初步实现单独的图层管理器。

注意：没有和mapcavas通讯。

.gitignore

@@ -5,6 +5,8 @@ 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/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/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/HPPA.h

@@ -12,6 +12,7 @@
 #include <QLineSeries>
 #include <QChart>
 #include <QChartView>
+#include <QValueAxis>
 #include <QFileDialog>
 
 #include <QNetworkRequest>
@@ -42,6 +43,17 @@
 #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"
+
 #define PI 3.1415926
 
 QT_CHARTS_USE_NAMESPACE//QChartView ʹ<><CAB9> <20><>Ҫ<EFBFBD>Ӻ꣬ <20><><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD>ʹ<EFBFBD><CAB9>
@@ -123,6 +135,31 @@ signals:
 	void threadSignal(QString s);
 };
 
+class WidgetWithBackgroundPicture : public QWidget
+{
+	Q_OBJECT
+
+public:
+	explicit WidgetWithBackgroundPicture(QWidget* parent = nullptr)
+		: QWidget(parent),
+		m_pixmap(".//icon//titile_bar_bgp.png")  // ʹ<><CAB9><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><C2B7>
+	{
+		// <20><>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD>ó<EFBFBD>ʼ<EFBFBD><CABC>С
+		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:
+	QPixmap m_pixmap;
+};
+
 class HPPA : public QMainWindow
 {
 	Q_OBJECT
@@ -137,11 +174,14 @@ public:
 
 private:
 	Ui::HPPAClass ui;
+	QTabWidget* m_imageViewerTabWidget;
 
 	QMenu* mPanelMenu = nullptr;
 	QMenu* mToolbarMenu = nullptr;
 
+	void initMenubarToolbar();
 	void initPanelToolbar();
+	void initControlTabwidget();
 
 	QLineEdit * frame_number;
 	QLineEdit * m_FilenameLineEdit;
@@ -160,6 +200,7 @@ private:
 	FileOperation * m_FileOperation;
 
 	QChartView * m_chartView;
+	QChart* m_chart;
 
 	//QLineSeries *series;
 	//QChart *chart;
@@ -183,19 +224,37 @@ private:
 	QActionGroup* mImagerGroup = nullptr;
 	void createActionGroups();
 	void selectingImager(QAction* selectedAction);
+
 	QActionGroup* moveplatformActionGroup = nullptr;
 	void createMoveplatformActionGroup();
 	void selectingMoveplatform(QAction* selectedAction);
-	RobotArmControl* rac;
 
-	OneMotorControl* omc;
-	QDockWidget* dock_omc;
+	QActionGroup* m_ScenarioActionGroup = nullptr;
+	void createScenarioActionGroup();
+	void selectScenario(QAction* selectedAction);
 
-	TwoMotorControl* tmc;
-	QDockWidget* dock_tmc;
+	
 	
 	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;
+
+	adjustTable* m_adt;
+	PowerControl* m_pc;
+	RobotArmControl* m_rac;
+	OneMotorControl* m_omc;
+	TwoMotorControl* m_tmc;
+
+	View3DModelManager* m_view3DModelManager;
+
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber);
 	void PlotSpectral(int state);
@@ -228,6 +287,7 @@ public Q_SLOTS:
 	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 setAxis(QValueAxis* axisX, QValueAxis* axisY);
 
 
 	void timerEvent(QTimerEvent *event);
@@ -246,6 +306,9 @@ public Q_SLOTS:
 	void recordFromRobotArm(int fileCounter);
 
 	void createOneMotorScenario();
+	void createPlantPhenotypeScenario();
+	void onCreated3DModelPlantPhenotype();
+	void onCreated3DModelOneMotor();
 signals:
 	void StartFocusSignal();
 	void StartRecordSignal();

HPPA/HPPA.vcxproj

@@ -32,7 +32,7 @@
   </ImportGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="QtSettings">
     <QtInstall>5.13.2_msvc2017_64</QtInstall>
-    <QtModules>core;network;gui;widgets;serialport;websockets;charts</QtModules>
+    <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">
@@ -107,11 +107,18 @@
     <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="ImagerOperationBase.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="OneMotorControl.cpp" />
     <ClCompile Include="path_tc.cpp" />
     <ClCompile Include="PowerControl.cpp" />
@@ -125,8 +132,11 @@
       <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" />
@@ -161,15 +171,25 @@
     <QtMoc Include="image2display.h" />
   </ItemGroup>
   <ItemGroup>
+    <QtMoc Include="View3DModelManager.h" />
+    <QtMoc Include="View3D.h" />
     <QtMoc Include="adjustTable.h" />
     <QtMoc Include="PowerControl.h" />
     <QtMoc Include="RobotArmControl.h" />
     <QtMoc Include="Corning410Imager.h" />
     <QtMoc Include="CaptureCoordinator.h" />
+    <QtMoc Include="CustomDockWidgetBase.h" />
+    <QtMoc Include="Carousel.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" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />

HPPA/HPPA.vcxproj.filters

@@ -21,15 +21,6 @@
       <UniqueIdentifier>{639EADAA-A684-42e4-A9AD-28FC9BCB8F7C}</UniqueIdentifier>
       <Extensions>ts</Extensions>
     </Filter>
-    <Filter Include="Header Files\motor">
-      <UniqueIdentifier>{eadfac5f-f4f9-49e2-9f99-0849bf074cf8}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Source Files\motor">
-      <UniqueIdentifier>{4672856c-86fb-46e3-94ff-0a296dcc6111}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Header Files\focus">
-      <UniqueIdentifier>{f2bfb93e-9ef8-4fdd-a776-db93b81af553}</UniqueIdentifier>
-    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtRcc Include="HPPA.qrc">
@@ -133,6 +124,36 @@
     <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>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -192,6 +213,36 @@
     <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>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">

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

HPPA/LayerTreeLayerNode.h

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

HPPA/LayerTreeModel.cpp

@@ -0,0 +1,168 @@
+#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, const QString& name, const QIcon& icon)
+{
+    if (!parent) parent = m_tree->root();
+
+    const int row = parent->childCount();
+    beginInsertRows(indexFromNode(parent), row, row);
+    LayerTreeNode* l = m_tree->insertNode(parent, row, new LayerTreeLayerNode(name));
+    endInsertRows();
+
+    return l;
+}
+
+void LayerTreeModel::setCascadeCheckEnabled(bool enabled)
+{
+    m_cascadeCheck = enabled;
+}
+
+bool LayerTreeModel::cascadeCheckEnabled() const
+{
+    return m_cascadeCheck;
+}
+
+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 +1,47 @@
+#pragma once
+#include <QCoreApplication>
+#include <QAbstractItemModel>
+#include "LayerTree.h"
+
+/**
+ * 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, const QString& name, const QIcon& icon = QIcon());
+
+    void setCascadeCheckEnabled(bool enabled);
+    bool cascadeCheckEnabled() const;
+
+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/OneMotorControl.cpp

@@ -64,6 +64,8 @@ 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)

HPPA/OneMotorControl.h

@@ -55,6 +55,8 @@ signals:
 
     void sequenceComplete();
 
+    void broadcastLocationSignal(std::vector<double>);
+
 private:
     Ui::OneMotorControl_UI ui;
 

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/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

@@ -5,7 +5,6 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
     ui.setupUi(this);
 
 	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
-	ui.recordLine_tableWidget->setStyleSheet("selection-background-color:rgb(255,209,128)");//设置选择的行高亮
 
 	ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选择行为，以行为单位
 	//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//设置选择模式，选择单行
@@ -16,13 +15,9 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
 
     connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
     connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
-    connect(ui.generateRecordLine_btn, SIGNAL(clicked()), this, SLOT(onGenerateRecordLine_btn()));
     connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
     connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
     connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
-
-	connect(ui.run_btn, SIGNAL(clicked()), this, SLOT(run()));
-	connect(ui.stop_btn, SIGNAL(clicked()), this, SLOT(stop()));
 }
 
 void TwoMotorControl::setImager(ImagerOperationBase* imager)
@@ -184,12 +179,13 @@ void TwoMotorControl::onConnectMotor()
     connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
     connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
 
-    //connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+    connect(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(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()));
@@ -291,6 +287,22 @@ 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;
@@ -303,6 +315,8 @@ void TwoMotorControl::displayRealTimeLoc(std::vector<double> loc)
 
     tmp = round(loc[1] * 100) / 100;
     this->ui.ymotor_realTimeLoc_lineEdit->setText(QString::number(tmp));
+
+	emit broadcastLocationSignal(loc);
 }
 
 void TwoMotorControl::zeroStart()
@@ -376,93 +390,6 @@ void TwoMotorControl::onRemoveRecordLine_btn()
 		ui.recordLine_tableWidget->removeRow(rowIndex);
 }
 
-void TwoMotorControl::onGenerateRecordLine_btn()
-{
-	//求幅宽
-	double height = ui.height_lineEdit->text().toDouble();
-	double fov = ui.fov_lineEdit->text().toDouble();
-	double swath = (height * tan(fov / 2 * PI / 180)) * 2;//tan输入是弧度
-	ui.swath_lineEdit->setText(QString::number(swath));
-
-
-	//读取马达测量范围
-	double xMotorRange = 50;
-	double yMotorRange = 500;
-
-
-	//确定有多少条采集线，公式：numberOfRecordLine_tmp * swath - repetitiveLength（numberOfRecordLine_tmp - 1） = overallLength
-	double overallLength = yMotorRange + swath;
-	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble() / 100;
-	double repetitiveLength = repetitiveRate * swath;
-	double offset = ui.offset_lineEdit->text().toDouble();
-
-	double numberOfRecordLine_tmp = (overallLength - repetitiveLength - offset) / (swath - repetitiveLength);
-	double tmp = numberOfRecordLine_tmp - (int)numberOfRecordLine_tmp;
-	int numberOfRecordLine;
-	double threshold = ui.LastLineThreshold_lineEdit->text().toDouble();//当numberOfRecordLine_tmp为小数时，判断是否多加一条采集线
-	if (tmp > threshold)
-	{
-		numberOfRecordLine = (int)numberOfRecordLine_tmp + 1;
-		//std::cout << "大于：" << threshold << std::endl;
-	}
-	else
-	{
-		numberOfRecordLine = (int)numberOfRecordLine_tmp;
-	}
-
-
-
-	//去掉tableWidget中所有的行
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-
-
-	//向tableWidget添加行（采集线）
-	QTableWidgetItem* tmpItem;
-	for (size_t i = 0; i < numberOfRecordLine; i++)
-	{
-		//增加一行
-		int RowCount = ui.recordLine_tableWidget->rowCount();
-		ui.recordLine_tableWidget->insertRow(RowCount);
-
-		//设置yPosition
-		if (tmp > threshold && i == numberOfRecordLine - 1)//设置最后一行的yPosition
-		{
-			tmpItem = new QTableWidgetItem(QString::number(yMotorRange, 10, 2));
-			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
-		}
-		else
-		{
-			double x = swath * i - i * repetitiveLength + offset;
-			tmpItem = new QTableWidgetItem(QString::number(x, 10, 2));
-			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
-		}
-		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 1, tmpItem);
-
-		tmpItem = new QTableWidgetItem(QString::number(0, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 2, tmpItem);
-		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 3, tmpItem);
-
-		//设置x马达最大运动位置 → 值设置为x马达量程
-		tmpItem = new QTableWidgetItem(QString::number(xMotorRange, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 4, tmpItem);
-		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 5, tmpItem);
-	}
-}
-
 void TwoMotorControl::onDeleteRecordLine_btn()
 {
 	int rowCount = ui.recordLine_tableWidget->rowCount();
@@ -481,19 +408,12 @@ void TwoMotorControl::onSaveRecordLine2File_btn()
 		return;
 	}
 
-	double height = ui.height_lineEdit->text().toDouble();
-	double fov = ui.fov_lineEdit->text().toDouble();
-	double swath = ui.swath_lineEdit->text().toDouble();
-	double offset = ui.offset_lineEdit->text().toDouble();
-	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble();
-	double LastLineThreshold = ui.LastLineThreshold_lineEdit->text().toDouble();
-
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
 
-	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine2 File"),
+	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine3 File"),
 		QString::fromStdString(directory),
-		tr("RecordLineFile2 (*.RecordLine2)"));
+		tr("RecordLineFile3 (*.RecordLine3)"));
 
 	if (RecordLineFilePath.isEmpty())
 	{
@@ -502,13 +422,6 @@ void TwoMotorControl::onSaveRecordLine2File_btn()
 
 	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);
 
@@ -536,9 +449,9 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
 
-	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine2 File"),
+	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine3 File"),
 		QString::fromStdString(directory),
-		tr("RecordLineFile (*.RecordLine2)"));
+		tr("RecordLineFile (*.RecordLine3)"));
 
 	if (RecordLineFilePath.isEmpty())
 	{
@@ -546,15 +459,9 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 	}
 
 	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
-	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
+	double number;
 
 	//读取数据
-	fread(&height, sizeof(double), 1, RecordLineFileHandle);
-	fread(&fov, sizeof(double), 1, RecordLineFileHandle);
-	fread(&swath, sizeof(double), 1, RecordLineFileHandle);
-	fread(&offset, sizeof(double), 1, RecordLineFileHandle);
-	fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
-	fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
 	fread(&number, sizeof(double), 1, RecordLineFileHandle);
 
 	double* data = new double[number];
@@ -564,15 +471,6 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 		//std::cout << *(data + i) << std::endl;
 	}
 
-	//向界面中填写
-	ui.height_lineEdit->setText(QString::number(height));
-	ui.fov_lineEdit->setText(QString::number(fov));
-	ui.swath_lineEdit->setText(QString::number(swath));
-	ui.offset_lineEdit->setText(QString::number(offset));
-	ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
-	ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));
-
-
 	//向tableWidget添加采集线
 	//（1）去掉tableWidget中所有的行
 	int rowCount = ui.recordLine_tableWidget->rowCount();

HPPA/TwoMotorControl.h

@@ -26,7 +26,7 @@ public:
 
     void record_dark();
     void record_white();
-
+    
 private:
     ImagerOperationBase* m_Imager;
     bool getState();
@@ -48,14 +48,15 @@ public Q_SLOTS:
     void onxMotorRight();
     void onxMotorLeft();
     void onxMotorStop();
+    void onxMove2Loc();
 
     void onyMotorforward();
     void onyMotorbackward();
     void onyMotorStop();
+    void onyMove2Loc();
 
     void onAddRecordLine_btn();
     void onRemoveRecordLine_btn();
-    void onGenerateRecordLine_btn();
     void onDeleteRecordLine_btn();
     void onSaveRecordLine2File_btn();
     void onReadRecordLineFile_btn();
@@ -82,6 +83,8 @@ signals:
     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;

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/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/oneMotorControl.ui

@@ -6,217 +6,313 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>544</width>
-    <height>346</height>
+    <width>678</width>
+    <height>480</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>一轴马达控制</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="0" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <layout class="QVBoxLayout" name="verticalLayout">
-       <item>
-        <widget class="QLabel" name="label">
-         <property name="text">
-          <string>实时位置</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="label_6">
-         <property name="text">
-          <string>运行速度</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="label_7">
-         <property name="text">
-          <string>返回速度</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="label_4">
-         <property name="text">
-          <string/>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item>
-      <layout class="QVBoxLayout" name="verticalLayout_2">
-       <item>
-        <widget class="QLineEdit" name="realTimeLoc_lineEdit">
-         <property name="text">
-          <string>0</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLineEdit" name="speed_lineEdit">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>0</height>
-          </size>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>16777215</width>
-           <height>16777215</height>
-          </size>
-         </property>
-         <property name="styleSheet">
-          <string notr="true">background-color: rgb(255, 255, 255);</string>
-         </property>
-         <property name="text">
-          <string>0.1</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLineEdit" name="return_speed_lineEdit">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>0</height>
-          </size>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>16777215</width>
-           <height>16777215</height>
-          </size>
-         </property>
-         <property name="styleSheet">
-          <string notr="true">background-color: rgb(255, 255, 255);</string>
-         </property>
-         <property name="text">
-          <string>2</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLineEdit" name="move2loc_lineEdit">
-         <property name="text">
-          <string>0</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item>
-      <layout class="QVBoxLayout" name="verticalLayout_3">
-       <item>
-        <widget class="QPushButton" name="connect_btn">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>连接</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="zero_start_btn">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>归零</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="rangeMeasurement_btn">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>量程测量</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="move2loc_pushButton">
-         <property name="text">
-          <string>移动至</string>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-    </layout>
-   </item>
+  <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>161</width>
+       <width>127</width>
        <height>20</height>
       </size>
      </property>
     </spacer>
    </item>
-   <item row="1" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <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="Minimum" vsizetype="Fixed">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
          <horstretch>0</horstretch>
          <verstretch>0</verstretch>
         </sizepolicy>
@@ -226,10 +322,10 @@
        </property>
       </widget>
      </item>
-     <item>
+     <item row="4" column="2">
       <widget class="QPushButton" name="right_btn">
        <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
          <horstretch>0</horstretch>
          <verstretch>0</verstretch>
         </sizepolicy>
@@ -239,41 +335,64 @@
        </property>
       </widget>
      </item>
-    </layout>
-   </item>
-   <item row="2" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout_3">
-     <item>
-      <spacer name="horizontalSpacer_2">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QLabel" name="motor_state_label">
-       <property name="text">
-        <string>马达状态</string>
-       </property>
-      </widget>
+     <item 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="3" column="0">
-    <spacer name="verticalSpacer">
+   <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>191</height>
+       <height>87</height>
       </size>
      </property>
     </spacer>