();
-
-	//
-	void onimagerSimulatorMove(int x, int y);
-	void OnSendLogToCallClass(QString str);
-
-	void onPlotRgbImage();
-	void onCloseRgbCamera();
-	void onClearLabel();
-
-	void onCopyFinished();
-
-	void requestFinished(QNetworkReply* reply);
-
+		void onMapToolPanTriggered();
+		void onMapToolSpectralTriggered();
 signals:
 	void StartFocusSignal();
-	void StartLoopSignal();
 	void StartRecordSignal();
 	void CopyFileThreadSignal(QString, QString);
-	void BroadcastXMotorPosSignal(long long, int);
 
 	void RecordWhiteSignal();
 	void RecordDarlSignal();
 };
-

HPPA/HPPA.vcxproj

@@ -14,16 +14,16 @@
     <ProjectGuid>{E7886664-B69E-4781-BCBE-804574FB4033}</ProjectGuid>
     <Keyword>QtVS_v304</Keyword>
     <QtMsBuild Condition="'$(QtMsBuild)'=='' OR !Exists('$(QtMsBuild)\qt.targets')">$(MSBuildProjectDirectory)\QtMsBuild</QtMsBuild>
-    <WindowsTargetPlatformVersion>10.0.22000.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <UseOfMfc>false</UseOfMfc>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
@@ -31,8 +31,8 @@
     <Import Project="$(QtMsBuild)\qt_defaults.props" />
   </ImportGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="QtSettings">
-    <QtInstall>5.9_msvc2017_64</QtInstall>
-    <QtModules>core;network;gui;widgets;serialport;websockets;charts</QtModules>
+    <QtInstall>5.13.2_msvc2017_64</QtInstall>
+    <QtModules>core;network;gui;widgets;serialport;websockets;3dcore;3danimation;3dextras;3dinput;3dlogic;3drender;3dquick;charts</QtModules>
     <QtBuildConfig>debug</QtBuildConfig>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="QtSettings">
@@ -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>
@@ -106,21 +106,49 @@
   <ItemGroup>
     <ClCompile Include="aboutWindow.cpp" />
     <ClCompile Include="adjustTable.cpp" />
+    <ClCompile Include="CaptureCoordinator.cpp" />
+    <ClCompile Include="Carousel.cpp" />
+    <ClCompile Include="Corning410Imager.cpp" />
+    <ClCompile Include="CustomDockWidgetBase.cpp" />
     <ClCompile Include="hppaConfigFile.cpp" />
+    <ClCompile Include="imageControl.cpp" />
     <ClCompile Include="ImagerOperationBase.cpp" />
-    <ClCompile Include="PathPlan.cpp" />
+    <ClCompile Include="imager_base.cpp" />
+    <ClCompile Include="irisximeaimager.cpp" />
+    <ClCompile Include="LayerTree.cpp" />
+    <ClCompile Include="LayerTreeGroupNode.cpp" />
+    <ClCompile Include="LayerTreeLayerNode.cpp" />
+    <ClCompile Include="LayerTreeModel.cpp" />
+    <ClCompile Include="LayerTreeNode.cpp" />
+    <ClCompile Include="LayerTreeView.cpp" />
+    <ClCompile Include="LayerTreeViewMenuProvider.cpp" />
+    <ClCompile Include="MapLayer.cpp" />
+    <ClCompile Include="MapLayerStore.cpp" />
+    <ClCompile Include="MapTool.cpp" />
+    <ClCompile Include="MapToolPan.cpp" />
+    <ClCompile Include="MapTools.cpp" />
+    <ClCompile Include="MapToolSpectral.cpp" />
+    <ClCompile Include="OneMotorControl.cpp" />
     <ClCompile Include="path_tc.cpp" />
     <ClCompile Include="PowerControl.cpp" />
     <ClCompile Include="QDoubleSlider.cpp" />
     <ClCompile Include="QMotorDoubleSlider.cpp" />
+    <ClCompile Include="RasterDataProvider.cpp" />
+    <ClCompile Include="RasterLayer.cpp" />
+    <ClCompile Include="RasterRenderer.cpp" />
     <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="TabManager.cpp" />
+    <ClCompile Include="TwoMotorControl.cpp" />
     <ClCompile Include="utility_tc.cpp" />
+    <ClCompile Include="View3D.cpp" />
+    <ClCompile Include="View3DModelManager.cpp" />
     <QtRcc Include="HPPA.qrc" />
     <QtUic Include="about.ui" />
     <QtUic Include="adjustTable.ui" />
@@ -137,8 +165,14 @@
     <ClCompile Include="imagerSimulatioin.cpp" />
     <ClCompile Include="ImageViewer.cpp" />
     <ClCompile Include="main.cpp" />
+    <QtUic Include="imgControl.ui" />
+    <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" />
@@ -150,9 +184,37 @@
     <QtMoc Include="image2display.h" />
   </ItemGroup>
   <ItemGroup>
+    <QtMoc Include="View3DModelManager.h" />
+    <QtMoc Include="View3D.h" />
     <QtMoc Include="adjustTable.h" />
     <QtMoc Include="PowerControl.h" />
-    <QtMoc Include="PathPlan.h" />
+    <QtMoc Include="RobotArmControl.h" />
+    <QtMoc Include="Corning410Imager.h" />
+    <QtMoc Include="CaptureCoordinator.h" />
+    <QtMoc Include="CustomDockWidgetBase.h" />
+    <QtMoc Include="Carousel.h" />
+    <QtMoc Include="imageControl.h" />
+    <ClInclude Include="imager_base.h" />
+    <ClInclude Include="irisximeaimager.h" />
+    <QtMoc Include="OneMotorControl.h" />
+    <QtMoc Include="TwoMotorControl.h" />
+    <QtMoc Include="TabManager.h" />
+    <QtMoc Include="LayerTreeModel.h" />
+    <QtMoc Include="LayerTreeNode.h" />
+    <QtMoc Include="LayerTree.h" />
+    <QtMoc Include="LayerTreeGroupNode.h" />
+    <QtMoc Include="LayerTreeLayerNode.h" />
+    <QtMoc Include="MapLayer.h" />
+    <QtMoc Include="RasterLayer.h" />
+    <QtMoc Include="MapLayerStore.h" />
+    <ClInclude Include="LayerTreeView.h" />
+    <QtMoc Include="LayerTreeViewMenuProvider.h" />
+    <QtMoc Include="MapTool.h" />
+    <QtMoc Include="MapToolPan.h" />
+    <QtMoc Include="MapToolSpectral.h" />
+    <QtMoc Include="MapTools.h" />
+    <ClInclude Include="RasterDataProvider.h" />
+    <ClInclude Include="RasterRenderer.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />

HPPA/HPPA.vcxproj.filters

@@ -103,7 +103,91 @@
     <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>
+    <ClCompile Include="CustomDockWidgetBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Carousel.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="View3D.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TabManager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="View3DModelManager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeNode.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeModel.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTree.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeGroupNode.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeLayerNode.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapLayer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RasterLayer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RasterDataProvider.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RasterRenderer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapLayerStore.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeView.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeViewMenuProvider.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="imageControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapTool.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapToolPan.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapToolSpectral.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapTools.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
@@ -150,7 +234,76 @@
     <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>
+    <QtMoc Include="CustomDockWidgetBase.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="Carousel.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="View3D.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="TabManager.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="View3DModelManager.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeModel.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeNode.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTree.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeGroupNode.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeLayerNode.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="MapLayer.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="RasterLayer.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="MapLayerStore.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeViewMenuProvider.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="imageControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="MapToolSpectral.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="MapToolPan.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="MapTool.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="MapTools.h">
       <Filter>Header Files</Filter>
     </QtMoc>
   </ItemGroup>
@@ -179,6 +332,21 @@
     <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>
+    <ClInclude Include="RasterDataProvider.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RasterRenderer.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="LayerTreeView.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">
@@ -196,6 +364,24 @@
     <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>
+    <QtUic Include="imgControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />

HPPA/ImageViewer.cpp

@@ -1,228 +1,294 @@
 #include "stdafx.h"
 #include <iostream>
+#include <cmath>
 
 #include <QWheelEvent>
 #include <QPoint>
 
 #include "ImageViewer.h"
+#include "RasterLayer.h"
+#include "MapTool.h"
 
 
 #define VIEW_CENTER viewport()->rect().center()
 #define VIEW_WIDTH  viewport()->rect().width()
 #define VIEW_HEIGHT viewport()->rect().height()
 
-
-ImageViewer::ImageViewer(QWidget* pParent) :QGraphicsView(pParent)
+Mapcavas::Mapcavas(QWidget* pParent) :QGraphicsView(pParent)
 {
-	m_qtGraphicsScene = new QGraphicsScene(this);
-	this->setScene(m_qtGraphicsScene);
+    setRenderHint(QPainter::Antialiasing);
+    setRenderHint(QPainter::SmoothPixmapTransform);
+    setDragMode(QGraphicsView::ScrollHandDrag);
 
-	m_framNumberLabel = new QLabel(this);
-	m_framNumberLabel->setAlignment(Qt::AlignHCenter);
-	m_framNumberLabel->setAlignment(Qt::AlignVCenter);
+    // ʹ<><CAB9> Qt Ĭ<><C4AC> anchor <20><>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    setTransformationAnchor(QGraphicsView::NoAnchor);
+    setResizeAnchor(QGraphicsView::NoAnchor);
 
-	QFont ft;
-	ft.setPointSize(14);
-	m_framNumberLabel->setFont(ft);
+    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);
+    m_framNumberLabel->setAlignment(Qt::AlignVCenter);
+
+    QFont ft;
+    ft.setPointSize(14);
+    m_framNumberLabel->setFont(ft);
 	m_framNumberLabel->setText("0");
 
 
-	m_GraphicsPixmapItemHandle = nullptr;
+    m_GraphicsPixmapItemHandle = nullptr;
 
-	m_scale = 1.0;
-	m_zoomDelta = 0.1;
-	m_translateSpeed = 1.0;
-	m_bMouseTranslate = false;
+    m_scale = 1.0;
+    m_zoomDelta = 0.1;
+    m_translateSpeed = 1.0;
+    m_bMouseTranslate = false;
 
-
-	setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-	setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-	setFrameShape(QFrame::NoFrame);
+    setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+    setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+    setFrameShape(QFrame::NoFrame);
 }
 
-ImageViewer::~ImageViewer()
+Mapcavas::~Mapcavas()
 {
 
 }
 
-void ImageViewer::DisplayFrameNumber(int frameNumber)
+void Mapcavas::DisplayFrameNumber(int frameNumber)
 {
-	m_framNumberLabel->setText(QString::number(frameNumber));
-	m_framNumberLabel->adjustSize();
+    m_framNumberLabel->setText(QString::number(frameNumber));
+    m_framNumberLabel->adjustSize();
 }
 
-void ImageViewer::SetImage(QPixmap *image)
+void Mapcavas::SetImage(QPixmap *image)
 {
-	if (!HasImage())
-	{
-		m_GraphicsPixmapItemHandle = m_qtGraphicsScene->addPixmap(*image);
-	}
-	else
-	{
-		m_GraphicsPixmapItemHandle->setPixmap(*image);
-	}
-
-	setSceneRect(QRectF(image->rect()));
-	
+    if (!HasImage())
+    {
+        m_GraphicsPixmapItemHandle = m_qtGraphicsScene->addPixmap(*image);
+    }
+    else
+    {
+        m_GraphicsPixmapItemHandle->setPixmap(*image);
+    }
+    ensureSceneVisible();
 }
 
-bool ImageViewer::HasImage()
+void Mapcavas::ensureSceneVisible()
 {
-	if (m_GraphicsPixmapItemHandle == nullptr)
-	{
-		return false;
-	}
-	else
-	{
-		return true;
-	}
+    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());
 }
 
-void ImageViewer::wheelEvent(QWheelEvent *event)
+bool Mapcavas::HasImage()
 {
-	//qDebug() << "---------------+++++++++++++++++++++++++++++++++++++++++++++++++++ ";
-	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));
-	}
-
-	QGraphicsView::wheelEvent(event);
+    if (m_GraphicsPixmapItemHandle == nullptr)
+    {
+        return false;
+    }
+    else
+    {
+        return true;
+    }
 }
 
-void ImageViewer::scaling(qreal scaleFactor)
+void Mapcavas::wheelEvent(QWheelEvent *event)
 {
-	//qDebug() << this->sceneRect();
-	scale(scaleFactor, scaleFactor);
+    // Always let the tool have a chance first
+    if (m_mapTool)
+    {
+        m_mapTool->canvasWheelEvent(event);
+    }
+
+    if (HasImage())
+    {
+        QPointF oldPos = mapToScene(event->pos());
+
+        QPoint scrollAmount = event->angleDelta();
+        scrollAmount.y() > 0 ? zoomIn() : zoomOut();
+
+        QPointF newPos = mapToScene(event->pos());
+
+        QPointF delta = newPos - oldPos;
+        translate(delta.x(), delta.y());
+    }
 }
 
-void ImageViewer::mousePressEvent(QMouseEvent *event)
+void Mapcavas::scaling(qreal scaleFactor)
 {
-	if (event->button()==Qt::LeftButton)
-	{
-		m_bMouseTranslate = true;
-		m_lastMousePos = event->pos();
-
-		//qDebug() << mapToScene(m_lastMousePos);
-
-		emit leftMouseButtonPressed(mapToScene(m_lastMousePos).x(), mapToScene(m_lastMousePos).y());
-	}
-	
-
-	//If you do not perform all the necessary work in your implementation of the virtual function, you may need to call the base class's implementation.
-	QGraphicsView::mousePressEvent(event);
+    scale(scaleFactor, scaleFactor);
 }
 
-void ImageViewer::mouseMoveEvent(QMouseEvent *event)
+void Mapcavas::mousePressEvent(QMouseEvent *event)
 {
-	if (m_bMouseTranslate){
-		QPointF mouseDelta = mapToScene(event->pos()) - mapToScene(m_lastMousePos);
-		translate(mouseDelta);
-	}
-
-	m_lastMousePos = event->pos();
-	QGraphicsView::mousePressEvent(event);
+    if (m_mapTool)
+    {
+        m_mapTool->canvasMousePressEvent(event);
+        QGraphicsView::mousePressEvent(event);
+        return;
+    }
+    QGraphicsView::mousePressEvent(event);
 }
 
-void ImageViewer::mouseReleaseEvent(QMouseEvent *event)
+void Mapcavas::mouseMoveEvent(QMouseEvent *event)
 {
-	m_bMouseTranslate = false;
-	QGraphicsView::mouseReleaseEvent(event);
+    if (m_mapTool)
+    {
+        m_mapTool->canvasMouseMoveEvent(event);
+        QGraphicsView::mousePressEvent(event);
+        return;
+    }
+
+    QGraphicsView::mousePressEvent(event);
 }
 
-void ImageViewer::mouseDoubleClickEvent(QMouseEvent *event)
+void Mapcavas::mouseReleaseEvent(QMouseEvent *event)
 {
-	QGraphicsView::mouseDoubleClickEvent(event);
+    if (m_mapTool)
+    {
+        m_mapTool->canvasMouseReleaseEvent(event);
+        QGraphicsView::mouseReleaseEvent(event);
+        return;
+    }
+
+    QGraphicsView::mouseReleaseEvent(event);
 }
 
-void ImageViewer::zoomIn()
+void Mapcavas::mouseDoubleClickEvent(QMouseEvent *event)
 {
-	zoom(1 + m_zoomDelta);
+    if (m_mapTool)
+    {
+        m_mapTool->canvasMouseDoubleClickEvent(event);
+        return;
+    }
+
+    QGraphicsView::mouseDoubleClickEvent(event);
 }
 
-void ImageViewer::zoomOut()
+void Mapcavas::zoomIn()
 {
-	zoom(1 - m_zoomDelta);
+    zoom(1 + m_zoomDelta);
 }
 
-void ImageViewer::zoom(float scaleFactor)
+void Mapcavas::zoomOut()
 {
-	// <20><>ֹ<EFBFBD><D6B9>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	qreal factor = transform().scale(scaleFactor, scaleFactor).mapRect(QRectF(0, 0, 1, 1)).width();
-	if (factor < 0.07 || factor > 100)
-		return;
-
-	scale(scaleFactor, scaleFactor);
-	m_scale *= scaleFactor;
+    zoom(1 - m_zoomDelta);
 }
 
-void ImageViewer::translate(QPointF delta)
+void Mapcavas::zoom(float scaleFactor)
 {
-	// <20><><EFBFBD>ݵ<EFBFBD>ǰ zoom <20><><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>
-	delta *= m_scale;
-	delta *= m_translateSpeed;
+    qreal factor = transform().scale(scaleFactor, scaleFactor).mapRect(QRectF(0, 0, 1, 1)).width();
+    if (factor < 0.07 || factor > 100)
+        return;
 
-	////<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);
+    scale(scaleFactor, scaleFactor);
+    m_scale *= scaleFactor;
 }
 
-void ImageViewer::setTranslateSpeed(qreal speed)
+void Mapcavas::setTranslateSpeed(qreal speed)
 {
-	// <20><><EFBFBD><EFBFBD><EFBFBD>ٶȷ<D9B6>Χ
-	Q_ASSERT_X(speed >= 0.0 && speed <= 2.0,
-		"InteractiveView::setTranslateSpeed", "Speed should be in range [0.0, 2.0].");
-	m_translateSpeed = speed;
+    Q_ASSERT_X(speed >= 0.0 && speed <= 2.0,
+        "InteractiveView::setTranslateSpeed", "Speed should be in range [0.0, 2.0].");
+    m_translateSpeed = speed;
 }
 
-qreal ImageViewer::translateSpeed() const
+qreal Mapcavas::translateSpeed() const
 {
-	return m_translateSpeed;
+    return m_translateSpeed;
 }
 
-void ImageViewer::setZoomDelta(qreal delta)
+void Mapcavas::setZoomDelta(qreal delta)
 {
-	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ
-	Q_ASSERT_X(delta >= 0.0 && delta <= 1.0,
-		"InteractiveView::setZoomDelta", "Delta should be in range [0.0, 1.0].");
-	m_zoomDelta = delta;
+    Q_ASSERT_X(delta >= 0.0 && delta <= 1.0,
+        "InteractiveView::setZoomDelta", "Delta should be in range [0.0, 1.0].");
+    m_zoomDelta = delta;
 }
 
-qreal ImageViewer::zoomDelta() const
+qreal Mapcavas::zoomDelta() const
 {
-	return m_zoomDelta;
+    return m_zoomDelta;
+}
+
+// new: set associated raster layer
+void Mapcavas::setLayers(RasterLayer* layer)
+{
+    m_rasterLayer = layer;
+}
+
+RasterLayer* Mapcavas::rasterLayer() const
+{
+    return m_rasterLayer;
+}
+
+// new: refresh the map by rendering using the RasterLayer's render method
+void Mapcavas::freshmap()
+{
+    if (!m_rasterLayer) return;
+
+    RasterLayer::RenderParams params = m_rasterLayer->currentRenderParams();
+    QImage img = m_rasterLayer->render(params);
+    if (img.isNull()) return;
+
+    QPixmap pm = QPixmap::fromImage(img);
+    SetImage(&pm);
+}
+
+void Mapcavas::freshmap(const RasterLayer::RenderParams& params)
+{
+    if (!m_rasterLayer) return;
+
+    QImage img = m_rasterLayer->render(params);
+    if (img.isNull()) return;
+
+    QPixmap pm = QPixmap::fromImage(img);
+    SetImage(&pm);
+}
+
+// MapTool management
+void Mapcavas::setMapTool(MapTool* tool)
+{
+    if (m_mapTool)
+    {
+        m_mapTool->deactivate();
+    }
+
+    m_mapTool = tool;
+
+    if (m_mapTool)
+    {
+        // Disable built-in drag mode so the tool controls everything
+        setDragMode(QGraphicsView::NoDrag);
+        m_mapTool->activate();
+    }
+    else
+    {
+        // Restore legacy drag mode when no tool
+        setDragMode(QGraphicsView::ScrollHandDrag);
+    }
+}
+
+void Mapcavas::unsetMapTool(MapTool* tool)
+{
+    if (m_mapTool && m_mapTool == tool)
+    {
+        m_mapTool->deactivate();
+        m_mapTool = nullptr;
+        setDragMode(QGraphicsView::ScrollHandDrag);
+    }
+}
+
+MapTool* Mapcavas::mapTool() const
+{
+    return m_mapTool;
 }

HPPA/ImageViewer.h

@@ -1,15 +1,20 @@
-#ifndef IMAGE_VIEWER
-#define IMAGE_VIEWER
+#ifndef MAPCAVAS_H
+#define MAPCAVAS_H
 
 #include "QGraphicsView"
 #include "qlabel.h"
-class ImageViewer :public QGraphicsView
+#include <QVector>
+#include "RasterLayer.h"
+
+class MapTool;
+
+class Mapcavas : public QGraphicsView
 {
 	Q_OBJECT
 
 public:
-	ImageViewer(QWidget* pParent = NULL);
-	~ImageViewer();
+	Mapcavas(QWidget* pParent = NULL);
+	~Mapcavas();
 
 	
 	void DisplayFrameNumber(int frameNumber);
@@ -22,6 +27,7 @@ public:
 
 	void SetImage(QPixmap *image);
 	bool HasImage();
+	void ensureSceneVisible();
 
 	void wheelEvent(QWheelEvent *event) Q_DECL_OVERRIDE;
 	void scaling(qreal scaleFactor);
@@ -29,7 +35,6 @@ 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);
@@ -38,12 +43,27 @@ public:
 	// <20><><EFBFBD>ŵ<EFBFBD><C5B5><EFBFBD><EFBFBD><EFBFBD>
 	void setZoomDelta(qreal delta);
 	qreal zoomDelta() const;
+
+	// new: set raster layer and refresh map
+	void setLayers(RasterLayer* layer);
+	void freshmap();
+	void freshmap(const RasterLayer::RenderParams& params);
+
+	RasterLayer* rasterLayer() const;
+
+	// MapTool management
+	void setMapTool(MapTool* tool);
+	void unsetMapTool(MapTool* tool);
+	MapTool* mapTool() const;
+
 protected:
 	QGraphicsScene *m_qtGraphicsScene;
 private:
 	QGraphicsPixmapItem *m_GraphicsPixmapItemHandle;
 	QLabel *m_framNumberLabel;//<2F><>ʾʵʱ<CAB5>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1>
-	
+
+	RasterLayer* m_rasterLayer = nullptr; // associated raster layer
+	MapTool* m_mapTool = nullptr;         // current active map tool
 
 	qreal m_translateSpeed;  // ƽ<><C6BD><EFBFBD>ٶ<EFBFBD>
 	qreal m_zoomDelta;  // <20><><EFBFBD>ŵ<EFBFBD><C5B5><EFBFBD><EFBFBD><EFBFBD>
@@ -53,6 +73,6 @@ private:
 
 
 signals:
-	void leftMouseButtonPressed(int, int);
+	void leftMouseButtonPressed(int, int, QVector<double>, QVector<double>);
 };
-#endif
+#endif

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);
@@ -189,9 +218,9 @@ void ImagerOperationBase::record_white()
 
 void ImagerOperationBase::start_record()
 {
-	using namespace std;
+    using namespace std;
 
-	//std::cout << "------------------------------------------------------" << std::endl;
+    //std::cout << "------------------------------------------------------" << std::endl;
 
 	m_iFrameCounter = 0;
 	m_RgbImage->m_iFrameCounter = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<62><CDBC><EFBFBD>ĵ<EFBFBD>0<EFBFBD><30>
@@ -204,7 +233,13 @@ void ImagerOperationBase::start_record()
 		exit(EXIT_FAILURE);
 	}
 
+	// <20>ڿ<EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>Ϣ<EFBFBD><CFA2>UI <20><><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD> MapLayer <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// prepare file name that will be used for saving
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
+	QString baseName = QString::fromStdString(getFileNameFromPath(m_FileName2Save2));
+	QString filePath = QString::fromStdString(m_FileName2Save2);
+	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter);
+
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
 	size_t x;
@@ -270,7 +305,7 @@ 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, filePath);
 		}
 
 		if (m_iFrameCounter >= m_iFrameNumber)
@@ -281,13 +316,18 @@ void ImagerOperationBase::start_record()
 	}
 	imagerStopCollect();
 
-	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
+	emit PlotSignal(m_FileSavedCounter, -1, filePath);
+
+	m_bRecordControlState = false;
+	WriteHdr();
+
+	// <20><><EFBFBD><EFBFBD> ImageFileSaved <20>źţ<C5BA>֪ͨ UI <20><><EFBFBD>Ѹ<EFBFBD><D1B8>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// m_FileName2Save2 <20><><EFBFBD><EFBFBD><EFBFBD>˱<EFBFBD><CBB1><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD> .bil <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> "tmp_image_0.bil"<22><>
+	emit ImageFileSaved(QString::fromStdString(m_FileName2Save2), m_FileSavedCounter);
+
+	m_FileSavedCounter++;
 
 	if (m_iFrameCounter >= m_iFrameNumber)
 	{
@@ -312,7 +352,7 @@ void ImagerOperationBase::setFrameNumber(int FrameNumber)
 void ImagerOperationBase::setFileName2Save(string FileName)
 {
 	m_FileName2Save = FileName;
-	m_FileSavedCounter = 1;
+	m_FileSavedCounter = 0;
 }
 
 void ImagerOperationBase::setFocusControlState(bool FocusControlState)
@@ -335,6 +375,61 @@ 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;
@@ -365,6 +460,11 @@ void ImagerOperationBase::setRecordControlState(bool RecordControlState)
 	m_bRecordControlState = RecordControlState;
 }
 
+void ImagerOperationBase::stop_record()
+{
+	m_bRecordControlState = false;
+}
+
 int ImagerOperationBase::getFrameCounter() const
 {
 	return m_iFrameCounter;
@@ -408,6 +508,7 @@ void ImagerOperationBase::WriteHdr()
 	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

@@ -9,6 +9,8 @@
 #include "ImagerOperationBase.h"
 #include "utility_tc.h"
 
+class MapLayer; // forward declaration
+
 class ImagerOperationBase :public QObject
 {
     Q_OBJECT
@@ -55,6 +57,7 @@ public:
     void setFocusControlState(bool FocusControlState);
     int GetFrameSize(int& iWidth, int& iHeight);
     
+    
 
 protected:
     CImage* m_RgbImage;//<2F><>ʾ<EFBFBD><CABE>rgbͼ<62><CDBC>
@@ -85,16 +88,21 @@ 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, QString);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>źţ<C5BA><C5A3><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD><DABC><EFBFBD>Ӱ<EFBFBD>񣻵ڶ<F1A3BBB5><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><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>
@@ -102,6 +110,14 @@ 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>
+
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>Ӱ<EFBFBD><D3B0><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>.bil/.hdr<64><72>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD>ɺ󷢳<C9BA><F3B7A2B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӳɼ<D3B2><C9BC>̷߳<DFB3><CCB7><EFBFBD><EFBFBD><EFBFBD>Qt <20><><EFBFBD><EFBFBD> queued connection<6F><6E>
+    void ImageFileSaved(const QString& path, int fileIndex);
+
+    // <20>޸ģ<DEB8><C4A3><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>ӷ<EFBFBD><D3B7><EFBFBD> MapLayer*<2A><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD>UI <20>㸺<EFBFBD>𴴽<EFBFBD> MapLayer <20><><EFBFBD>󲢹<EFBFBD><F3B2A2B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    void LayerFileCreated(const QString& baseName, const QString& filePath, int fileIndex);
 };

HPPA/LayerTree.cpp

@@ -0,0 +1,73 @@
+#include "LayerTree.h"
+#include "LayerTreeGroupNode.h"
+
+LayerTree::LayerTree(QObject* parent)
+    : QObject(parent)
+{
+    // root <20><>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> view <20><><EFBFBD><EFBFBD>ʾ
+    m_root = new LayerTreeGroupNode("__root__", this);
+    m_root->setVisible(Qt::Checked);
+}
+
+LayerTree::~LayerTree()
+{
+    delete m_root;
+    m_root = nullptr;
+}
+
+LayerTreeNode* LayerTree::root() const
+{
+    return m_root;
+}
+
+LayerTreeNode* LayerTree::insertNode(LayerTreeNode* parent, int row, LayerTreeNode* node)
+{
+    if (!node) return nullptr;
+    if (!parent) parent = m_root;
+
+    if (row < 0) row = parent->childCount();
+    parent->insertChild(row, node);
+    return node;
+}
+
+LayerTreeNode* LayerTree::removeNode(LayerTreeNode* parent, int row)
+{
+    if (!parent) parent = m_root;
+    return parent->takeChild(row);
+}
+
+void LayerTree::setChildrenVisible(LayerTreeNode* n, Qt::CheckState state)
+{
+    if (!n) return;
+    const auto& cs = n->children();
+    for (LayerTreeNode* c : cs) {
+        c->setVisible(state);
+        setChildrenVisible(c, state);
+    }
+}
+
+void LayerTree::updateParentVisibleFromChildren(LayerTreeNode* p)
+{
+    if (!p) return;
+    if (p->childCount() == 0) return;
+
+    int checked = 0, unchecked = 0, partial = 0;
+    const auto& cs = p->children();
+    for (LayerTreeNode* c : cs) {
+        auto s = c->visible();
+        if (s == Qt::Checked) checked++;
+        else if (s == Qt::Unchecked) unchecked++;
+        else partial++;
+    }
+
+    Qt::CheckState newState;
+    if (partial > 0) newState = Qt::PartiallyChecked;
+    else if (checked > 0 && unchecked == 0) newState = Qt::Checked;
+    else if (unchecked > 0 && checked == 0) newState = Qt::Unchecked;
+    else newState = Qt::PartiallyChecked;
+
+    if (p->visible() != newState) {
+        p->setVisible(newState);
+        updateParentVisibleFromChildren(p->parentNode());
+    }
+}

HPPA/LayerTree.h

@@ -0,0 +1,49 @@
+#pragma once
+
+#include <QObject>
+#include "LayerTreeNode.h"
+
+/**
+ * LayerTree<65><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ¼<C4BF><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * - <20><><EFBFBD><EFBFBD> root
+ * - <20>ṩ<EFBFBD><E1B9A9><EFBFBD><EFBFBD>/<2F>Ƴ<EFBFBD><C6B3>ڵ<EFBFBD><DAB5><EFBFBD> API
+ * - <20>ṩ<EFBFBD>ɼ<EFBFBD><C9BC>Լ<EFBFBD><D4BC><EFBFBD><EFBFBD>븸<EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD>̬<EFBFBD><CCAC><EFBFBD>µľ<C2B5>̬<EFBFBD><CCAC><EFBFBD><EFBFBD>
+ *
+ * ע<>⣺beginInsertRows/endInsertRows <20><> Qt Model <20><><EFBFBD><EFBFBD>֪ͨӦ<D6AA><D3A6> Model <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>
+ * LayerTree ֻ<><D6BB><EFBFBD><EFBFBD>ά<EFBFBD><CEAC><EFBFBD><EFBFBD><EFBFBD>ݽṹ<DDBD><E1B9B9>ȷ<EFBFBD>ԡ<EFBFBD>
+ */
+class LayerTree : public QObject
+{
+    Q_OBJECT
+public:
+    explicit LayerTree(QObject* parent = nullptr);
+    ~LayerTree() override;
+
+    LayerTree(const LayerTree&) = delete;
+    LayerTree& operator=(const LayerTree&) = delete;
+
+    LayerTreeNode* root() const;
+
+    // <20><><EFBFBD>룺parent Ϊ nullptr <20><>ʾ root<6F><74>row=-1 <20><>ʾ append
+    LayerTreeNode* insertNode(LayerTreeNode* parent, int row, LayerTreeNode* node);
+
+    // <20>Ƴ<EFBFBD><C6B3><EFBFBD><EFBFBD><EFBFBD> delete<74><65><EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><D8B1>Ƴ<EFBFBD><C6B3>ڵ㣨<DAB5><E3A3A8><EFBFBD><EFBFBD><EFBFBD>߸<EFBFBD><DFB8><EFBFBD> delete <20><><EFBFBD><EFBFBD><EFBFBD>²<EFBFBD><C2B2>룩
+    LayerTreeNode* removeNode(LayerTreeNode* parent, int row);
+
+    // <20>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>߼<EFBFBD><DFBC><EFBFBD><EFBFBD><EFBFBD> Model <20><><EFBFBD>ã<EFBFBD>
+    static void setChildrenVisible(LayerTreeNode* n, Qt::CheckState state);
+    static void updateParentVisibleFromChildren(LayerTreeNode* parent);
+
+    static inline bool isLayer(LayerTreeNode* node)
+    {
+        return node && node->type() == LayerTreeNode::Type::Layer;
+    }
+
+    static inline bool isGroup(LayerTreeNode* node)
+    {
+        return node && node->type() == LayerTreeNode::Type::Group;
+    }
+
+private:
+    LayerTreeNode* m_root = nullptr; // owned
+};

HPPA/LayerTreeGroupNode.cpp

@@ -0,0 +1,6 @@
+#include "LayerTreeGroupNode.h"
+
+LayerTreeGroupNode::LayerTreeGroupNode(const QString& name, QObject* parent)
+    : LayerTreeNode(name, parent)
+{
+}

HPPA/LayerTreeGroupNode.h

@@ -0,0 +1,15 @@
+#pragma once
+#include "LayerTreeNode.h"
+
+/** Group <20>ڵ<EFBFBD> */
+class LayerTreeGroupNode : public LayerTreeNode
+{
+    Q_OBJECT
+public:
+    explicit LayerTreeGroupNode(const QString& name,
+                                QObject* parent = nullptr);
+
+    Type type() const override { return Type::Group; }
+
+    // <20>Ժ<EFBFBD><D4BA><EFBFBD><EFBFBD><EFBFBD>չ<EFBFBD><D5B9>collapsed / groupOpacity <20><>
+};

HPPA/LayerTreeLayerNode.cpp

@@ -0,0 +1,22 @@
+#include "LayerTreeLayerNode.h"
+
+LayerTreeLayerNode::LayerTreeLayerNode(MapLayer* layer, QObject* parent)
+    : LayerTreeNode(layer ? layer->name() : QString(), parent), m_layer(layer)
+{
+}
+
+LayerTreeNode::Type LayerTreeLayerNode::type() const
+{ 
+    return Type::Layer; 
+}
+
+// <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB> MapLayer ָ<>루<EFBFBD><EBA3A8>ӵ<EFBFBD>У<EFBFBD>
+void LayerTreeLayerNode::setMapLayer(MapLayer* layer) 
+{ 
+    m_layer = layer; 
+}
+
+MapLayer* LayerTreeLayerNode::mapLayer() const 
+{ 
+    return m_layer; 
+}

HPPA/LayerTreeLayerNode.h

@@ -0,0 +1,22 @@
+#pragma once
+#include "LayerTreeNode.h"
+#include "MapLayer.h"
+
+/** Layer <20>ڵ<EFBFBD> */
+class LayerTreeLayerNode : public LayerTreeNode
+{
+    Q_OBJECT
+public:
+    explicit LayerTreeLayerNode(MapLayer* layer, QObject* parent = nullptr);
+
+    Type type() const override;
+
+    // <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB> MapLayer ָ<>루<EFBFBD><EBA3A8>ӵ<EFBFBD>У<EFBFBD>
+    void setMapLayer(MapLayer* layer);
+    MapLayer* mapLayer() const;
+
+private:
+    MapLayer* m_layer = nullptr;
+
+    // <20><><EFBFBD><EFBFBD>չ<EFBFBD><D5B9>layerId / pointer / legendItems <20><>
+};

HPPA/LayerTreeModel.cpp

@@ -0,0 +1,182 @@
+#include "LayerTreeModel.h"
+#include "LayerTreeGroupNode.h"
+#include "LayerTreeLayerNode.h"
+
+#include <QtGlobal>
+
+LayerTreeModel::LayerTreeModel(LayerTree* tree, QObject* parent, bool cascadeCheck)
+    : QAbstractItemModel(parent),
+    m_tree(tree),
+    m_cascadeCheck(cascadeCheck)
+{
+    Q_ASSERT(m_tree && "LayerTreeModel requires a valid LayerTree*");
+}
+
+QModelIndex LayerTreeModel::index(int row, int column, const QModelIndex& parent) const
+{
+    if (column != 0 || row < 0) return {};
+
+    LayerTreeNode* parentNode = nodeFromIndex(parent);
+    if (!parentNode) return {};
+
+    LayerTreeNode* child = parentNode->childAt(row);
+    if (!child) return {};
+
+    return createIndex(row, column, child);
+}
+
+QModelIndex LayerTreeModel::parent(const QModelIndex& child) const
+{
+    LayerTreeNode* node = nodeFromIndex(child);
+    if (!node || node == m_tree->root()) return {};
+
+    LayerTreeNode* p = node->parentNode();
+    if (!p || p == m_tree->root()) return {};
+
+    return createIndex(p->rowInParent(), 0, p);
+}
+
+int LayerTreeModel::rowCount(const QModelIndex& parent) const
+{
+    LayerTreeNode* p = nodeFromIndex(parent);
+    return p ? p->childCount() : 0;
+}
+
+int LayerTreeModel::columnCount(const QModelIndex&) const
+{
+    return 1;
+}
+
+QVariant LayerTreeModel::data(const QModelIndex& index, int role) const
+{
+    LayerTreeNode* n = nodeFromIndex(index);
+    if (!n || n == m_tree->root()) return {};
+
+    switch (role) {
+    case Qt::DisplayRole:
+        return n->name();
+
+    case Qt::DecorationRole:
+    {
+        auto* tmp = nodeFromIndex(index);
+        if (LayerTree::isGroup(tmp))
+            return QIcon();
+        else if (LayerTree::isLayer(tmp))
+        {
+            QString basePath = QCoreApplication::applicationDirPath();
+            return QIcon(basePath + "/icons/mIconRaster.svg");
+        }
+    }
+
+    case Qt::CheckStateRole:
+        return static_cast<int>(n->visible());
+
+    case Qt::ToolTipRole:
+        return (n->type() == LayerTreeNode::Type::Group) ? "Group" : "Layer";
+
+    default:
+        return {};
+    }
+}
+
+bool LayerTreeModel::setData(const QModelIndex& index, const QVariant& value, int role)
+{
+    LayerTreeNode* n = nodeFromIndex(index);
+    if (!n || n == m_tree->root()) return false;
+
+    if (role == Qt::CheckStateRole) {
+        auto newState = static_cast<Qt::CheckState>(value.toInt());
+        if (n->visible() == newState) return true;
+
+        n->setVisible(newState);
+
+        // 1) <20><> -> <20><> <20><><EFBFBD><EFBFBD>
+        if (m_cascadeCheck) {
+            LayerTree::setChildrenVisible(n, newState);
+        }
+
+        // 2) <20><> -> <20><> <20><><EFBFBD><EFBFBD> PartiallyChecked
+        LayerTree::updateParentVisibleFromChildren(n->parentNode());
+
+        // <20>򻯣<EFBFBD><F2BBAFA3><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD>£<EFBFBD><C2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>滻Ϊ<E6BBBB><CEAA>׼ dataChanged<65><64>
+        emit layoutChanged();
+        return true;
+    }
+
+    return false;
+}
+
+Qt::ItemFlags LayerTreeModel::flags(const QModelIndex& index) const
+{
+    if (!index.isValid()) return Qt::NoItemFlags;
+
+    LayerTreeNode* n = nodeFromIndex(index);
+    if (!n || n == m_tree->root()) return Qt::NoItemFlags;
+
+    return Qt::ItemIsEnabled | Qt::ItemIsSelectable | Qt::ItemIsUserCheckable;
+}
+
+LayerTreeNode* LayerTreeModel::root() const
+{
+    return m_tree->root();
+}
+
+LayerTreeNode* LayerTreeModel::addGroup(LayerTreeNode* parent, const QString& name, const QIcon& icon)
+{
+    if (!parent) parent = m_tree->root();
+
+    const int row = parent->childCount();
+    beginInsertRows(indexFromNode(parent), row, row);
+    LayerTreeNode* g = m_tree->insertNode(parent, row, new LayerTreeGroupNode(name));
+    endInsertRows();
+
+    return g;
+}
+
+LayerTreeNode* LayerTreeModel::addLayer(LayerTreeNode* parent, LayerTreeLayerNode* layerNode, const QIcon& icon)
+{
+    if (!parent) parent = m_tree->root();
+    if (!layerNode) return nullptr;
+
+    const int row = parent->childCount();
+    beginInsertRows(indexFromNode(parent), row, row);
+    LayerTreeNode* l = m_tree->insertNode(parent, row, layerNode);
+    endInsertRows();
+
+    return l;
+}
+
+void LayerTreeModel::setCascadeCheckEnabled(bool enabled)
+{
+    m_cascadeCheck = enabled;
+}
+
+bool LayerTreeModel::cascadeCheckEnabled() const
+{
+    return m_cascadeCheck;
+}
+
+// <20><><EFBFBD><EFBFBD>ʵ<EFBFBD>֣<EFBFBD><D6A3>Ƴ<EFBFBD><C6B3>ӽڵ㲢<DAB5><E3B2A2> model <20>Ϸ<EFBFBD><CFB7><EFBFBD> begin/endRemoveRows
+LayerTreeNode* LayerTreeModel::removeNode(LayerTreeNode* parent, int row)
+{
+    if (!parent) parent = m_tree->root();
+    if (row < 0 || row >= parent->childCount()) return nullptr;
+
+    beginRemoveRows(indexFromNode(parent), row, row);
+    LayerTreeNode* removed = m_tree->removeNode(parent, row);
+    endRemoveRows();
+
+    return removed;
+}
+
+LayerTreeNode* LayerTreeModel::nodeFromIndex(const QModelIndex& index) const
+{
+    if (!index.isValid()) return m_tree->root();
+    return static_cast<LayerTreeNode*>(index.internalPointer());
+}
+
+QModelIndex LayerTreeModel::indexFromNode(LayerTreeNode* n) const
+{
+    if (!n || n == m_tree->root()) return {};
+    return createIndex(n->rowInParent(), 0, n);
+}

HPPA/LayerTreeModel.h

@@ -0,0 +1,52 @@
+#pragma once
+#include <QCoreApplication>
+#include <QAbstractItemModel>
+#include "LayerTree.h"
+
+class LayerTreeLayerNode; // forward declare
+
+/**
+ * LayerTreeModel<65><6C>Qt <20><><EFBFBD><EFBFBD><EFBFBD>㣨<EFBFBD><E3A3A8><EFBFBD>ٹ<EFBFBD><D9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * - 1 <20>У<EFBFBD><D0A3><EFBFBD><EFBFBD>ƣ<EFBFBD><C6A3><EFBFBD>ͼ<EFBFBD>꣩+ checkbox
+ * - <20><>ѡ<EFBFBD>ɼ<EFBFBD><C9BC>ԣ<EFBFBD><D4A3><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>
+ */
+class LayerTreeModel : public QAbstractItemModel
+{
+    Q_OBJECT
+public:
+    explicit LayerTreeModel(LayerTree* tree,
+        QObject* parent = nullptr,
+        bool cascadeCheck = true);
+    ~LayerTreeModel() override = default;
+
+    // QAbstractItemModel <20><><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
+    QModelIndex index(int row, int column,
+        const QModelIndex& parent = QModelIndex()) const override;
+    QModelIndex parent(const QModelIndex& child) const override;
+    int rowCount(const QModelIndex& parent = QModelIndex()) const override;
+    int columnCount(const QModelIndex& parent = QModelIndex()) const override;
+
+    QVariant data(const QModelIndex& index, int role) const override;
+    bool setData(const QModelIndex& index, const QVariant& value, int role) override;
+    Qt::ItemFlags flags(const QModelIndex& index) const override;
+
+    // <20><><EFBFBD><EFBFBD> API<50><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD> begin/endInsertRows<77><73>
+    LayerTreeNode* root() const;
+
+    LayerTreeNode* addGroup(LayerTreeNode* parent, const QString& name, const QIcon& icon = QIcon());
+    LayerTreeNode* addLayer(LayerTreeNode* parent, LayerTreeLayerNode* layerNode, const QIcon& icon = QIcon());
+
+    void setCascadeCheckEnabled(bool enabled);
+    bool cascadeCheckEnabled() const;
+
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӹ<EFBFBD><D3B8>ڵ<EFBFBD><DAB5>Ƴ<EFBFBD><C6B3>ӽڵ㣨<DAB5><E3A3A8>װ LayerTree::removeNode <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> model ֪ͨ<CDA8><D6AA>
+    LayerTreeNode* removeNode(LayerTreeNode* parent, int row);
+
+private:
+    LayerTree* m_tree = nullptr;    // not owned
+    bool m_cascadeCheck = true;
+
+private:
+    LayerTreeNode* nodeFromIndex(const QModelIndex& index) const;
+    QModelIndex indexFromNode(LayerTreeNode* n) const;
+};

HPPA/LayerTreeNode.cpp

@@ -0,0 +1,110 @@
+#include "LayerTreeNode.h"
+
+#include <QtGlobal>
+
+LayerTreeNode::LayerTreeNode(const QString& name, QObject* parent)
+    : QObject(parent), m_name(name)
+{
+}
+
+LayerTreeNode::~LayerTreeNode()
+{
+    qDeleteAll(m_children);
+    m_children.clear();
+}
+
+QString LayerTreeNode::name() const 
+{
+    return m_name; 
+}
+
+void LayerTreeNode::setName(const QString& name) 
+{
+    m_name = name; 
+}
+
+QIcon LayerTreeNode::icon() const 
+{ 
+    return m_icon; 
+}
+
+void LayerTreeNode::setIcon(const QIcon& icon) 
+{ 
+    m_icon = icon; 
+}
+
+Qt::CheckState LayerTreeNode::visible() const 
+{ 
+    return m_visible;
+}
+
+void LayerTreeNode::setVisible(Qt::CheckState s) 
+{ 
+    m_visible = s;
+}
+
+LayerTreeNode* LayerTreeNode::parentNode() const 
+{ 
+    return m_parentNode; 
+}
+
+void LayerTreeNode::setParentNode(LayerTreeNode* p)
+{
+    m_parentNode = p;
+    // <20><> QObject <20><> parent Ҳ<><D2B2><EFBFBD>棨<EFBFBD><E6A3A8><EFBFBD><EFBFBD> Qt <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ι<EFBFBD><CEB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҳ<EFBFBD><D2B2><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD> delete children<65><6E>
+    if (p) this->setParent(p);
+    else this->setParent(nullptr);
+}
+
+int LayerTreeNode::rowInParent() const
+{
+    if (!m_parentNode) return 0;
+
+    const auto& siblings = m_parentNode->m_children;
+    for (int i = 0; i < siblings.size(); ++i) 
+    {
+        if (siblings[i] == this) return i;
+    }
+
+    return 0;
+}
+
+int LayerTreeNode::childCount() const 
+{ 
+    return m_children.size(); 
+}
+
+LayerTreeNode* LayerTreeNode::childAt(int row) const
+{
+    if (row < 0 || row >= m_children.size()) return nullptr;
+    return m_children[row];
+}
+
+const QVector<LayerTreeNode*>& LayerTreeNode::children() const 
+{ 
+    return m_children; 
+}
+
+void LayerTreeNode::appendChild(LayerTreeNode* child)
+{
+    insertChild(m_children.size(), child);
+}
+
+void LayerTreeNode::insertChild(int row, LayerTreeNode* child)
+{
+    if (!child) return;
+
+    if (row < 0 || row > m_children.size())
+        row = m_children.size();
+
+    child->setParentNode(this);
+    m_children.insert(row, child);
+}
+
+LayerTreeNode* LayerTreeNode::takeChild(int row)
+{
+    if (row < 0 || row >= m_children.size()) return nullptr;
+    LayerTreeNode* taken = m_children.takeAt(row);
+    if (taken) taken->setParentNode(nullptr);
+    return taken;
+}

HPPA/LayerTreeNode.h

@@ -0,0 +1,65 @@
+#pragma once
+
+#include <QObject>
+#include <QVector>
+#include <QIcon>
+#include <QString>
+
+/**
+ * LayerTreeNode<64><65><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD>ࣨ<EFBFBD><E0A3A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD><D4A3><EFBFBD><EFBFBD><EFBFBD>/ͼ<><CDBC>/<2F>ɼ<EFBFBD><C9BC><EFBFBD>/<2F><><EFBFBD>ӹ<EFBFBD>ϵ
+ * - Group / Layer <20>ڵ<EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD>̳<EFBFBD>ʵ<EFBFBD><CAB5>
+ *
+ * ˵<><CBB5><EFBFBD><EFBFBD>
+ * - <20><><EFBFBD><EFBFBD>ͬʱά<CAB1><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD>롱<EFBFBD><EBA1B1>m_parentNode<64><65><EFBFBD><EFBFBD> QObject parent<6E><74><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>
+ * - children <20>ɽڵ<C9BD><DAB5>Լ<EFBFBD><D4BC><EFBFBD><EFBFBD>в<EFBFBD><D0B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷţ<CDB7><C5A3><EFBFBD><EFBFBD><EFBFBD>ʱ delete children<65><6E>
+ */
+class LayerTreeNode : public QObject
+{
+    Q_OBJECT
+public:
+    enum class Type { Group, Layer };
+
+    explicit LayerTreeNode(const QString& name,
+        QObject* parent = nullptr);
+    ~LayerTreeNode() override;
+
+    LayerTreeNode(const LayerTreeNode&) = delete;
+    LayerTreeNode& operator=(const LayerTreeNode&) = delete;
+
+    virtual Type type() const = 0;
+
+    // ---- properties ----
+    QString name() const;
+    void setName(const QString& name);
+
+    QIcon icon() const;
+    void setIcon(const QIcon& icon);
+
+    Qt::CheckState visible() const;
+    void setVisible(Qt::CheckState s);
+
+    // ---- tree relations ----
+    LayerTreeNode* parentNode() const;
+    int rowInParent() const;
+
+    int childCount() const;
+    LayerTreeNode* childAt(int row) const;
+    const QVector<LayerTreeNode*>& children() const;
+
+    // ---- structure mutation (used by LayerTree / Model) ----
+    void appendChild(LayerTreeNode* child);
+    void insertChild(int row, LayerTreeNode* child);
+    LayerTreeNode* takeChild(int row); // remove but not delete
+
+protected:
+    void setParentNode(LayerTreeNode* p);
+
+private:
+    QString m_name;
+    QIcon m_icon;
+    Qt::CheckState m_visible = Qt::Checked;
+
+    LayerTreeNode* m_parentNode = nullptr;
+    QVector<LayerTreeNode*> m_children;
+};

HPPA/LayerTreeView.cpp

@@ -0,0 +1,39 @@
+#include "LayerTreeView.h"
+#include "LayerTreeViewMenuProvider.h"
+#include <QContextMenuEvent>
+#include <QMenu>
+
+LayerTreeView::LayerTreeView(QWidget* parent)
+    : QTreeView(parent), m_menuProvider(nullptr)
+{
+}
+
+LayerTreeView::~LayerTreeView()
+{
+    delete m_menuProvider;
+}
+
+void LayerTreeView::setMenuProvider(LayerTreeViewMenuProvider* provider)
+{
+    m_menuProvider = provider;
+}
+
+void LayerTreeView::contextMenuEvent(QContextMenuEvent* event)
+{
+    if (!m_menuProvider)
+        return;
+    
+    const QModelIndex idx = indexAt(event->pos());
+    if (idx.isValid())
+        setCurrentIndex(idx);
+    else
+        setCurrentIndex(QModelIndex());
+
+    QMenu* menu = m_menuProvider->createContextMenu();
+    if (menu)
+    {
+        menu->exec(event->globalPos());
+        delete menu;
+    }
+    //QTreeView::contextMenuEvent(event);
+}

HPPA/LayerTreeView.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <QTreeView>
+
+class LayerTreeViewMenuProvider;
+
+class LayerTreeView : public QTreeView
+{
+public:
+    explicit LayerTreeView(QWidget* parent = nullptr);
+    ~LayerTreeView() override;
+
+    void setMenuProvider(LayerTreeViewMenuProvider* provider);
+
+protected:
+    void contextMenuEvent(QContextMenuEvent* event) override;
+
+private:
+    LayerTreeViewMenuProvider* m_menuProvider = nullptr; // not owned
+};

HPPA/LayerTreeViewMenuProvider.cpp

@@ -0,0 +1,55 @@
+#include "LayerTreeViewMenuProvider.h"
+#include "LayerTreeView.h"
+#include "LayerTreeModel.h"
+#include "LayerTreeNode.h"
+#include "HPPA.h"
+#include <QAction>
+#include <QDebug>
+
+LayerTreeViewMenuProvider::LayerTreeViewMenuProvider(LayerTreeView* view, QObject* parent)
+    : QObject(parent), m_view(view)
+{
+}
+
+QMenu* LayerTreeViewMenuProvider::createContextMenu()
+{
+    m_contextIndex = m_view->currentIndex();
+
+    QMenu* menu = new QMenu();
+
+    if (!m_contextIndex.isValid())
+    {
+        return menu;
+    }
+
+    const LayerTreeModel* model = static_cast<const LayerTreeModel*>(m_contextIndex.model());
+    if (!model)
+    {
+        return menu;
+    }
+
+    LayerTreeNode* node = static_cast<LayerTreeNode*>(m_contextIndex.internalPointer());
+    if (!node)
+    {
+        return menu;
+    }
+
+    if (node->type() == LayerTreeNode::Type::Layer)
+    {
+        QAction* removeAction = new QAction(QStringLiteral("<EFBFBD>Ƴ<EFBFBD>ͼ<EFBFBD><EFBFBD>"), menu);
+        connect(removeAction, &QAction::triggered, HPPA::instance(), &HPPA::removeLayerByTreeIndex);
+        menu->addAction(removeAction);
+    }
+    else if (node->type() == LayerTreeNode::Type::Group)
+    {
+        HPPA* app = HPPA::instance();
+        if (app && node == app->rasterGroupNode())
+        {
+            QAction* removeAllAction = new QAction(QStringLiteral("<EFBFBD>Ƴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>"), menu);
+            connect(removeAllAction, &QAction::triggered, app, &HPPA::removeAllLayersInRasterGroup);
+            menu->addAction(removeAllAction);
+        }
+    }
+
+    return menu;
+}

HPPA/LayerTreeViewMenuProvider.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include <QMenu>
+#include <QObject>
+#include <QModelIndex>
+
+class LayerTreeView;
+class LayerTreeModel;
+class MapLayer;
+
+class LayerTreeViewMenuProvider : public QObject
+{
+    Q_OBJECT
+public:
+    explicit LayerTreeViewMenuProvider(LayerTreeView* view, QObject* parent = nullptr);
+    ~LayerTreeViewMenuProvider() override = default;
+
+    // <20><><EFBFBD>ݸ<EFBFBD><DDB8><EFBFBD> index <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>˵<EFBFBD><CBB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߸<EFBFBD><DFB8><EFBFBD>ɾ<EFBFBD><C9BE><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD> QMenu*
+    QMenu* createContextMenu();
+
+private:
+    LayerTreeView* m_view = nullptr; // not owned
+    QModelIndex m_contextIndex;
+};

HPPA/MapLayer.cpp

@@ -0,0 +1,26 @@
+#include "MapLayer.h"
+
+MapLayer::MapLayer(const QString& name, const QString& uri)
+    : QObject(nullptr), m_name(name), m_uri(uri)
+{
+}
+
+QString MapLayer::name() const 
+{ 
+    return m_name; 
+}
+
+void MapLayer::setName(const QString& n) 
+{ 
+    m_name = n; 
+}
+
+QString MapLayer::dataPath() const 
+{ 
+    return m_uri;
+}
+
+void MapLayer::setDataPath(const QString& p)
+{ 
+    m_uri = p;
+}

HPPA/MapLayer.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <QObject>
+#include <QString>
+#include <QMetaType>
+
+class MapLayer : public QObject
+{
+    Q_OBJECT
+public:
+    enum class LayerType { Raster, Vector };
+
+    explicit MapLayer(const QString& name, const QString& uri);
+
+    virtual ~MapLayer() override = default;
+
+    QString name() const;
+    void setName(const QString& n);
+
+    QString dataPath() const;
+    void setDataPath(const QString& p);
+
+    virtual LayerType layerType() const = 0;
+
+private:
+    QString m_name;
+    QString m_uri;
+};
+
+Q_DECLARE_METATYPE(MapLayer*)

HPPA/MapLayerStore.cpp

@@ -0,0 +1,83 @@
+#include "MapLayerStore.h"
+#include "MapLayer.h"
+
+MapLayerStore::MapLayerStore(QObject* parent)
+    : QObject(parent)
+{
+    int a = 1;
+}
+
+void MapLayerStore::addLayer(MapLayer* layer, QWidget* widget)
+{
+    if (!layer) return;
+    MapLayer* raw = layer;
+    m_layers.emplace_back(std::shared_ptr<MapLayer>(layer));
+    if (widget)
+        m_layerWidgets[raw] = widget;
+    emit layerAdded(raw);
+}
+
+void MapLayerStore::removeLayer(MapLayer* layer)
+{
+    if (!layer) return;
+    for (auto it = m_layers.begin(); it != m_layers.end(); ++it) {
+        if (it->get() == layer) {
+            emit layerAboutToBeRemoved(layer);
+            m_layers.erase(it);
+            m_layerWidgets.erase(layer);
+            return;
+        }
+    }
+}
+
+void MapLayerStore::removeLayerByName(const QString& name)
+{
+    for (auto it = m_layers.begin(); it != m_layers.end(); ++it) {
+        if ((*it)->name() == name) {
+            MapLayer* raw = it->get();
+            emit layerAboutToBeRemoved(raw);
+            m_layers.erase(it);
+            m_layerWidgets.erase(raw);
+            return;
+        }
+    }
+}
+
+MapLayer* MapLayerStore::getLayer(const QString& name) const
+{
+    for (const auto& l : m_layers) {
+        if (l->name() == name) return l.get();
+    }
+    return nullptr;
+}
+
+MapLayer* MapLayerStore::getLayerAt(int index) const
+{
+    if (index < 0 || index >= (int)m_layers.size()) return nullptr;
+    return m_layers[index].get();
+}
+
+int MapLayerStore::layerCount() const
+{
+    return (int)m_layers.size();
+}
+
+QWidget* MapLayerStore::widgetForLayer(MapLayer* layer) const
+{
+    auto it = m_layerWidgets.find(layer);
+    if (it == m_layerWidgets.end()) return nullptr;
+    return it->second;
+}
+
+QWidget* MapLayerStore::widgetForLayer(const QString& absolutePath) const
+{
+    for (const auto& sp : m_layers) {
+        if (sp && sp->dataPath() == absolutePath) {
+            MapLayer* raw = sp.get();
+            auto it = m_layerWidgets.find(raw);
+            if (it != m_layerWidgets.end()) return it->second;
+            return nullptr;
+        }
+    }
+    return nullptr;
+}

HPPA/MapLayerStore.h

@@ -0,0 +1,48 @@
+#pragma once
+
+#include <QObject>
+#include <QString>
+#include <vector>
+#include <memory>
+#include <unordered_map>
+
+class MapLayer;
+class QWidget;
+
+class MapLayerStore : public QObject
+{
+    Q_OBJECT
+public:
+    explicit MapLayerStore(QObject* parent = nullptr);
+    ~MapLayerStore() override = default;
+
+    // Take ownership of the layer (store will own and manage its lifetime)
+    // Now also accept the associated QWidget so UI widget can be retrieved by layer pointer
+    void addLayer(MapLayer* layer, QWidget* widget = nullptr);
+
+    // Remove by pointer or by name. Destruction happens when removed from store.
+public slots:
+    void removeLayer(MapLayer* layer);
+    void removeLayerByName(const QString& name);
+
+    // Queries
+    MapLayer* getLayer(const QString& name) const;
+    MapLayer* getLayerAt(int index) const;
+    int layerCount() const;
+
+    // Get associated widget for a layer (or nullptr if none)
+    QWidget* widgetForLayer(MapLayer* layer) const;
+    // Get associated widget by layer absolute data path
+    QWidget* widgetForLayer(const QString& absolutePath) const;
+
+signals:
+    void layerAdded(MapLayer* layer);
+    // Emitted just before the layer is destroyed/removed from store
+    void layerAboutToBeRemoved(MapLayer* layer);
+
+private:
+    // store shared ownership so other parts can keep raw pointers safely (or use QPointer)
+    std::vector<std::shared_ptr<MapLayer>> m_layers;
+    // mapping from raw MapLayer pointer to associated QWidget*
+    std::unordered_map<MapLayer*, QWidget*> m_layerWidgets;
+};

HPPA/MapTool.cpp

@@ -0,0 +1,110 @@
+#include "stdafx.h"
+#include "MapTool.h"
+#include "ImageViewer.h"
+#include <QAction>
+
+MapTool::MapTool(QObject* parent)
+    : QObject(parent)
+    , m_cursor(Qt::ArrowCursor)
+{
+}
+
+MapTool::~MapTool()
+{
+    if (m_canvas && m_canvas->mapTool() == this)
+    {
+        m_canvas->unsetMapTool(this);
+    }
+}
+
+QAction* MapTool::action() const
+{
+    return m_action;
+}
+
+void MapTool::setAction(QAction* action)
+{
+    m_action = action;
+}
+
+void MapTool::setMapcavas(Mapcavas* canvas)
+{
+    if (m_canvas == canvas)
+        return;
+
+    if (m_isActive && m_canvas)
+    {
+        deactivate();
+    }
+
+    m_canvas = canvas;
+}
+
+Mapcavas* MapTool::canvas() const
+{
+    return m_canvas;
+}
+
+void MapTool::setCursor(const QCursor& cursor)
+{
+    m_cursor = cursor;
+}
+
+QCursor MapTool::cursor() const
+{
+    return m_cursor;
+}
+
+void MapTool::activate()
+{
+    if (m_canvas)
+    {
+        m_canvas->viewport()->setCursor(m_cursor);
+    }
+    if (m_action)
+    {
+        m_action->setChecked(true);
+    }
+    m_isActive = true;
+    emit activated();
+}
+
+void MapTool::deactivate()
+{
+    if (m_action)
+    {
+        m_action->setChecked(false);
+    }
+    m_isActive = false;
+    emit deactivated();
+}
+
+bool MapTool::isActive() const
+{
+    return m_isActive;
+}
+
+void MapTool::canvasMousePressEvent(QMouseEvent* e)
+{
+    Q_UNUSED(e);
+}
+
+void MapTool::canvasMouseReleaseEvent(QMouseEvent* e)
+{
+    Q_UNUSED(e);
+}
+
+void MapTool::canvasMouseMoveEvent(QMouseEvent* e)
+{
+    Q_UNUSED(e);
+}
+
+void MapTool::canvasMouseDoubleClickEvent(QMouseEvent* e)
+{
+    Q_UNUSED(e);
+}
+
+void MapTool::canvasWheelEvent(QWheelEvent* e)
+{
+    Q_UNUSED(e);
+}

HPPA/MapTool.h

@@ -0,0 +1,63 @@
+#ifndef MAPTOOL_H
+#define MAPTOOL_H
+
+#include <QObject>
+#include <QCursor>
+#include <QMouseEvent>
+#include <QAction>
+
+class Mapcavas;
+class QAction;
+
+class MapTool : public QObject
+{
+    Q_OBJECT
+
+public:
+    enum Flag
+    {
+        NoFlags = 0,
+        Transient = 1 << 1,
+    };
+    Q_DECLARE_FLAGS(Flags, Flag)
+
+    MapTool(QObject* parent = nullptr);
+    virtual ~MapTool();
+
+    virtual Flags flags() const { return NoFlags; }
+
+    QAction* action() const;
+    void setAction(QAction* action);
+
+    void setMapcavas(Mapcavas* canvas);
+    Mapcavas* canvas() const;
+
+    virtual void setCursor(const QCursor& cursor);
+    QCursor cursor() const;
+
+    virtual void activate();
+    virtual void deactivate();
+    bool isActive() const;
+
+    virtual void canvasMousePressEvent(QMouseEvent* e);
+    virtual void canvasMouseReleaseEvent(QMouseEvent* e);
+    virtual void canvasMouseMoveEvent(QMouseEvent* e);
+    virtual void canvasMouseDoubleClickEvent(QMouseEvent* e);
+    virtual void canvasWheelEvent(QWheelEvent* e);
+
+signals:
+    void activated();
+    void deactivated();
+
+protected:
+    Mapcavas* m_canvas = nullptr;
+
+private:
+    QAction* m_action = nullptr;
+    QCursor m_cursor;
+    bool m_isActive = false;
+};
+
+Q_DECLARE_OPERATORS_FOR_FLAGS(MapTool::Flags)
+
+#endif // MAPTOOL_H

HPPA/MapToolPan.cpp

@@ -0,0 +1,65 @@
+#include "stdafx.h"
+#include "MapToolPan.h"
+#include "ImageViewer.h"
+#include <QMouseEvent>
+#include <QGraphicsView>
+
+MapToolPan::MapToolPan(QObject* parent)
+    : MapTool(parent)
+{
+    setCursor(Qt::OpenHandCursor);
+}
+
+MapToolPan::~MapToolPan()
+{
+}
+
+void MapToolPan::activate()
+{
+    MapTool::activate();
+    if (canvas())
+    {
+        canvas()->setDragMode(QGraphicsView::NoDrag);
+    }
+}
+
+void MapToolPan::deactivate()
+{
+    m_dragging = false;
+    MapTool::deactivate();
+}
+
+void MapToolPan::canvasMousePressEvent(QMouseEvent* e)
+{
+    if (e->button() == Qt::LeftButton)
+    {
+        m_dragging = true;
+        m_lastPos = e->pos();
+        if (canvas())
+        {
+            canvas()->viewport()->setCursor(Qt::ClosedHandCursor);
+        }
+    }
+}
+
+void MapToolPan::canvasMouseMoveEvent(QMouseEvent* e)
+{
+    if (m_dragging && canvas())
+    {
+        QPointF delta = canvas()->mapToScene(e->pos()) - canvas()->mapToScene(m_lastPos);
+        canvas()->translate(delta.x(), delta.y());
+        m_lastPos = e->pos();
+    }
+}
+
+void MapToolPan::canvasMouseReleaseEvent(QMouseEvent* e)
+{
+    if (e->button() == Qt::LeftButton)
+    {
+        m_dragging = false;
+        if (canvas())
+        {
+            canvas()->viewport()->setCursor(Qt::OpenHandCursor);
+        }
+    }
+}

HPPA/MapToolPan.h

@@ -0,0 +1,27 @@
+#ifndef MAPTOOLPAN_H
+#define MAPTOOLPAN_H
+
+#include "MapTool.h"
+#include <QPoint>
+
+class MapToolPan : public MapTool
+{
+    Q_OBJECT
+
+public:
+    MapToolPan(QObject* parent = nullptr);
+    ~MapToolPan();
+
+    void activate() override;
+    void deactivate() override;
+
+    void canvasMousePressEvent(QMouseEvent* e) override;
+    void canvasMouseMoveEvent(QMouseEvent* e) override;
+    void canvasMouseReleaseEvent(QMouseEvent* e) override;
+
+private:
+    bool m_dragging = false;
+    QPoint m_lastPos;
+};
+
+#endif // MAPTOOLPAN_H

HPPA/MapToolSpectral.cpp

@@ -0,0 +1,108 @@
+#include "stdafx.h"
+#include "MapToolSpectral.h"
+#include "ImageViewer.h"
+#include "RasterLayer.h"
+#include <QMouseEvent>
+#include <QGraphicsScene>
+#include <QGraphicsLineItem>
+#include <QPen>
+#include <cmath>
+
+const double MapToolSpectral::CrosshairHalfLen = 10.0;
+
+MapToolSpectral::MapToolSpectral(QObject* parent)
+    : MapTool(parent)
+{
+    setCursor(Qt::CrossCursor);
+}
+
+MapToolSpectral::~MapToolSpectral()
+{
+	//removeCrosshair();//不需要在析构函数中调用removeCrosshair()，因为当MapToolSpectral被销毁时，它的canvas()也会被销毁，crosshair的scene也会被销毁，所以crosshair会自动被删除，不会造成内存泄漏。
+}
+
+void MapToolSpectral::activate()
+{
+    MapTool::activate();
+}
+
+void MapToolSpectral::deactivate()
+{
+    removeCrosshair();
+    MapTool::deactivate();
+}
+
+void MapToolSpectral::canvasMousePressEvent(QMouseEvent* e)
+{
+    if (e->button() != Qt::LeftButton)
+        return;
+
+    if (!canvas())
+        return;
+
+    const QPointF scenePt = canvas()->mapToScene(e->pos());
+    const int x = static_cast<int>(std::floor(scenePt.x()));
+    const int y = static_cast<int>(std::floor(scenePt.y()));
+
+    RasterLayer* rl = canvas()->rasterLayer();
+    if (rl && rl->isValidPixel(x, y))
+    {
+        // Place crosshair at pixel center
+        updateCrosshair(x + 0.5, y + 0.5);
+
+        QVector<double> wavelengths;
+        QVector<double> spectrum;
+        if (rl->readPixelSpectrum(x, y, wavelengths, spectrum))
+        {
+            emit spectralClicked(x, y, wavelengths, spectrum);
+        }
+    }
+}
+
+void MapToolSpectral::updateCrosshair(double sceneX, double sceneY)
+{
+    if (!canvas() || !canvas()->scene())
+        return;
+
+    QGraphicsScene* scene = canvas()->scene();
+
+    QPen pen(Qt::red, 2.0);
+    pen.setCosmetic(true);  // constant screen-width regardless of zoom
+
+    if (!m_hLine)
+    {
+        m_hLine = scene->addLine(0, 0, 0, 0, pen);
+        m_hLine->setZValue(1e9);
+    }
+    if (!m_vLine)
+    {
+        m_vLine = scene->addLine(0, 0, 0, 0, pen);
+        m_vLine->setZValue(1e9);
+    }
+
+    m_hLine->setPen(pen);
+    m_vLine->setPen(pen);
+
+    m_hLine->setLine(sceneX - CrosshairHalfLen, sceneY,
+                     sceneX + CrosshairHalfLen, sceneY);
+    m_vLine->setLine(sceneX, sceneY - CrosshairHalfLen,
+                     sceneX, sceneY + CrosshairHalfLen);
+}
+
+void MapToolSpectral::removeCrosshair()
+{
+    if (m_hLine)
+    {
+        if (m_hLine->scene())
+            m_hLine->scene()->removeItem(m_hLine);
+        delete m_hLine;
+        m_hLine = nullptr;
+    }
+    if (m_vLine)
+    {
+        if (m_vLine->scene())
+            m_vLine->scene()->removeItem(m_vLine);
+        delete m_vLine;
+        m_vLine = nullptr;
+    }
+}

HPPA/MapToolSpectral.h

@@ -0,0 +1,35 @@
+#ifndef MAPTOOLSPECTRAL_H
+#define MAPTOOLSPECTRAL_H
+
+#include "MapTool.h"
+#include <QVector>
+
+class QGraphicsLineItem;
+
+class MapToolSpectral : public MapTool
+{
+    Q_OBJECT
+
+public:
+    MapToolSpectral(QObject* parent = nullptr);
+    ~MapToolSpectral();
+
+    void canvasMousePressEvent(QMouseEvent* e) override;
+
+    void activate() override;
+    void deactivate() override;
+
+signals:
+    void spectralClicked(int x, int y, QVector<double> wavelengths, QVector<double> spectrum);
+
+private:
+    void updateCrosshair(double sceneX, double sceneY);
+    void removeCrosshair();
+
+    QGraphicsLineItem* m_hLine = nullptr;  // horizontal line
+    QGraphicsLineItem* m_vLine = nullptr;  // vertical line
+
+    static const double CrosshairHalfLen;
+};
+
+#endif // MAPTOOLSPECTRAL_H

HPPA/MapTools.cpp

@@ -0,0 +1,50 @@
+#include "stdafx.h"
+#include "MapTools.h"
+#include "MapToolPan.h"
+#include "MapToolSpectral.h"
+
+MapTools::MapTools(QObject* parent)
+    : QObject(parent)
+{
+    m_tools.insert(Pan, new MapToolPan(this));
+    m_tools.insert(Spectral, new MapToolSpectral(this));
+}
+
+MapTools::~MapTools()
+{
+    qDeleteAll(m_tools);
+    m_tools.clear();
+}
+
+MapToolPan* MapTools::mapToolPan() const
+{
+    return qobject_cast<MapToolPan*>(m_tools.value(Pan));
+}
+
+MapToolSpectral* MapTools::mapToolSpectral() const
+{
+    return qobject_cast<MapToolSpectral*>(m_tools.value(Spectral));
+}
+
+MapTool* MapTools::mapTool(Tool tool) const
+{
+    return m_tools.value(tool, nullptr);
+}
+
+MapTool* MapTools::activeTool() const
+{
+    return m_activeTool;
+}
+
+void MapTools::setActiveTool(MapTool* tool)
+{
+    m_activeTool = tool;
+}
+
+void MapTools::setMapcavas(Mapcavas* canvas)
+{
+    if (m_activeTool)
+    {
+        m_activeTool->setMapcavas(canvas);
+    }
+}

HPPA/MapTools.h

@@ -0,0 +1,41 @@
+#ifndef MAPTOOLS_H
+#define MAPTOOLS_H
+
+#include <QObject>
+#include <QHash>
+
+class MapTool;
+class MapToolPan;
+class MapToolSpectral;
+class Mapcavas;
+
+class MapTools : public QObject
+{
+    Q_OBJECT
+
+public:
+    enum Tool
+    {
+        Pan,
+        Spectral,
+    };
+
+    MapTools(QObject* parent = nullptr);
+    ~MapTools();
+
+    MapToolPan* mapToolPan() const;
+    MapToolSpectral* mapToolSpectral() const;
+
+    MapTool* mapTool(Tool tool) const;
+
+    MapTool* activeTool() const;
+    void setActiveTool(MapTool* tool);
+
+    void setMapcavas(Mapcavas* canvas);
+
+private:
+    QHash<Tool, MapTool*> m_tools;
+    MapTool* m_activeTool = nullptr;
+};
+
+#endif // MAPTOOLS_H

HPPA/OneMotorControl.cpp

@@ -0,0 +1,178 @@
+#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));
+
+    emit broadcastLocationSignal(loc);
+}
+
+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 +1,71 @@
+#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();
+
+    void broadcastLocationSignal(std::vector<double>);
+
+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(), "rb");
-	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
-
-	//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
-	fread(&height, sizeof(double), 1, RecordLineFileHandle);
-	fread(&fov, sizeof(double), 1, RecordLineFileHandle);
-	fread(&swath, sizeof(double), 1, RecordLineFileHandle);
-	fread(&offset, sizeof(double), 1, RecordLineFileHandle);
-	fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
-	fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
-	fread(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	for (size_t i = 0; i < number; i++)
-	{
-		fread(data + i, sizeof(double), 1, RecordLineFileHandle);
-		//std::cout << *(data + i) << std::endl;
-	}
-
-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д
-	ui.height_lineEdit->setText(QString::number(height));
-	ui.fov_lineEdit->setText(QString::number(fov));
-	ui.swath_lineEdit->setText(QString::number(swath));
-	ui.offset_lineEdit->setText(QString::number(offset));
-	ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
-	ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));
-
-
-	//<2F><>tableWidget<65><74><EFBFBD>Ӳɼ<D3B2><C9BC><EFBFBD>
-	//<2F><>1<EFBFBD><31>ȥ<EFBFBD><C8A5>tableWidget<65><74><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-	//<2F><>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3>ɼ<EFBFBD><C9BC>ߣ<EFBFBD>
-	int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
-	for (size_t i = 0; i < RecordLineCount; i++)
-	{
-		ui.recordLine_tableWidget->insertRow(0);
-
-	}
-	//<2F><>3<EFBFBD><33><EFBFBD><EFBFBD>tableWidget<65><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
-			tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, j, tmp);
-		}
-	}
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	QMessageBox::information(this, QString::fromLocal8Bit("<EFBFBD><EFBFBD>ʾ"), QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȡ<EFBFBD>ɹ<EFBFBD><EFBFBD><EFBFBD>"));
-
-}

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/PowerControl.ui

@@ -6,114 +6,246 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>294</width>
-    <height>119</height>
+    <width>432</width>
+    <height>346</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>PowerControl</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <property name="leftMargin">
-    <number>0</number>
-   </property>
-   <property name="topMargin">
-    <number>0</number>
-   </property>
-   <property name="rightMargin">
-    <number>0</number>
-   </property>
-   <property name="bottomMargin">
-    <number>0</number>
-   </property>
-   <property name="spacing">
-    <number>0</number>
-   </property>
-   <item row="0" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout_20">
-     <item>
-      <widget class="QLabel" name="label_17">
-       <property name="text">
-        <string>卤素灯</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="lamp_power_open_btn">
-       <property name="text">
-        <string>打开</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="lamp_power_close_btn">
-       <property name="text">
-        <string>关闭</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_19">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-   <item row="1" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout_21">
-     <item>
-      <widget class="QLabel" name="label_18">
-       <property name="text">
-        <string>马  达</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="motor_power_open_btn">
-       <property name="text">
-        <string>打开</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="motor_power_close_btn">
-       <property name="text">
-        <string>关闭</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_20">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-   <item row="2" column="0">
-    <spacer name="verticalSpacer_3">
+  <property name="styleSheet">
+   <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_3" rowstretch="1,1,1,1" columnstretch="1,3,1">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
      </property>
      <property name="sizeHint" stdset="0">
       <size>
        <width>20</width>
-       <height>42</height>
+       <height>145</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>卤素灯</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>20</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="lamp_power_open_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>打开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="lamp_power_close_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>关闭</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <spacer name="horizontalSpacer_4">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>马  达</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>20</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="motor_power_open_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>打开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="motor_power_close_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>关闭</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>144</height>
       </size>
      </property>
     </spacer>

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/RasterDataProvider.cpp

@@ -0,0 +1,225 @@
+#include "RasterDataProvider.h"
+#include <QString>
+#include <QDebug>
+#include <QFile>
+#include <QFileInfo>
+#include <QRegularExpression>
+
+#if HPPA_HAVE_GDAL
+#include <gdal_priv.h>
+#include <cpl_conv.h>
+#endif
+
+RasterDataProvider::RasterDataProvider(const QString& uri)
+    : m_uri(uri), m_dataset(nullptr)
+{
+}
+
+RasterDataProvider::~RasterDataProvider()
+{
+    close();
+}
+
+bool RasterDataProvider::open()
+{
+#if HPPA_HAVE_GDAL
+    GDALAllRegister();
+    m_dataset = (GDALDataset*)GDALOpen((const char*)m_uri.toLocal8Bit().constData(), GA_ReadOnly);
+    if (!m_dataset) {
+        qWarning() << "RasterDataProvider: failed to open dataset:" << m_uri;
+        return false;
+    }
+    return true;
+#else
+    Q_UNUSED(m_uri);
+    qWarning() << "RasterDataProvider: GDAL not available, open will fail.";
+    return false;
+#endif
+}
+
+void RasterDataProvider::close()
+{
+#if HPPA_HAVE_GDAL
+    if (m_dataset) {
+        GDALClose((GDALDatasetH)m_dataset);
+        m_dataset = nullptr;
+    }
+#else
+    m_dataset = nullptr;
+#endif
+}
+
+int RasterDataProvider::bandCount() const
+{
+#if HPPA_HAVE_GDAL
+    if (!m_dataset) return 0;
+    return m_dataset->GetRasterCount();
+#else
+    Q_UNUSED(this);
+    return 0;
+#endif
+}
+
+int RasterDataProvider::width() const
+{
+#if HPPA_HAVE_GDAL
+    if (!m_dataset) return 0;
+    return m_dataset->GetRasterXSize();
+#else
+    Q_UNUSED(this);
+    return 0;
+#endif
+}
+
+int RasterDataProvider::height() const
+{
+#if HPPA_HAVE_GDAL
+    if (!m_dataset) return 0;
+    return m_dataset->GetRasterYSize();
+#else
+    Q_UNUSED(this);
+    return 0;
+#endif
+}
+
+bool RasterDataProvider::isValidPixel(int x, int y) const
+{
+    const int w = width();
+    const int h = height();
+    return x >= 0 && y >= 0 && x < w && y < h;
+}
+
+std::vector<double> RasterDataProvider::parseEnviHdrWavelengths() const
+{
+    std::vector<double> res;
+
+    QFileInfo fi(m_uri);
+    QString hdrPath = fi.path() + "/" + fi.completeBaseName() + ".hdr";
+    QFile hdr(hdrPath);
+    if (!hdr.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        return res;
+    }
+
+    QString text = QString::fromLocal8Bit(hdr.readAll());
+    hdr.close();
+
+    QRegularExpression rx("wavelength\\s*=\\s*\\{([^}]*)\\}", QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption);
+    QRegularExpressionMatch m = rx.match(text);
+    if (!m.hasMatch()) {
+        return res;
+    }
+
+    const QString body = m.captured(1);
+    const QStringList parts = body.split(',', QString::SkipEmptyParts);
+    res.reserve(parts.size());
+    for (const QString& p : parts) {
+        bool ok = false;
+        double v = p.trimmed().toDouble(&ok);
+        if (ok) {
+            res.push_back(v);
+        }
+    }
+
+    return res;
+}
+
+std::vector<double> RasterDataProvider::bandWavelengths() const
+{
+    std::vector<double> res;
+#if HPPA_HAVE_GDAL
+    if (!m_dataset) return res;
+
+    // 1) Try ENVI dataset-level metadata first: wavelength = { ... }
+    const char* dsWave = m_dataset->GetMetadataItem("wavelength", "ENVI");
+    if (!dsWave) dsWave = m_dataset->GetMetadataItem("Wavelength", "ENVI");
+    if (dsWave) {
+        QString dsWaveStr = QString::fromLocal8Bit(dsWave);
+        dsWaveStr.remove('{').remove('}');
+        const QStringList parts = dsWaveStr.split(',', QString::SkipEmptyParts);
+        res.reserve(parts.size());
+        for (const QString& p : parts) {
+            bool ok = false;
+            double v = p.trimmed().toDouble(&ok);
+            if (ok) res.push_back(v);
+        }
+        if (!res.empty()) return res;
+    }
+
+    // 2) Try per-band metadata
+    for (int i = 1; i <= m_dataset->GetRasterCount(); ++i) {
+        GDALRasterBand* band = m_dataset->GetRasterBand(i);
+        if (!band) continue;
+        const char* val = band->GetMetadataItem("Wavelength");
+        if (!val) val = band->GetMetadataItem("wavelength");
+        if (val) {
+            bool ok = false;
+            double v = QString::fromLocal8Bit(val).trimmed().toDouble(&ok);
+            res.push_back(ok ? v : -1.0);
+        } else {
+            res.push_back(-1.0);
+        }
+    }
+    if (!res.empty()) return res;
+#endif
+
+    // 3) Fallback: parse ENVI .hdr directly
+    return parseEnviHdrWavelengths();
+}
+
+bool RasterDataProvider::readPixelSpectrum(int x, int y, std::vector<double>& outSpectrum) const
+{
+#if HPPA_HAVE_GDAL
+    outSpectrum.clear();
+    if (!m_dataset) return false;
+    if (!isValidPixel(x, y)) return false;
+
+    const int bands = m_dataset->GetRasterCount();
+    if (bands <= 0) return false;
+
+    outSpectrum.resize(bands);
+    for (int i = 0; i < bands; ++i) {
+        GDALRasterBand* band = m_dataset->GetRasterBand(i + 1);
+        if (!band) return false;
+
+        float value = 0.0f;
+        CPLErr err = band->RasterIO(
+            GF_Read,
+            x, y,
+            1, 1,
+            &value,
+            1, 1,
+            GDT_Float32,
+            0, 0);
+
+        if (err != CE_None) return false;
+        outSpectrum[i] = static_cast<double>(value);
+    }
+
+    return true;
+#else
+    Q_UNUSED(x);
+    Q_UNUSED(y);
+    Q_UNUSED(outSpectrum);
+    return false;
+#endif
+}
+
+bool RasterDataProvider::readBandAsFloat(int bandIndex, std::vector<float>& outBuffer) const
+{
+#if HPPA_HAVE_GDAL
+    if (!m_dataset) return false;
+    int bands = m_dataset->GetRasterCount();
+    if (bandIndex < 0 || bandIndex >= bands) return false;
+    GDALRasterBand* band = m_dataset->GetRasterBand(bandIndex + 1);
+    if (!band) return false;
+    int w = m_dataset->GetRasterXSize();
+    int h = m_dataset->GetRasterYSize();
+    outBuffer.assign(w * h, 0.0f);
+    CPLErr err = band->RasterIO(GF_Read, 0, 0, w, h, outBuffer.data(), w, h, GDT_Float32, 0, 0);
+    return err == CE_None;
+#else
+    Q_UNUSED(bandIndex);
+    Q_UNUSED(outBuffer);
+    return false;
+#endif
+}

HPPA/RasterDataProvider.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include <QString>
+#include <vector>
+
+#if __has_include(<gdal_priv.h>)
+#define HPPA_HAVE_GDAL 1
+#include <gdal_priv.h>
+#include <cpl_conv.h>
+#else
+#define HPPA_HAVE_GDAL 0
+#endif
+
+class RasterDataProvider
+{
+public:
+    explicit RasterDataProvider(const QString& uri);
+    ~RasterDataProvider();
+
+    bool open();
+    void close();
+
+    int bandCount() const;
+    int width() const;
+    int height() const;
+
+    bool isValidPixel(int x, int y) const;
+
+    // Returns per-band wavelength metadata if available. If not available, returns empty vector.
+    std::vector<double> bandWavelengths() const;
+
+    // Read spectrum of one pixel (x,y) across all bands.
+    bool readPixelSpectrum(int x, int y, std::vector<double>& outSpectrum) const;
+
+    // Read a single band (0-based index) into a float buffer of size width()*height().
+    // Returns true on success.
+    bool readBandAsFloat(int bandIndex, std::vector<float>& outBuffer) const;
+
+    QString uri() const { return m_uri; }
+
+private:
+    QString m_uri;
+    std::vector<double> parseEnviHdrWavelengths() const;
+#if HPPA_HAVE_GDAL
+    GDALDataset* m_dataset = nullptr;
+#else
+    // no-op when GDAL not available
+    void* m_dataset = nullptr;
+#endif
+};

HPPA/RasterLayer.cpp

@@ -0,0 +1,116 @@
+#include "RasterLayer.h"
+#include "RasterDataProvider.h"
+#include "RasterRenderer.h"
+#include <algorithm>
+
+RasterLayer::RasterLayer(const QString& name, const QString& uri)
+    : MapLayer(name, uri)
+{
+    // lazy creation
+}
+
+RasterLayer::~RasterLayer()
+{
+}
+
+MapLayer::LayerType RasterLayer::layerType() const 
+{ 
+    return MapLayer::LayerType::Raster; 
+}
+
+RasterDataProvider* RasterLayer::dataProvider() const
+{
+    return m_provider ? m_provider.get() : nullptr;
+}
+
+RasterRenderer* RasterLayer::renderer() const
+{
+    return m_renderer ? m_renderer.get() : nullptr;
+}
+
+bool RasterLayer::openDataProvider()
+{
+    if (!m_provider) m_provider = std::make_unique<RasterDataProvider>(dataPath());
+    if (!m_provider) return false;
+    bool ok = m_provider->open();
+    if (ok && !m_renderer) m_renderer = std::make_unique<RasterRenderer>(m_provider.get());
+    return ok;
+}
+
+bool RasterLayer::isValidPixel(int x, int y)
+{
+    if (!m_provider) {
+        if (!openDataProvider()) return false;
+    }
+    return m_provider->isValidPixel(x, y);
+}
+
+bool RasterLayer::readPixelSpectrum(int x, int y, QVector<double>& wavelengths, QVector<double>& spectrum)
+{
+    if (!m_provider) {
+        if (!openDataProvider()) return false;
+    }
+
+    std::vector<double> wl;
+    std::vector<double> sp;
+
+    if (!m_provider->readPixelSpectrum(x, y, sp)) return false;
+
+    wl = m_provider->bandWavelengths();
+
+    wavelengths = QVector<double>::fromStdVector(wl);
+    spectrum = QVector<double>::fromStdVector(sp);
+
+    if (wavelengths.size() != spectrum.size()) {
+        wavelengths.resize(spectrum.size());
+        for (int i = 0; i < wavelengths.size(); ++i) {
+            wavelengths[i] = i;
+        }
+    }
+
+    return true;
+}
+
+QImage RasterLayer::render(const RenderParams& params)
+{
+    if (!m_provider) {
+        if (!openDataProvider()) return QImage();
+    }
+    if (!m_renderer) m_renderer = std::make_unique<RasterRenderer>(m_provider.get());
+    RasterRenderer::Params p;
+    p.rWave = params.rWave;
+    p.gWave = params.gWave;
+    p.bWave = params.bWave;
+    p.minValue = params.minValue;
+    p.maxValue = params.maxValue;
+    return m_renderer->render(p);
+}
+
+RasterLayer::RenderParams RasterLayer::currentRenderParams() const
+{
+    return m_currentParams;
+}
+
+void RasterLayer::setCurrentRenderParams(const RenderParams& params)
+{
+    m_currentParams = params;
+}
+
+bool RasterLayer::wavelengthRange(double& minWave, double& maxWave) const
+{
+    auto wl = bandWavelengths();
+    if (wl.empty()) return false;
+    minWave = *std::min_element(wl.begin(), wl.end());
+    maxWave = *std::max_element(wl.begin(), wl.end());
+    return true;
+}
+
+std::vector<double> RasterLayer::bandWavelengths() const
+{
+    if (!m_provider) {
+        // need to open provider to read wavelengths - cast away const for lazy init
+        auto* self = const_cast<RasterLayer*>(this);
+        if (!self->openDataProvider()) return {};
+    }
+    return m_provider->bandWavelengths();
+}

HPPA/RasterLayer.h

@@ -0,0 +1,55 @@
+#pragma once
+
+#include "MapLayer.h"
+#include <memory>
+#include <QImage>
+#include <QVector>
+
+class RasterDataProvider;
+class RasterRenderer;
+
+class RasterLayer : public MapLayer
+{
+    Q_OBJECT
+public:
+    explicit RasterLayer(const QString& name, const QString& uri);
+    ~RasterLayer();
+
+    LayerType layerType() const override;
+
+    // Access provider/renderer
+    RasterDataProvider* dataProvider() const;
+    RasterRenderer* renderer() const;
+
+    // Create or open provider based on this layer's uri
+    bool openDataProvider();
+
+    bool isValidPixel(int x, int y);
+    bool readPixelSpectrum(int x, int y, QVector<double>& wavelengths, QVector<double>& spectrum);
+
+    struct RenderParams {
+        double rWave = 665.0; // default wavelengths (nm)
+        double gWave = 560.0;
+        double bWave = 490.0;
+        double minValue = 0.0; // optional stretch
+        double maxValue = 4095.0;
+    };
+
+    // Render the raster using current provider and renderer. Returns an empty QImage on failure.
+    QImage render(const RenderParams& params);
+
+    // Current render params stored per layer
+    RenderParams currentRenderParams() const;
+    void setCurrentRenderParams(const RenderParams& params);
+
+    // Get wavelength range from data provider (min, max). Returns false if unavailable.
+    bool wavelengthRange(double& minWave, double& maxWave) const;
+
+    // Get all band wavelengths
+    std::vector<double> bandWavelengths() const;
+
+private:
+    std::unique_ptr<RasterDataProvider> m_provider;
+    std::unique_ptr<RasterRenderer> m_renderer;
+    RenderParams m_currentParams;
+};

HPPA/RasterRenderer.cpp

@@ -0,0 +1,86 @@
+#include "RasterRenderer.h"
+#include "RasterDataProvider.h"
+#include <QDebug>
+#include <algorithm>
+
+RasterRenderer::RasterRenderer(RasterDataProvider* provider)
+    : m_provider(provider)
+{
+}
+
+void RasterRenderer::stretchTo8bit(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal)
+{
+    size_t n = in.size();
+    out.resize(n);
+    if (maxVal <= minVal) {
+        std::fill(out.begin(), out.end(), 0);
+        return;
+    }
+    float denom = 1.0f / (maxVal - minVal);
+    for (size_t i = 0; i < n; ++i) {
+        float v = (in[i] - minVal) * denom;
+        v = std::min(std::max(v, 0.0f), 1.0f);
+        out[i] = static_cast<unsigned char>(v * 255.0f);
+    }
+}
+
+QImage RasterRenderer::render(const Params& params)
+{
+    if (!m_provider) return QImage();
+    int bands = m_provider->bandCount();
+    int w = m_provider->width();
+    int h = m_provider->height();
+    if (w <= 0 || h <= 0) return QImage();
+
+    // Find nearest bands for requested wavelengths if wavelengths available
+    std::vector<double> wavelengths = m_provider->bandWavelengths();
+
+    auto chooseBandIndexForWave = [&](double wave)->int {
+        if (wavelengths.empty()) {
+            // fallback: select R,G,B as first three bands
+            if (bands >= 3) return (wave==params.rWave?0:(wave==params.gWave?1:2));
+            if (bands >= 1) return 0;
+            return -1;
+        }
+        int best = -1; double bestDiff = 1e12;
+        for (int i = 0; i < (int)wavelengths.size(); ++i) {
+            if (wavelengths[i] < 0) continue;
+            double d = std::abs(wavelengths[i] - wave);
+            if (d < bestDiff) { bestDiff = d; best = i; }
+        }
+        if (best >= 0) return best;
+        // fallback
+        return std::min(2, bands-1);
+    };
+
+    int rIdx = chooseBandIndexForWave(params.rWave);
+    int gIdx = chooseBandIndexForWave(params.gWave);
+    int bIdx = chooseBandIndexForWave(params.bWave);
+
+    std::vector<float> rbuf, gbuf, bbuf;
+    if (rIdx >= 0) m_provider->readBandAsFloat(rIdx, rbuf);
+    if (gIdx >= 0) m_provider->readBandAsFloat(gIdx, gbuf);
+    if (bIdx >= 0) m_provider->readBandAsFloat(bIdx, bbuf);
+
+    std::vector<unsigned char> r8, g8, b8;
+    float minV = static_cast<float>(params.minValue);
+    float maxV = static_cast<float>(params.maxValue);
+    if (!rbuf.empty()) stretchTo8bit(rbuf, r8, minV, maxV);
+    if (!gbuf.empty()) stretchTo8bit(gbuf, g8, minV, maxV);
+    if (!bbuf.empty()) stretchTo8bit(bbuf, b8, minV, maxV);
+
+    QImage out(w, h, QImage::Format_RGB888);
+    for (int y = 0; y < h; ++y) {
+        unsigned char* scan = out.scanLine(y);
+        for (int x = 0; x < w; ++x) {
+            int idx = y * w + x;
+            unsigned char rc = (r8.size() > (size_t)idx) ? r8[idx] : 0;
+            unsigned char gc = (g8.size() > (size_t)idx) ? g8[idx] : 0;
+            unsigned char bc = (b8.size() > (size_t)idx) ? b8[idx] : 0;
+            scan[x*3 + 0] = rc;
+            scan[x*3 + 1] = gc;
+            scan[x*3 + 2] = bc;
+        }
+    }
+    return out;
+}

HPPA/RasterRenderer.h

@@ -0,0 +1,29 @@
+#pragma once
+
+#include <QImage>
+#include <vector>
+
+class RasterDataProvider;
+
+class RasterRenderer
+{
+public:
+    struct Params {
+        double rWave = 665.0;
+        double gWave = 560.0;
+        double bWave = 490.0;
+        double minValue = 0.0;
+        double maxValue = 255.0;
+    };
+
+    explicit RasterRenderer(RasterDataProvider* provider);
+
+    // Render to an 8-bit RGB image. Returns empty image on failure.
+    QImage render(const Params& params);
+
+private:
+    RasterDataProvider* m_provider;
+
+    // helper to map float buffer to 8-bit with min/max stretch
+    static void stretchTo8bit(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal);
+};

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

@@ -286,6 +286,7 @@ void ResononNirImager::start_record()
 	}
 
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
+	QString filePath = QString::fromStdString(m_FileName2Save2);
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
 	size_t x;
@@ -353,7 +354,7 @@ 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, filePath);
 		}
 
 		if (m_iFrameCounter >= m_iFrameNumber)
@@ -365,14 +366,14 @@ void ResononNirImager::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, filePath);//<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();
@@ -399,6 +400,7 @@ void ResononNirImager::WriteHdr()
 	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/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/TabManager.cpp

@@ -0,0 +1,62 @@
+#include "TabManager.h"
+
+TabManager::TabManager(QTabWidget* tabWidget, QObject* parent)
+    : QObject(parent),
+    m_tabWidget(tabWidget)
+{
+    Q_ASSERT(m_tabWidget);
+}
+
+void TabManager::hideTab(QWidget* page)
+{
+    if (!page || !m_tabWidget)
+        return;
+
+    int index = m_tabWidget->indexOf(page);
+    if (index == -1)
+        return;
+
+    if (m_hiddenTabs.contains(page))
+        return;
+
+    TabInfo info;
+    info.index = index;
+    info.text = m_tabWidget->tabText(index);
+    info.icon = m_tabWidget->tabIcon(index);
+    info.toolTip = m_tabWidget->tabToolTip(index);
+
+    m_hiddenTabs.insert(page, info);
+
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><D8B5>ǵ<EFBFBD>ǰҳ<C7B0><D2B3><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>հ<EFBFBD>
+    if (m_tabWidget->currentIndex() == index)
+    {
+        int next = (index > 0) ? index - 1 : 0;
+        m_tabWidget->setCurrentIndex(next);
+    }
+
+    m_tabWidget->removeTab(index);
+    emit tabHidden(page);
+}
+
+void TabManager::showTab(QWidget* page)
+{
+    if (!page || !m_tabWidget)
+        return;
+
+    if (!m_hiddenTabs.contains(page))
+        return;
+
+    TabInfo info = m_hiddenTabs.take(page);
+
+    //int insertIndex = qMin(info.index, m_tabWidget->count());
+    int insertIndex = m_tabWidget->count();
+    m_tabWidget->insertTab(insertIndex, page, info.icon, info.text);
+    m_tabWidget->setTabToolTip(insertIndex, info.toolTip);
+
+    emit tabShown(page);
+}
+
+bool TabManager::isHidden(QWidget* page) const
+{
+    return m_hiddenTabs.contains(page);
+}

HPPA/TabManager.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <QObject>
+#include <QTabWidget>
+#include <QHash>
+
+class TabManager : public QObject
+{
+    Q_OBJECT
+public:
+    explicit TabManager(QTabWidget* tabWidget, QObject* parent = nullptr);
+
+    void hideTab(QWidget* page);
+    void showTab(QWidget* page);
+    bool isHidden(QWidget* page) const;
+
+signals:
+    void tabHidden(QWidget* page);
+    void tabShown(QWidget* page);
+
+private:
+    struct TabInfo
+    {
+        int index;
+        QString text;
+        QIcon icon;
+        QString toolTip;
+    };
+
+    QTabWidget* m_tabWidget = nullptr;
+    QHash<QWidget*, TabInfo> m_hiddenTabs;
+};

HPPA/TwoMotorControl.cpp

@@ -0,0 +1,503 @@
+#include "TwoMotorControl.h"
+
+TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
+{
+    ui.setupUi(this);
+
+	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
+
+	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.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()));
+}
+
+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_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+	connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
+
+    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::onxMove2Loc()
+{
+	double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+	double l = ui.move2loc_x_lineEdit->text().toDouble();
+
+	emit move2LocSignal(0, l, s, 1000);
+}
+
+void TwoMotorControl::onyMove2Loc()
+{
+	double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
+	double l = ui.move2loc_y_lineEdit->text().toDouble();
+
+	emit move2LocSignal(1, l, s, 1000);
+}
+
+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));
+
+	emit broadcastLocationSignal(loc);
+}
+
+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::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;
+	}
+
+	FileOperation* fileOperation = new FileOperation();
+	string directory = fileOperation->getDirectoryOfExe();
+
+	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine3 File"),
+		QString::fromStdString(directory),
+		tr("RecordLineFile3 (*.RecordLine3)"));
+
+	if (RecordLineFilePath.isEmpty())
+	{
+		return;
+	}
+
+	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
+
+	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 RecordLine3 File"),
+		QString::fromStdString(directory),
+		tr("RecordLineFile (*.RecordLine3)"));
+
+	if (RecordLineFilePath.isEmpty())
+	{
+		return;
+	}
+
+	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
+	double number;
+
+	//读取数据
+	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 +1,98 @@
+#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 onxMove2Loc();
+
+    void onyMotorforward();
+    void onyMotorbackward();
+    void onyMotorStop();
+    void onyMove2Loc();
+
+    void onAddRecordLine_btn();
+    void onRemoveRecordLine_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
+
+    void broadcastLocationSignal(std::vector<double>);
+
+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/View3D.cpp

@@ -0,0 +1,375 @@
+#include "View3D.h"
+#include <QHBoxLayout>
+#include <QShowEvent>
+#include <QMouseEvent>
+#include <QWheelEvent>
+#include <Qt3DExtras/QForwardRenderer>
+#include <QtMath>
+#include <Qt3DRender/QAttribute>
+#include <QGeometryRenderer> 
+
+View3DBase::View3DBase(const QString& baseModelPath,
+    const QString& armModelPath,
+    QWidget* parent)
+    : QWidget(parent),
+    m_container(nullptr),
+    m_baseModelPath(baseModelPath),
+    m_armModelPath(armModelPath)
+{
+    m_view = new Qt3DExtras::Qt3DWindow();
+    // 部分 Qt5.9 构建可能需要强转 frame graph，但 defaultFrameGraph() 通常可用
+    QColor c1("#0D1233");
+    m_view->defaultFrameGraph()->setClearColor(c1);
+
+    m_rootEntity = new Qt3DCore::QEntity();
+
+    initScene();
+    initCamera();
+
+    // 自动旋转臂（如果不需要可注释掉 timer/connect）
+    //connect(&m_timer, &QTimer::timeout, this, [=]() {
+    //    m_angle += 1.0f;
+    //    m_t += 1.0f;
+    //    if (m_angle >= 360.0f) m_angle = 0.0f;
+    //    if (m_armTransform)
+    //    {
+    //        //m_armTransform->setRotationX(m_angle);
+    //        //m_armTransform->setTranslation(QVector3D(m_t, 0, 0));
+    //        
+    //        Qt3DCore::QTransform transform;
+    //        transform.setTranslation(QVector3D(2, 0, 0));
+
+    //        QMatrix4x4 M = m_armTransform->matrix();
+    //        M = transform.matrix() * M;   // 左乘：在世界坐标系叠加
+    //        m_armTransform->setMatrix(M);
+
+    //        qDebug() << m_armTransform->matrix();
+    //    }
+    //    });
+}
+
+void View3DBase::setViewCenter(float x, float y, float z)
+{
+    m_viewCenter.setX(x);
+    m_viewCenter.setY(y);
+    m_viewCenter.setZ(z);
+}
+
+void View3DBase::setDistance(float distance)
+{
+    m_distance = distance;
+}
+
+void View3DBase::initScene()
+{
+    /*auto* lightEntity = new Qt3DCore::QEntity(m_rootEntity);
+
+    auto* light = new Qt3DRender::QPointLight(lightEntity);
+    light->setColor(Qt::white);
+    light->setIntensity(1.2f);
+
+    auto* lightTransform = new Qt3DCore::QTransform(lightEntity);
+    lightTransform->setTranslation(QVector3D(500, 500, 500));
+
+    lightEntity->addComponent(light);
+    lightEntity->addComponent(lightTransform);*/
+
+    // ===== 创建 base 根节点 =====
+    auto* baseModel = new Qt3DCore::QEntity(m_rootEntity);
+    auto* baseLoader = new Qt3DRender::QSceneLoader(baseModel);
+    baseLoader->setSource(QUrl::fromLocalFile(m_baseModelPath));
+
+    //connect(baseLoader, &Qt3DRender::QSceneLoader::statusChanged,
+    //    this, &View3DBase::onSceneLoaderStatusChanged);
+
+
+    m_baseTransform = new Qt3DCore::QTransform();
+    m_baseTransform->setTranslation(QVector3D(0, 0, 0));
+    baseModel->addComponent(baseLoader);
+    baseModel->addComponent(m_baseTransform);
+
+    connect(baseLoader, &Qt3DRender::QSceneLoader::statusChanged,
+        this, [=](Qt3DRender::QSceneLoader::Status status) {
+
+            if (status == Qt3DRender::QSceneLoader::Ready) {
+                applyWhiteMaterialRecursive(baseModel);
+            }
+        });
+
+
+    // ===== 创建 arm 根节点 =====
+    auto* armModel = new Qt3DCore::QEntity(m_rootEntity);
+    auto* armLoader = new Qt3DRender::QSceneLoader(armModel);
+    armLoader->setSource(QUrl::fromLocalFile(m_armModelPath));
+
+    m_armTransform = new Qt3DCore::QTransform();
+    m_armTransform->setTranslation(QVector3D(0, 0, 0));
+    armModel->addComponent(armLoader);
+    armModel->addComponent(m_armTransform);
+
+    connect(armLoader, &Qt3DRender::QSceneLoader::statusChanged,
+        this, [=](Qt3DRender::QSceneLoader::Status status) {
+
+            if (status == Qt3DRender::QSceneLoader::Ready) {
+                applyWhiteMaterialRecursive(armModel);
+            }
+        });
+
+    // 坐标轴依然挂在 root，不会被移动
+    //createAxes();
+
+    m_view->setRootEntity(m_rootEntity);
+
+    qDebug() << m_baseTransform->matrix();
+    qDebug() << m_armTransform->matrix();
+
+    //m_armTransform->setTranslation(QVector3D(2000, 0, 0));
+    //m_baseTransform->setTranslation(QVector3D(-1000, -1000, -1000));
+
+    qDebug() << m_baseTransform->matrix();
+    qDebug() << m_armTransform->matrix();
+}
+
+void View3DBase::applyWhiteMaterialRecursive(Qt3DCore::QEntity* entity)
+{
+    // 如果这个 entity 有 mesh，就给它加白色材质
+    auto meshes = entity->componentsOfType<Qt3DRender::QGeometryRenderer>();
+    if (!meshes.isEmpty()) {
+        auto* mat = new Qt3DExtras::QPhongMaterial(entity);
+        QColor c1("#cccccc");
+        mat->setDiffuse(c1);
+        mat->setAmbient(c1);
+        mat->setSpecular(c1);
+        mat->setShininess(50.0f);
+        entity->addComponent(mat);
+    }
+
+    // 递归处理子节点
+    const auto children = entity->children();
+    for (QObject* obj : children) {
+        auto* childEntity = qobject_cast<Qt3DCore::QEntity*>(obj);
+        if (childEntity)
+            applyWhiteMaterialRecursive(childEntity);
+    }
+}
+
+void View3DBase::createAxes()
+{
+    // 参数
+    float axisLength = 500.0f;
+    float axisRadius = 50.0f;
+
+    // ----- X axis (red) -----
+    Qt3DCore::QEntity* xAxis = new Qt3DCore::QEntity(m_rootEntity);
+    auto* xMesh = new Qt3DExtras::QCylinderMesh();
+    xMesh->setRadius(axisRadius);
+    xMesh->setLength(axisLength);
+    xMesh->setRings(16);
+    xMesh->setSlices(16);
+
+    auto* xTrans = new Qt3DCore::QTransform();
+    // cylinder 默认沿 Y 轴，绕 Z 轴 90 度让其沿 X
+    xTrans->setRotation(QQuaternion::fromAxisAndAngle(QVector3D(0, 0, 1), 90.0f));
+    xTrans->setTranslation(QVector3D(axisLength / 2.0f, 0.0f, 0.0f));
+
+    auto* xMat = new Qt3DExtras::QPhongMaterial();
+    xMat->setDiffuse(QColor(Qt::red));
+
+    xAxis->addComponent(xMesh);
+    xAxis->addComponent(xTrans);
+    xAxis->addComponent(xMat);
+
+    // ----- Y axis (green) -----
+    Qt3DCore::QEntity* yAxis = new Qt3DCore::QEntity(m_rootEntity);
+    auto* yMesh = new Qt3DExtras::QCylinderMesh();
+    yMesh->setRadius(axisRadius);
+    yMesh->setLength(axisLength*2);
+    yMesh->setRings(16);
+    yMesh->setSlices(16);
+
+    auto* yTrans = new Qt3DCore::QTransform();
+    // Y 轴无需旋转（cylinder 默认沿 Y）
+    yTrans->setTranslation(QVector3D(0.0f, axisLength / 2.0f, 0.0f));
+
+    auto* yMat = new Qt3DExtras::QPhongMaterial();
+    yMat->setDiffuse(QColor(Qt::green));
+
+    yAxis->addComponent(yMesh);
+    yAxis->addComponent(yTrans);
+    yAxis->addComponent(yMat);
+
+    // ----- Z axis (blue) -----
+    Qt3DCore::QEntity* zAxis = new Qt3DCore::QEntity(m_rootEntity);
+    auto* zMesh = new Qt3DExtras::QCylinderMesh();
+    zMesh->setRadius(axisRadius);
+    zMesh->setLength(axisLength*3);
+    zMesh->setRings(16);
+    zMesh->setSlices(16);
+
+    auto* zTrans = new Qt3DCore::QTransform();
+    // 让 cylinder 沿 Z：绕 X 轴 90 度
+    zTrans->setRotation(QQuaternion::fromAxisAndAngle(QVector3D(1, 0, 0), 90.0f));
+    zTrans->setTranslation(QVector3D(0.0f, 0.0f, axisLength / 2.0f));
+
+    auto* zMat = new Qt3DExtras::QPhongMaterial();
+    zMat->setDiffuse(QColor(Qt::blue));
+
+    zAxis->addComponent(zMesh);
+    zAxis->addComponent(zTrans);
+    zAxis->addComponent(zMat);
+}
+
+void View3DBase::initCamera()
+{
+    m_camera = m_view->camera();
+    // 16:10 假设窗口比例，后续 resize 时相机透视会保持
+    m_camera->lens()->setPerspectiveProjection(50.0f, 16.0f / 10.0f, 0.1f, 10000.0f);
+    updateCameraPosition();
+}
+
+void View3DBase::updateCameraPosition()
+{
+    float yaw = qDegreesToRadians(m_yawDeg);
+    float pitch = qDegreesToRadians(m_pitchDeg);
+
+    float x = m_distance * qCos(pitch) * qSin(yaw);
+    float y = m_distance * qSin(pitch);
+    float z = m_distance * qCos(pitch) * qCos(yaw);
+
+    QVector3D camPos = m_viewCenter + QVector3D(x, y, z);
+    m_camera->setPosition(camPos);
+    m_camera->setViewCenter(m_viewCenter);
+}
+
+void View3DBase::showEvent(QShowEvent* event)
+{
+    QWidget::showEvent(event);
+
+    if (!m_container) {
+        m_container = QWidget::createWindowContainer(m_view, this);
+        m_view->installEventFilter(this);
+
+        auto* layout = new QHBoxLayout(this);
+        layout->addWidget(m_container);
+        layout->setMargin(0);
+        setLayout(layout);
+
+        // 启动自动旋转 timer（如果你不需要可以注释）
+        m_timer.start(100);
+    }
+}
+
+bool View3DBase::eventFilter(QObject* obj, QEvent* event)
+{
+    if (obj == m_view)
+    {
+        // 鼠标按下
+        if (event->type() == QEvent::MouseButtonPress) {
+            auto* e = static_cast<QMouseEvent*>(event);
+            if (e->button() == Qt::LeftButton) {
+                m_mouseDragging = true;
+                m_lastMousePos = e->pos();
+            }
+            else if (e->button() == Qt::MiddleButton) {
+                m_middleDragging = true;
+                m_lastMousePos = e->pos();
+            }
+        }
+        // 鼠标释放
+        else if (event->type() == QEvent::MouseButtonRelease) {
+            auto* e = static_cast<QMouseEvent*>(event);
+            if (e->button() == Qt::LeftButton) {
+                m_mouseDragging = false;
+            }
+            else if (e->button() == Qt::MiddleButton) {
+                m_middleDragging = false;
+            }
+        }
+        // 鼠标移动
+        else if (event->type() == QEvent::MouseMove) {
+            auto* e = static_cast<QMouseEvent*>(event);
+            QPoint pos = e->pos();
+            QPoint delta = pos - m_lastMousePos;
+
+            // 左键：orbit（旋转）
+            if (m_mouseDragging) {
+                float sensitivity = 0.3f;
+                m_yawDeg -= delta.x() * sensitivity;
+                m_pitchDeg += delta.y() * sensitivity;
+
+                if (m_pitchDeg > 89.0f) m_pitchDeg = 89.0f;
+                if (m_pitchDeg < -89.0f) m_pitchDeg = -89.0f;
+
+                updateCameraPosition();
+            }
+
+            // 中键：pan（平移 viewCenter）
+            if (m_middleDragging) {
+                float speed = 2.0f;
+
+                // 根据摄像机方向计算平移方向
+                QVector3D camPos = m_camera->position();
+                QVector3D forward = (m_viewCenter - camPos).normalized();
+                QVector3D up(0, 1, 0);
+                QVector3D right = QVector3D::crossProduct(forward, up).normalized();
+
+                // 世界坐标变化量
+                QVector3D deltaMove =
+                    -right * (delta.x() * speed) +
+                    up * (delta.y() * speed);
+
+                // 将平移应用到两个模型根 Transform
+                if (m_baseRootTransform)
+                    m_baseRootTransform->setTranslation(
+                        m_baseRootTransform->translation() + deltaMove*-1);
+
+                if (m_armRootTransform)
+                    m_armRootTransform->setTranslation(
+                        m_armRootTransform->translation() + deltaMove*-1);
+            }
+
+            m_lastMousePos = pos;
+        }
+        // 滚轮缩放
+        else if (event->type() == QEvent::Wheel) {
+            auto* e = static_cast<QWheelEvent*>(event);
+            // Qt5: angleDelta 返回像素值（通常为 120 per notch）
+            int delta = e->angleDelta().y();
+            if (delta == 0) delta = e->delta(); // 备选
+            m_distance -= delta * 2.0f; // 缩放速度
+            if (m_distance < 2.0f) m_distance = 2.0f;
+            if (m_distance > 10000.0f) m_distance = 10000.0f;
+            updateCameraPosition();
+        }
+    }
+
+    // 让 Qt 继续处理（保持原行为）
+    return QWidget::eventFilter(obj, event);
+}
+
+View3DPlantPhenotype::View3DPlantPhenotype(const QString& baseModelPath, const QString& armModelPath, QWidget* parent)
+:View3DBase(baseModelPath, armModelPath, parent)
+{
+
+}
+
+void View3DPlantPhenotype::setLoc(std::vector<double> loc)
+{
+    double x = round(loc[0] * 100) / 100;
+    double y = round(loc[1] * 100) / 100;
+
+    m_armTransform->setTranslation(QVector3D(x, y, 0));
+}
+
+View3DLinearStage::View3DLinearStage(const QString& baseModelPath, const QString& armModelPath, QWidget* parent)
+    :View3DBase(baseModelPath, armModelPath, parent)
+{
+
+}
+
+void View3DLinearStage::setLoc(std::vector<double> loc)
+{
+    double x = round(loc[0] * 100) / 100;
+
+    m_armTransform->setTranslation(QVector3D(x, 0, 0));
+}

HPPA/View3D.h

@@ -0,0 +1,112 @@
+#ifndef VIEW3D_H
+#define VIEW3D_H
+
+#include <QWidget>
+#include <QTimer>
+#include <QPoint>
+#include <QString>
+#include <QQuaternion>
+#include <QColor>
+
+#include <Qt3DCore/QEntity>
+#include <Qt3DCore/QTransform>
+#include <Qt3DExtras/Qt3DWindow>
+#include <Qt3DRender/QCamera>
+#include <Qt3DExtras/QOrbitCameraController>
+#include <Qt3DExtras/QPhongMaterial>
+#include <Qt3DRender/QSceneLoader>
+#include <Qt3DExtras/QCylinderMesh>
+#include <QPointLight> 
+
+class View3DBase : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit View3DBase(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+    void setViewCenter(float x, float y, float z);
+    void setDistance(float distance);
+
+protected:
+    void showEvent(QShowEvent* event) override;
+    bool eventFilter(QObject* obj, QEvent* event) override;
+
+    void initScene();
+    void initCamera();
+    void updateCameraPosition();
+    void createAxes();
+
+    QString m_baseModelPath;
+    QString m_armModelPath;
+
+    Qt3DExtras::Qt3DWindow* m_view;
+    QWidget* m_container;
+    Qt3DCore::QEntity* m_rootEntity;
+
+    Qt3DCore::QEntity* m_baseEntity;
+    Qt3DCore::QEntity* m_armEntity;
+    Qt3DCore::QTransform* m_armTransform;
+    Qt3DCore::QTransform* m_baseTransform;
+
+    QTimer m_timer;
+    float m_angle = 0;    // arm auto rotation
+    float m_t = 0;
+
+    // ----- Camera control -----
+    Qt3DRender::QCamera* m_camera = nullptr;
+    float m_distance = 5000.0f;
+    float m_yawDeg = 0.0f;
+    float m_pitchDeg = 0.0f;
+    QVector3D m_viewCenter = QVector3D(1000, 1000, -1000);
+
+    // Mouse state
+    bool m_mouseDragging = false;       // left button: orbit
+    bool m_middleDragging = false;      // middle button: pan
+    QPoint m_lastMousePos;
+
+    Qt3DCore::QTransform* m_baseRootTransform = nullptr;
+    Qt3DCore::QTransform* m_armRootTransform = nullptr;
+
+    void applyWhiteMaterialRecursive(Qt3DCore::QEntity* entity);
+
+public Q_SLOTS:
+    virtual void setLoc(std::vector<double> loc) = 0;
+};
+
+class View3DPlantPhenotype : public View3DBase
+{
+    Q_OBJECT
+public:
+    View3DPlantPhenotype(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+
+protected:
+
+private:
+
+private:
+
+public Q_SLOTS:
+    void setLoc(std::vector<double> loc);
+};
+
+class View3DLinearStage : public View3DBase
+{
+    Q_OBJECT
+public:
+    View3DLinearStage(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+
+protected:
+
+private:
+
+private:
+
+public Q_SLOTS:
+    void setLoc(std::vector<double> loc);
+};
+#endif // VIEW3D_H

HPPA/View3DModelManager.cpp

@@ -0,0 +1,68 @@
+#include "View3DModelManager.h"
+
+View3DModelManager::View3DModelManager(QWidget* parent)
+    : QWidget(parent)
+{
+    m_stackedWidget = new QStackedWidget();
+    m_stackedWidget->setContentsMargins(0, 0, 0, 0);
+
+    QVBoxLayout* layout = new QVBoxLayout(this);
+    layout->addWidget(m_stackedWidget);
+    layout->setContentsMargins(0, 0, 0, 0);
+}
+
+void View3DModelManager::switchScenario(ScenarioType type)
+{
+    if (type == ScenarioType::PlantPhenotype) {
+        ensurePlantPhenotypeView();
+        m_stackedWidget->setCurrentWidget(m_viewPlant);
+    }
+    else {
+        ensureOneMotorView();
+        m_stackedWidget->setCurrentWidget(m_viewMotor);
+    }
+
+    emit scenarioChanged(type);
+}
+
+void View3DModelManager::ensurePlantPhenotypeView()
+{
+    if (m_viewPlant)
+        return;
+
+    QString basePath = QCoreApplication::applicationDirPath();
+
+    m_viewPlant = new View3DPlantPhenotype(
+        basePath + "/3DModel/HPPA_frame.obj",
+        basePath + "/3DModel/HPPA_camera.obj",
+        m_stackedWidget
+    );
+
+    m_viewPlant->setViewCenter(1000, 1000, -1000);
+    m_viewPlant->setDistance(5000);
+
+    m_stackedWidget->addWidget(m_viewPlant);
+
+    emit created3DModelPlantPhenotype();
+}
+
+void View3DModelManager::ensureOneMotorView()
+{
+    if (m_viewMotor)
+        return;
+
+    QString basePath = QCoreApplication::applicationDirPath();
+
+    m_viewMotor = new View3DLinearStage(
+        basePath + "/3DModel/linear_stage_indoor1.obj",
+        basePath + "/3DModel/linear_stage_indoor2.obj",
+        m_stackedWidget
+    );
+
+    m_viewMotor->setViewCenter(500, 100, 500);
+    m_viewMotor->setDistance(1000);
+
+    m_stackedWidget->addWidget(m_viewMotor);
+
+    emit created3DModelOneMotor();
+}

HPPA/View3DModelManager.h

@@ -0,0 +1,40 @@
+#pragma once
+#include <QObject>
+#include <QStackedWidget>
+#include <QCoreApplication>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+
+#include "View3D.h"
+
+class View3DPlantPhenotype;
+class View3DLinearStage;
+
+class View3DModelManager : public QWidget
+{
+    Q_OBJECT
+public:
+    enum class ScenarioType {
+        PlantPhenotype,
+        OneMotor
+    };
+
+    explicit View3DModelManager(QWidget* parent = nullptr);
+
+    void switchScenario(ScenarioType type);
+
+    View3DPlantPhenotype* m_viewPlant = nullptr;
+    View3DLinearStage* m_viewMotor = nullptr;
+
+signals:
+    void scenarioChanged(ScenarioType type);
+    void created3DModelPlantPhenotype();
+    void created3DModelOneMotor();
+
+private:
+    void ensurePlantPhenotypeView();
+    void ensureOneMotorView();
+
+private:
+    QStackedWidget* m_stackedWidget = nullptr;
+};

HPPA/about.ui

@@ -70,7 +70,7 @@
     </rect>
    </property>
    <property name="text">
-    <string>版本：1.8.7</string>
+    <string>版本：2.0</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_4">

HPPA/adjustTable.ui

@@ -6,24 +6,127 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>687</width>
-    <height>389</height>
+    <width>501</width>
+    <height>363</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
   <property name="windowTitle">
    <string>adjustTable</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="0" column="0">
+  <property name="styleSheet">
+   <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	/*border-top: 12px solid transparent;
+    border-right: 0px solid transparent;
+    border-bottom: 0px solid transparent;
+    border-left: 0px solid transparent;*/
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_4" rowstretch="1,2,2,2,1" columnstretch="1,10,1">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>66</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
     <widget class="QGroupBox" name="groupBox_8">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
      <property name="title">
       <string>252号升降台</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_10">
+     <layout class="QGridLayout" name="gridLayout">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
       <item row="0" column="0">
        <widget class="QPushButton" name="objective_table252_up_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -33,10 +136,10 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
+      <item row="0" column="1">
        <widget class="QPushButton" name="objective_table252_down_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -46,10 +149,10 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
+      <item row="0" column="2">
        <widget class="QPushButton" name="objective_table252_stop_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -62,16 +165,63 @@
      </layout>
     </widget>
    </item>
-   <item row="0" column="1">
+   <item row="1" column="2">
+    <spacer name="horizontalSpacer_4">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
     <widget class="QGroupBox" name="groupBox_7">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
      <property name="title">
       <string>253号升降台</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_11">
+     <layout class="QGridLayout" name="gridLayout_3">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
       <item row="0" column="0">
        <widget class="QPushButton" name="objective_table1_up_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -81,10 +231,10 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
+      <item row="0" column="1">
        <widget class="QPushButton" name="objective_table1_down_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -94,10 +244,10 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
+      <item row="0" column="2">
        <widget class="QPushButton" name="objective_table1_stop_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -110,16 +260,63 @@
      </layout>
     </widget>
    </item>
-   <item row="0" column="2">
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_6">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="0">
+    <spacer name="horizontalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
     <widget class="QGroupBox" name="groupBox_6">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
      <property name="title">
       <string>254号升降台</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_9">
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
       <item row="0" column="0">
        <widget class="QPushButton" name="objective_table2_up_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -129,10 +326,10 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
+      <item row="0" column="1">
        <widget class="QPushButton" name="objective_table2_down_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -142,10 +339,10 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
+      <item row="0" column="2">
        <widget class="QPushButton" name="objective_table2_stop_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -158,6 +355,32 @@
      </layout>
     </widget>
    </item>
+   <item row="3" column="2">
+    <spacer name="horizontalSpacer_5">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="4" column="1">
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>65</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <layoutdefault spacing="6" margin="11"/>

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)
@@ -92,142 +103,239 @@ bool test(void *pCaller, int *x, int *y, void **pvdata)
 
 void focusWindow::onConnectMotor()
 {
-	if (m_ctrlFocusMotor != nullptr)
+	if (ui.is_new_version_radioButton->isChecked())
 	{
-		printf("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-------------------------\n");
-		return;
-	}
+		FileOperation* fileOperation = new FileOperation();
+		string directory = fileOperation->getDirectoryOfExe();
+		QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
 
-	bool isUltrasound = ui.ultrasound_radioButton->isChecked();
-
-	QString motorPortTmp = ui.motorPort_comboBox->currentText();
-	QString ultrasoundPortTmp = ui.ultrasoundPort_comboBox->currentText();
-
-	QRegExp rx("\\d+$");
-	rx.indexIn(motorPortTmp, 0);
-	int motorPort = rx.cap(0).toInt();
-	rx.indexIn(ultrasoundPortTmp, 0);
-	int ultrasoundPort = rx.cap(0).toInt();
-
-	
-
-	if (isUltrasound)
-	{
-		PortInfo motor;
-		motor.iPortType = 0;
-		motor.indexParity = 0;
+		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();
 		
-		motor.iPortNumber = motorPort;
-		motor.indexBaudRate = 0x13;
-		motor.indexBytesize = 3;
-		motor.indexStopBits = 0;
+		//归零
+		//emit zeroStartSignal(0);
 
-		PortInfo ultrasound;
-		ultrasound.iPortType = 0;
-		ultrasound.indexParity = 0;
-		ultrasound.iPortNumber = ultrasoundPort;
-		ultrasound.indexBaudRate = 0x0C;
-		ultrasound.indexBytesize = 3;
-		ultrasound.indexStopBits = 0;
-
-		m_ctrlFocusMotor = new CFocusMotorControl();
-
-		m_ctrlFocusMotor->SetLogicZero(m_iMinPos);
-		m_ctrlFocusMotor->SetLimit(m_iMinPos, m_iMaxPos);
-		m_ctrlFocusMotor->InitSystem(motor, ultrasound, test, this);
-		//m_ctrlFocusMotor->MoveToLogicZero();
+		//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
 	{
-		PortInfo motor;
-		motor.iPortType = 0;
-		motor.indexParity = 0;
-		motor.iPortNumber = motorPort;
-		motor.indexBaudRate = 0x13;
-		motor.indexBytesize = 3;
-		motor.indexStopBits = 0;
+		if (m_ctrlFocusMotor != nullptr)
+		{
+			printf("不能重复连接-------------------------\n");
+			return;
+		}
 
-		m_ctrlFocusMotor = new CFocusMotorControl();
+		bool isUltrasound = ui.ultrasound_radioButton->isChecked();
 
-		m_ctrlFocusMotor->SetLogicZero(m_iMinPos);
-		m_ctrlFocusMotor->SetLimit(m_iMinPos, m_iMaxPos);
-		m_ctrlFocusMotor->InitSystem(motor, test, this);
-		m_ctrlFocusMotor->MoveToLogicZero();
+		QString motorPortTmp = ui.motorPort_comboBox->currentText();
+		QString ultrasoundPortTmp = ui.ultrasoundPort_comboBox->currentText();
+
+		QRegExp rx("\\d+$");
+		rx.indexIn(motorPortTmp, 0);
+		int motorPort = rx.cap(0).toInt();
+		rx.indexIn(ultrasoundPortTmp, 0);
+		int ultrasoundPort = rx.cap(0).toInt();
+
+
+
+		if (isUltrasound)
+		{
+			PortInfo motor;
+			motor.iPortType = 0;
+			motor.indexParity = 0;
+
+			motor.iPortNumber = motorPort;
+			motor.indexBaudRate = 0x13;
+			motor.indexBytesize = 3;
+			motor.indexStopBits = 0;
+
+			PortInfo ultrasound;
+			ultrasound.iPortType = 0;
+			ultrasound.indexParity = 0;
+			ultrasound.iPortNumber = ultrasoundPort;
+			ultrasound.indexBaudRate = 0x0C;
+			ultrasound.indexBytesize = 3;
+			ultrasound.indexStopBits = 0;
+
+			m_ctrlFocusMotor = new CFocusMotorControl();
+
+			m_ctrlFocusMotor->SetLogicZero(m_iMinPos);
+			m_ctrlFocusMotor->SetLimit(m_iMinPos, m_iMaxPos);
+			m_ctrlFocusMotor->InitSystem(motor, ultrasound, test, this);
+			//m_ctrlFocusMotor->MoveToLogicZero();
+		}
+		else
+		{
+			PortInfo motor;
+			motor.iPortType = 0;
+			motor.indexParity = 0;
+			motor.iPortNumber = motorPort;
+			motor.indexBaudRate = 0x13;
+			motor.indexBytesize = 3;
+			motor.indexStopBits = 0;
+
+			m_ctrlFocusMotor = new CFocusMotorControl();
+
+			m_ctrlFocusMotor->SetLogicZero(m_iMinPos);
+			m_ctrlFocusMotor->SetLimit(m_iMinPos, m_iMaxPos);
+			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()
 {
-	m_ctrlFocusMotor->MoveToLogicZero();
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		emit zeroStartSignal(0);
+	}
+	else
+	{
+		m_ctrlFocusMotor->MoveToLogicZero();
+	}
 }
 
 void focusWindow::onMove2MotorMax()
 {
-	m_ctrlFocusMotor->MoveToPos(m_iMaxPos);
+	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();
+	if (ui.is_new_version_radioButton->isChecked())
+	{
+		emit rmoveSignal(0, (double)abs(rdistance), m_dSpeed, 1000);
+	}
+	else
+	{
+		DriverInfo di;
+		m_ctrlFocusMotor->GetDriverStatus(di);
 
-	m_ctrlFocusMotor->MoveToPos(di.iAbsPosition + stepSize);
+		m_ctrlFocusMotor->MoveToPos(di.iAbsPosition + rdistance);
+	}
 }
 
 void focusWindow::onSubtract()
 {
-	DriverInfo di;
-	m_ctrlFocusMotor->GetDriverStatus(di);
+	double rdistance = ui.subtractStepSize_lineEdit->text().toDouble();
 
-	int stepSize = ui.subtractStepSize_lineEdit->text().toInt();
+	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 - stepSize);
+		m_ctrlFocusMotor->MoveToPos(di.iAbsPosition - rdistance);
+	}
 }
 
 void focusWindow::onAutoFocus()
 {
-	bool isUltrasound = ui.ultrasound_radioButton->isChecked();
-	WorkerThread2 *thread1 = new WorkerThread2(m_ctrlFocusMotor, isUltrasound);
+	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();
 
-	connect(thread1, SIGNAL(AutoFocusFinishedSignal()), this, SLOT(onAutoFocusFinished()));
+		//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);
 
-	thread1->start();
+		connect(thread1, SIGNAL(AutoFocusFinishedSignal()), this, SLOT(onAutoFocusFinished()));
+
+		thread1->start();
+
+		WorkerThread4* progressThread = new WorkerThread4(m_ctrlFocusMotor);
+		connect(progressThread, SIGNAL(AutoFocusProgressSignal(int)), this, SLOT(onAutoFocusProgress(int)));
+		progressThread->start();
+		ui.autoFocusProgress_progressBar->reset();
+	}
 	this->setDisabled(true);
-
-	WorkerThread4 *progressThread = new WorkerThread4(m_ctrlFocusMotor);
-	connect(progressThread, SIGNAL(AutoFocusProgressSignal(int)), this, SLOT(onAutoFocusProgress(int)));
-	progressThread->start();
-	ui.autoFocusProgress_progressBar->reset();
 }
 
 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);}");
 
@@ -237,30 +345,192 @@ void focusWindow::onManualFocus()
 
 void focusWindow::onUpdateCurrentLocation()
 {
-	DriverInfo di;
-	m_ctrlFocusMotor->GetDriverStatus(di);
-	ui.currentLocation_lineEdit->setText(QString::number(di.iAbsPosition));
+	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);
+		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();
 
-	onUpdateCurrentLocation();
+		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/imageControl.cpp

@@ -0,0 +1,299 @@
+#include "imageControl.h"
+#include "RasterLayer.h"
+#include <algorithm>
+#include <cmath>
+
+ImageControl::ImageControl(QWidget* parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	// Spinbox valueChanged: only sync the paired slider (no render)
+	connect(ui.spinRed, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &ImageControl::onSpinRedValueChanged);
+	connect(ui.spinGreen, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &ImageControl::onSpinGreenValueChanged);
+	connect(ui.spinBlue, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &ImageControl::onSpinBlueValueChanged);
+
+	// Spinbox editingFinished: commit on Enter key / focus lost (trigger render)
+	connect(ui.spinRed, &QDoubleSpinBox::editingFinished, this, &ImageControl::onSpinRedEditingFinished);
+	connect(ui.spinGreen, &QDoubleSpinBox::editingFinished, this, &ImageControl::onSpinGreenEditingFinished);
+	connect(ui.spinBlue, &QDoubleSpinBox::editingFinished, this, &ImageControl::onSpinBlueEditingFinished);
+
+	// Slider valueChanged: only sync the paired spinbox (no render)
+	// Slider now represents band index (0 .. N-1)
+	connect(ui.sliderRed, &QSlider::valueChanged, this, &ImageControl::onSliderRedValueChanged);
+	connect(ui.sliderGreen, &QSlider::valueChanged, this, &ImageControl::onSliderGreenValueChanged);
+	connect(ui.sliderBlue, &QSlider::valueChanged, this, &ImageControl::onSliderBlueValueChanged);
+
+	// Slider sliderReleased: commit on mouse release (trigger render)
+	connect(ui.sliderRed, &QSlider::sliderReleased, this, &ImageControl::onSliderRedReleased);
+	connect(ui.sliderGreen, &QSlider::sliderReleased, this, &ImageControl::onSliderGreenReleased);
+	connect(ui.sliderBlue, &QSlider::sliderReleased, this, &ImageControl::onSliderBlueReleased);
+
+	// Connect preset buttons
+	connect(ui.btnTrueColor, &QPushButton::clicked, this, &ImageControl::onTrueColorClicked);
+	connect(ui.btnColorInfrared, &QPushButton::clicked, this, &ImageControl::onColorInfraredClicked);
+
+	// Spinbox only commits on Enter, not on every keystroke
+	ui.spinRed->setKeyboardTracking(false);
+	ui.spinGreen->setKeyboardTracking(false);
+	ui.spinBlue->setKeyboardTracking(false);
+}
+
+ImageControl::~ImageControl()
+{
+}
+
+void ImageControl::setActiveLayer(RasterLayer* layer)
+{
+	m_activeLayer = layer;
+
+	if (!layer) {
+		setEnabled(false);
+		m_wavelengths.clear();
+		return;
+	}
+	setEnabled(true);
+
+	// Get band wavelengths from the layer's header
+	m_wavelengths = layer->bandWavelengths();
+	std::sort(m_wavelengths.begin(), m_wavelengths.end());
+
+	if (m_wavelengths.empty()) {
+		setEnabled(false);
+		return;
+	}
+
+	m_minWave = m_wavelengths.front();
+	m_maxWave = m_wavelengths.back();
+
+	// Compute spinbox step as the average wavelength interval between adjacent bands
+	double step = 1.0;
+	if (m_wavelengths.size() >= 2) {
+		step = (m_maxWave - m_minWave) / (m_wavelengths.size() - 1);
+	}
+
+	blockAllSignals(true);
+
+	// Configure spinbox ranges and step
+	ui.spinRed->setMinimum(m_minWave);
+	ui.spinRed->setMaximum(m_maxWave);
+	ui.spinRed->setSingleStep(step);
+	ui.spinGreen->setMinimum(m_minWave);
+	ui.spinGreen->setMaximum(m_maxWave);
+	ui.spinGreen->setSingleStep(step);
+	ui.spinBlue->setMinimum(m_minWave);
+	ui.spinBlue->setMaximum(m_maxWave);
+	ui.spinBlue->setSingleStep(step);
+
+	// Slider now represents band index (0 .. N-1), step = 1
+	int maxIdx = static_cast<int>(m_wavelengths.size()) - 1;
+	ui.sliderRed->setMinimum(0);
+	ui.sliderRed->setMaximum(maxIdx);
+	ui.sliderRed->setSingleStep(1);
+	ui.sliderRed->setPageStep(1);
+	ui.sliderGreen->setMinimum(0);
+	ui.sliderGreen->setMaximum(maxIdx);
+	ui.sliderGreen->setSingleStep(1);
+	ui.sliderGreen->setPageStep(1);
+	ui.sliderBlue->setMinimum(0);
+	ui.sliderBlue->setMaximum(maxIdx);
+	ui.sliderBlue->setSingleStep(1);
+	ui.sliderBlue->setPageStep(1);
+
+	// Set current values from layer's render params
+	auto params = layer->currentRenderParams();
+
+	int rIdx = nearestBandIndex(params.rWave);
+	int gIdx = nearestBandIndex(params.gWave);
+	int bIdx = nearestBandIndex(params.bWave);
+
+	ui.spinRed->setValue(m_wavelengths[rIdx]);
+	ui.spinGreen->setValue(m_wavelengths[gIdx]);
+	ui.spinBlue->setValue(m_wavelengths[bIdx]);
+
+	ui.sliderRed->setValue(rIdx);
+	ui.sliderGreen->setValue(gIdx);
+	ui.sliderBlue->setValue(bIdx);
+
+	blockAllSignals(false);
+}
+
+RasterLayer* ImageControl::activeLayer() const
+{
+	return m_activeLayer;
+}
+
+int ImageControl::nearestBandIndex(double wave) const
+{
+	if (m_wavelengths.empty()) return 0;
+	int best = 0;
+	double bestDiff = std::abs(m_wavelengths[0] - wave);
+	for (int i = 1; i < static_cast<int>(m_wavelengths.size()); ++i) {
+		double d = std::abs(m_wavelengths[i] - wave);
+		if (d < bestDiff) {
+			bestDiff = d;
+			best = i;
+		}
+	}
+	return best;
+}
+
+void ImageControl::setControlsToBandIndex(QDoubleSpinBox* spin, QSlider* slider, int idx)
+{
+	if (idx < 0 || idx >= static_cast<int>(m_wavelengths.size())) return;
+	double wv = m_wavelengths[idx];
+	spin->blockSignals(true);
+	spin->setValue(wv);
+	spin->blockSignals(false);
+	slider->blockSignals(true);
+	slider->setValue(idx);
+	slider->blockSignals(false);
+}
+
+// --- Spinbox valueChanged: snap to nearest band, sync slider, no render ---
+
+void ImageControl::onSpinRedValueChanged(double val)
+{
+	int idx = nearestBandIndex(val);
+	ui.sliderRed->blockSignals(true);
+	ui.sliderRed->setValue(idx);
+	ui.sliderRed->blockSignals(false);
+}
+
+void ImageControl::onSpinGreenValueChanged(double val)
+{
+	int idx = nearestBandIndex(val);
+	ui.sliderGreen->blockSignals(true);
+	ui.sliderGreen->setValue(idx);
+	ui.sliderGreen->blockSignals(false);
+}
+
+void ImageControl::onSpinBlueValueChanged(double val)
+{
+	int idx = nearestBandIndex(val);
+	ui.sliderBlue->blockSignals(true);
+	ui.sliderBlue->setValue(idx);
+	ui.sliderBlue->blockSignals(false);
+}
+
+// --- Slider valueChanged: map band index to wavelength, sync spinbox, no render ---
+
+void ImageControl::onSliderRedValueChanged(int val)
+{
+	if (val < 0 || val >= static_cast<int>(m_wavelengths.size())) return;
+	ui.spinRed->blockSignals(true);
+	ui.spinRed->setValue(m_wavelengths[val]);
+	ui.spinRed->blockSignals(false);
+}
+
+void ImageControl::onSliderGreenValueChanged(int val)
+{
+	if (val < 0 || val >= static_cast<int>(m_wavelengths.size())) return;
+	ui.spinGreen->blockSignals(true);
+	ui.spinGreen->setValue(m_wavelengths[val]);
+	ui.spinGreen->blockSignals(false);
+}
+
+void ImageControl::onSliderBlueValueChanged(int val)
+{
+	if (val < 0 || val >= static_cast<int>(m_wavelengths.size())) return;
+	ui.spinBlue->blockSignals(true);
+	ui.spinBlue->setValue(m_wavelengths[val]);
+	ui.spinBlue->blockSignals(false);
+}
+
+// --- Spinbox editingFinished: snap to nearest band wavelength, then commit ---
+
+void ImageControl::onSpinRedEditingFinished()
+{
+	int idx = nearestBandIndex(ui.spinRed->value());
+	setControlsToBandIndex(ui.spinRed, ui.sliderRed, idx);
+	emitBandChange();
+}
+
+void ImageControl::onSpinGreenEditingFinished()
+{
+	int idx = nearestBandIndex(ui.spinGreen->value());
+	setControlsToBandIndex(ui.spinGreen, ui.sliderGreen, idx);
+	emitBandChange();
+}
+
+void ImageControl::onSpinBlueEditingFinished()
+{
+	int idx = nearestBandIndex(ui.spinBlue->value());
+	setControlsToBandIndex(ui.spinBlue, ui.sliderBlue, idx);
+	emitBandChange();
+}
+
+// --- Slider sliderReleased: commit on mouse release ---
+
+void ImageControl::onSliderRedReleased()
+{
+	emitBandChange();
+}
+
+void ImageControl::onSliderGreenReleased()
+{
+	emitBandChange();
+}
+
+void ImageControl::onSliderBlueReleased()
+{
+	emitBandChange();
+}
+
+// --- Preset buttons ---
+
+void ImageControl::onTrueColorClicked()
+{
+	blockAllSignals(true);
+	int rIdx = nearestBandIndex(665.0);
+	int gIdx = nearestBandIndex(560.0);
+	int bIdx = nearestBandIndex(490.0);
+	setControlsToBandIndex(ui.spinRed, ui.sliderRed, rIdx);
+	setControlsToBandIndex(ui.spinGreen, ui.sliderGreen, gIdx);
+	setControlsToBandIndex(ui.spinBlue, ui.sliderBlue, bIdx);
+	blockAllSignals(false);
+	emitBandChange();
+}
+
+void ImageControl::onColorInfraredClicked()
+{
+	blockAllSignals(true);
+	int rIdx = nearestBandIndex(800.0);
+	int gIdx = nearestBandIndex(665.0);
+	int bIdx = nearestBandIndex(560.0);
+	setControlsToBandIndex(ui.spinRed, ui.sliderRed, rIdx);
+	setControlsToBandIndex(ui.spinGreen, ui.sliderGreen, gIdx);
+	setControlsToBandIndex(ui.spinBlue, ui.sliderBlue, bIdx);
+	blockAllSignals(false);
+	emitBandChange();
+}
+
+void ImageControl::emitBandChange()
+{
+	double r = ui.spinRed->value();
+	double g = ui.spinGreen->value();
+	double b = ui.spinBlue->value();
+
+	// Update active layer's stored render params
+	if (m_activeLayer) {
+		auto params = m_activeLayer->currentRenderParams();
+		params.rWave = r;
+		params.gWave = g;
+		params.bWave = b;
+		m_activeLayer->setCurrentRenderParams(params);
+	}
+
+	emit bandSelectionChanged(r, g, b);
+}
+
+void ImageControl::blockAllSignals(bool block)
+{
+	ui.spinRed->blockSignals(block);
+	ui.spinGreen->blockSignals(block);
+	ui.spinBlue->blockSignals(block);
+	ui.sliderRed->blockSignals(block);
+	ui.sliderGreen->blockSignals(block);
+	ui.sliderBlue->blockSignals(block);
+}

HPPA/imageControl.h

@@ -0,0 +1,69 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <vector>
+
+#include "ui_imgControl.h"
+
+class RasterLayer;
+
+class ImageControl : public QDialog
+{
+	Q_OBJECT
+
+public:
+	ImageControl(QWidget* parent = nullptr);
+	~ImageControl();
+
+	// Populate controls from a RasterLayer's wavelength info and current render params
+	void setActiveLayer(RasterLayer* layer);
+	RasterLayer* activeLayer() const;
+
+public Q_SLOTS:
+
+Q_SIGNALS:
+	// Emitted when user changes any of the R/G/B wavelength values
+	void bandSelectionChanged(double rWave, double gWave, double bWave);
+
+private Q_SLOTS:
+	// Sync slider position while dragging spinbox (no render)
+	void onSpinRedValueChanged(double val);
+	void onSpinGreenValueChanged(double val);
+	void onSpinBlueValueChanged(double val);
+
+	// Sync spinbox display while dragging slider (no render)
+	void onSliderRedValueChanged(int val);
+	void onSliderGreenValueChanged(int val);
+	void onSliderBlueValueChanged(int val);
+
+	// Commit: spinbox Enter key pressed / focus lost
+	void onSpinRedEditingFinished();
+	void onSpinGreenEditingFinished();
+	void onSpinBlueEditingFinished();
+
+	// Commit: slider mouse released
+	void onSliderRedReleased();
+	void onSliderGreenReleased();
+	void onSliderBlueReleased();
+
+	void onTrueColorClicked();
+	void onColorInfraredClicked();
+
+private:
+	void emitBandChange();
+	void blockAllSignals(bool block);
+
+	// Find the band index whose wavelength is closest to the given value
+	int nearestBandIndex(double wave) const;
+	// Set spinbox and slider to wavelength of the given band index
+	void setControlsToBandIndex(QDoubleSpinBox* spin, QSlider* slider, int idx);
+
+	Ui::ImageControl ui;
+	RasterLayer* m_activeLayer = nullptr;
+	double m_minWave = 374.5;
+	double m_maxWave = 948.1;
+	std::vector<double> m_wavelengths; // band wavelengths from header
+};

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/imgControl.ui

@@ -0,0 +1,210 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ImageControl</class>
+ <widget class="QWidget" name="ImageControl">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>520</width>
+    <height>360</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Color Adjust</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QLabel {
+    color: rgb(255, 255, 255);
+}
+
+QSlider::groove:horizontal {
+    height: 10px;
+    background: #1e2a44;
+    border-radius: 3px;
+}
+
+/* 已滑过：渐变蓝 */
+QSlider::sub-page:horizontal {
+    background: qlineargradient(
+        x1:0, y1:0, x2:1, y2:0,
+        stop:0   #1f4fff,
+        stop:0.5 #2f6bff,
+        stop:1   #5fa0ff
+    );
+    border-radius: 3px;
+}
+
+/* 未滑过 */
+QSlider::add-page:horizontal {
+	height: 10px;
+    background: #2a3550;
+    border-radius: 3px;
+}
+
+/* ===== 滑块按钮 ===== */
+QSlider::handle:horizontal {
+    width: 15px;
+    height: 10px;
+
+    /* 蓝色实心 */
+    background: #2f6bff;
+
+    /* 白色外圈 */
+    border: 2px solid #ffffff;
+    border-radius: 5px;
+
+    /* 垂直居中 */
+    margin: -5px 0;
+}
+
+/* 悬停 */
+QSlider::handle:horizontal:hover {
+    background: #4d8dff;
+}
+
+/* 按下 */
+QSlider::handle:horizontal:pressed {
+    background: #1f4fff;
+}</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QGroupBox" name="groupAdjustments">
+     <property name="title">
+      <string>调整</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="0">
+       <widget class="QLabel" name="labelRed">
+        <property name="text">
+         <string>红</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QDoubleSpinBox" name="spinRed">
+        <property name="minimum">
+         <double>374.500000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>948.100000000000023</double>
+        </property>
+        <property name="value">
+         <double>643.100000000000023</double>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QSlider" name="sliderRed">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QLabel" name="labelRedNm">
+        <property name="text">
+         <string>nm</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="labelGreen">
+        <property name="text">
+         <string>绿</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QDoubleSpinBox" name="spinGreen">
+        <property name="minimum">
+         <double>374.500000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>948.100000000000023</double>
+        </property>
+        <property name="value">
+         <double>548.799999999999955</double>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QSlider" name="sliderGreen">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="3">
+       <widget class="QLabel" name="labelGreenNm">
+        <property name="text">
+         <string>nm</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="labelBlue">
+        <property name="text">
+         <string>蓝</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QDoubleSpinBox" name="spinBlue">
+        <property name="minimum">
+         <double>374.500000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>948.100000000000023</double>
+        </property>
+        <property name="value">
+         <double>461.600000000000023</double>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QSlider" name="sliderBlue">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QLabel" name="labelBlueNm">
+        <property name="text">
+         <string>nm</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupPresets">
+     <property name="title">
+      <string>预设</string>
+     </property>
+     <layout class="QVBoxLayout" name="presetLayout">
+      <item>
+       <widget class="QPushButton" name="btnTrueColor">
+        <property name="text">
+         <string>真彩色</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btnColorInfrared">
+        <property name="text">
+         <string>假彩色</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

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 +1,404 @@
+<?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>678</width>
+    <height>480</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>一轴马达控制</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QPushButton
+{
+	/*width: 172px;
+	height: 56px;
+	font: 19pt &quot;新宋体&quot;;*/
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}
+QLabel
+{
+	color: #ACCDFF;
+	background-color: transparent;
+}
+
+
+
+
+
+QLineEdit {
+    background-color: #142D7F;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    min-width: 70px;
+    min-height: 20px;
+    font-size: 13px;
+}
+QLineEdit:hover {
+    border: 1px solid #4d8dff;
+}
+
+QLineEdit:focus {
+    border: 1px solid #6aa2ff;
+    background-color: #23345c;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_2" rowstretch="1,3,1" columnstretch="1,3,1">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>87</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>127</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <layout class="QGridLayout" name="gridLayout">
+     <property name="spacing">
+      <number>10</number>
+     </property>
+     <item row="0" column="0">
+      <widget class="QLabel" name="label">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>实时位置</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="QLineEdit" name="realTimeLoc_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <widget class="QPushButton" name="connect_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>连接</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>运行速度</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QLineEdit" name="speed_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>0.1</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QPushButton" name="zero_start_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>归零</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="0">
+      <widget class="QLabel" name="label_3">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>返回速度</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="1">
+      <widget class="QLineEdit" name="return_speed_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>2</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="2">
+      <widget class="QPushButton" name="rangeMeasurement_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>量程测量</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="1">
+      <widget class="QLineEdit" name="move2loc_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="2">
+      <widget class="QPushButton" name="move2loc_pushButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>移动至</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="1">
+      <widget class="QPushButton" name="left_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>←0</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="2">
+      <widget class="QPushButton" name="right_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>→</string>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="2">
+      <layout class="QHBoxLayout" name="horizontalLayout">
+       <item>
+        <widget class="QLabel" name="label_2">
+         <property name="text">
+          <string>状态</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="motor_state_label">
+         <property name="maximumSize">
+          <size>
+           <width>8</width>
+           <height>8</height>
+          </size>
+         </property>
+         <property name="sizeIncrement">
+          <size>
+           <width>8</width>
+           <height>8</height>
+          </size>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color: red;
+border-radius: 4px;</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="2">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>127</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>87</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

HPPA/utility_tc.cpp

@@ -112,6 +112,24 @@ std::string removeFileExtension(std::string filename)
 
 }
 
+// 从绝对路径中提取文件名（不包含扩展名）
+std::string getFileNameFromPath(const std::string &fullPath)
+{
+    // 找到最后一个路径分隔符，支持 '/' 和 '\\'
+    size_t lastSlash = fullPath.find_last_of("/\\");
+    size_t start = (lastSlash == std::string::npos) ? 0 : lastSlash + 1;
+
+    // 找到最后一个点，确保点在文件名范围内
+    size_t lastDot = fullPath.find_last_of('.');
+    if (lastDot == std::string::npos || lastDot < start) {
+        // 没有扩展名或点在路径之前，直接返回从 start 到结尾的子串
+        return fullPath.substr(start);
+    }
+
+    // 返回从 start 到 lastDot 之间的文件名（不含扩展名）
+    return fullPath.substr(start, lastDot - start);
+}
+
 QList<QString> getFileInfo(QString file)
 {
     QFileInfo fileInfo = QFileInfo(file);

HPPA/utility_tc.h

@@ -20,6 +20,7 @@ void swap(unsigned short * a, unsigned short * b);
 
 bool createDir(QString fullPath);
 std::string removeFileExtension(std::string filename);
+std::string getFileNameFromPath(const std::string& fullPath);
 
 QList<QString> getFileInfo(QString file);
 

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;
+        };
+      };
+    };
+  };
+};